Content
Content
ACKNOWLEDGEMENT
This is the most satisfying yet the most difficult part of the project to writegratifying because printed words serve as attestation, difficult because they fail to convey the real influence others have had on one’s life or work.
First and foremost we would like to express our whole hearted thanks to the invisible, the indomitable God for his blessings showered upon us in enabling to complete the project on time.
We would like to extend our heartiest thanks to the Management of our college, who provided us with necessities for the completion of the project.
We feel highly privileged in making a mention of Dr. (Prof.) V. Job Kuruvilla (Principal, TIST) for his co-operation and help.
We are deeply privileged in taking this opportunity to make a mention of Dr. (Prof.) Rajan V.K Pillai (Dean, ECE) for his co-operation and guidance.
We are deeply indebted to Asst. Prof. Deepa Elizabeth George (H.O.D., ECE) for the inspiration inculcated in us and for the apt guidance.
It would be a grave error if we forget to take a mention of our project guides Ms. Rekha George, Ms. Roshni Polly whose constant persistence and support helped us in the completion of our project.
Before we culminate we would like to extend our heartfelt gratitude to Mr. Joy.T.K and Mr. George.M.Jacob(Lab Instructors) for their invaluable support.
We also stand grateful to our parents, all teaching and non-teaching staff and fellow students for their constant help and support.
ABSTRACT
“Time and Tide waits for no man” We all relate to this saying. In this present era, time is one thing which everyone wishes that they had more. Especially for working women it becomes difficult to handle home and office together. Keeping the house clean becomes a herculean task for them. They wish for something which could make their work easier. Here we present a device which comes in to the rescue in such situations.
A robot can be defined as an electromechanical system with the capability of sensing its environment, manipulating it and acting according to the programmed sequence. It is a machine that appears intelligent due to the instructions it receives from a computer inside it which handles multiple tasks.
The house cleaning robot uses a microcontroller to detect obstacles and manipulates its direction as per the inputs from infrared sensors mounted in front, back, right and left of the robot. The heart of the system is a microcontroller . It is programmed to accept inputs to sense obstacles around it and control the robot to avoid any collisions. There are 4 IR sensors used in this project- one at the front, and the remaining on the left, right and back of the robot to detect obstacles, if any. A Digital Signal Processor is used to process speech signals. In case of an obstacle ,or a potential collision, the microcontroller controls the wheels of the robo by a motor driver to avoid collision. The vacuum cleaner mounted on the robot performs the cleaning process.
TABLE OF CONTENTS
No.
1 2 3 4
CONTENT S
INTRODUCTION LITERATURE SURVEY PROBLEM DEFENITION . . .
Page No
... 1 .....2 .. ..3
PROJECT ANALYSIS & DESIGN 4.1. BLOCK DIAGRAM ......4 4.2. BLOCK DIAGRAM EXPLANATION .. 5 4.3. CIRCUIT DIAGRAM ....7 4.4. CIRCUIT DIAGRAM EXPLANATION ...9 4.5. COMPONENT OVERVIEW 11 PROJECT IMPLEMENTATION 5.1 HARDWARE OVERVIEW PCB FABRICATION PCB LAYOUT 5.2 SOFTWARE OVERVIEW SIMULATOR MPLAB IDE . FLOW CHART CODING BILLS AND COST CONCLUSION FUTURE SCOPE REFERENCES APPENDIX . ... .. .. .. .. .
5
. . 17 ... .17. ....21 . . ..23 .. 24 .. . . 25 . . .28. ....31 ....35 ..36 . 37 . ..38 .39
6 7 8 9 10
LIST OF FIGURES
Fig No. Title Page No
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
Block Diagram Main Circuit Diagram Voice Recognition Circuit diagram PIC Microcontroller LM7805 Regulator IC AP7003 Speech Recognition Circuit L293D Motor Driver IC TSOP1738 IR Sensor Geared DC Motor PCB Layout of Main Circuit .. .. . .
4 .7 ...................................8 11 12 .13 .....14 ......15 .... 16 21
PCB Layout of Speech Recognition Circuit ................................22 Dip Trace Real PIC Simulator MPLAB IDE Microbootloader IDE MicroC Compiler Flow Chart Bill of Material .....................................23 ....................................24 .....................................25 ...................................26 ..................................27 ....................................28-30 .. .35
CHAPTER 1
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
1. INTRODUCTION
The house cleaning robot uses a microcontroller to detect obstacles and manipulates its direction as per the inputs from infrared sensors mounted in front, right and left of the robot or the digital signal processor. The heart of the system is a microcontroller – PIC 16F877A . It is programmed to accept inputs to sense obstacles around it and control the robot to avoid any collisions. There are 4 IR sensors used in this project- one at the front, and the remaining on the left, right and back of the robot to detect obstacles, if any. In case of an obstacle ,or a potential collision, the microcontroller controls the wheels of the robo by a motor driver IC- L293D to avoid collision. The vacuum cleaner mounted on the robot performs the cleaning process. The robot works in 2 modes : Auto mode and Manual mode. Auto mode:- In this mode, the PIC microcontroller is programmed in such a way that it takes the decision and changes the path of the robot as per the sensor inputs to avoid the obstacles. A timer is used to set the time limit for the cleaning process. Manual mode:In manual mode, we use a DSP- AP7003 to control the
robot manually. This DSP converts speech commands to digital format and these values are stored in its memory. This is done pre-hand by the user. When cleaning is to be done, the user just deliver the speech commands which has been already stored in the DSP. After comparing the two speech commands , the corresponding output of DSP drives the PIC microcontroller and moves the robot accordingly.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
1
CHAPTER 2
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
2. LITERATURE SURVEY
Cleaning and Household Robots: A Technology Survey [1]
This paper describes some of the main technology areas that have been actually used in the development of cleaning robots. The approach taken in this survey is to examine the characteristics of cleaning robots that have made successful laboratory demonstration or have become commercial products. We then identify the technology approach followed by the authors, and group their contributions in a few general areas. The result is a summary of used approaches to thesolution of difficult, albeit very practical, problems in the area of autonomous execution of cleaning tasks.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
2
CHAPTER 3
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
3. PROBLEM DEFENITION
In this present era, people live a very busy life. People in cities have irregular and long working times. In such a situation a person will always find ways of saving time. Household chores are the ones that are most dreaded upon. And cleaning a home tops the list. Not only its time consuming, but also its very tiring. Especially for working women it becomes difficult to handle both home and office work together. She has to do the household chores in the morning, go to work and do the works there and return home in the evening to again start her chores at home. Thus she lives a dual life. In this dual life, we thought of gifting her a way of saving some of her precious time.
So the requirement of a House Cleaning Robot is born. For saving time we needed an automatic system that cleans on its own without human interventions. Also, we did think about how to aid people with physical disabilities. Since we had to do this, we knew that we needed a cleaning system that could work in accordance to what we say, thus helping a physically disabled person.
Hence we planned a system that could perform the cleaning process either automatically or according to what we say.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
3
CHAPTER 4
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
4. PROJECT ANALYSIS & DESIGN
4.1 BLOCK DIAGRAM
MOTOR DRIVER CIRCUIT
CPU PIC16F877A VOICE RECOGNITION IR SENSOR
DC Power Unit Fig(1) Block Diagram
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
4
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
4.2 BLOCK DIAGRAM EXPLANATION
DC POWER UNIT:
This block consists of a 12v rechargeable battery and a voltage regulator. The LM7805 IC connected to the output of the battery, provides a constant output of 5V, regardless of the load in the circuit. Thus the power requirements of the system are strictly met without putting the system at risk during high loads.
PIC MICROCONTROLLER 16F877A:
The microcontroller used here is Microchip’s PIC 16F877A, which is a 40 pin 8 bit microcontroller. The microcontroller is the heart, which makes the system automatic. The PIC 16F877A reads the signals from the IR sensors and the digital signal processor. It then processes this data and controls the movement of robot by giving signals to the motor driver IC L293D.
VOIC RECOGNITION :
A digital signal processor AP7003 is used for voice recognition purpose. AP7003 is a monolithic user dependant speech recognition IC designed for toy application. This digital signal processor accepts input from the user as speech signals and stores in its internal memory. When the robot is being functioned it accepts the speech commands and compares them with previously stored commands and sends appropriate signals to PIC microcontroller.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
5
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
IR SENSORS:
An astable multivibrator, an IR LED and an IR sensor TSOP1738 constitutes the IR sensor block. Here we use four pairs of IR LED and sensor for the automatic operation of the House Cleaning Robot. The multivibrator is set to produce square wave oscillations at a frequency of 38kHz. The output of the multivibrator drives the IR LEDs. When an obstacle comes in front of the robot, the IR rays gets reflected from the obstacle and falls on the IR sensor, which turns the normally high output of sensor to off. The PIC controls the movement of robot according to the output of the IR sensors.
MOTOR DRIVER CIRCUIT:
A motor driver IC L293D is used to control the two geared dc motors. It can make a motor rotate in either clockwise direction or in anti-clockwise direction according to the control inputs given to it. The PIC provides the control signals to the motor driver IC according to the output of DSP in manual mode or IR sensors in automatic mode.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
6
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
4.3 CIRCUIT DIAGRAM
Fig( 2) Main Circuit
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
7
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Fig(3) Voice Recognition Circuit
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
8
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
4.4 CIRCUIT DIAGRAM EXPLANATION
The whole system is basically divided into two separate circuits. The main circuit of the system houses the PIC Microcontroller which is the heart of the system. The main circuitry has the following circuit elements :
The Power Supply:
This section consists of IC7805 which is a 5 volt voltage regulator, which supplies the 5V requirement for the PIC as well as for the sensors. There are two separate 7805 ICs shown as the motor driver section has been isolated
from the PIC power network. This is done because the motor driver may require more current thereby not permitting faithful operation of the PIC. The external input to the 7805 is 12V DC. Separate power supply terminals have been laid out on the motherboard to drive the sensors and for other peripherals.
The Motor Driver Unit:
This unit makes motion possible for the system. The driver used is TI L293D.The driver drives two regulated 12V DC motors. The power supply requirements of the driver are dealt by the power supply section which supports both 5V and 12V which are required by the motor.
Sensing and detection:
This section connects the system to the outside world. This section handles the task of sensing obstacles and informing the PIC about them. The sensors used are TSOP1738 IR sensors. These detect presence of any obstacle within a range of approximately 10cm.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
9
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
The sensing mechanism works by means of reflection, where by the IR LEDs are placed alongside the sensors and the sensor works only when an obstacle appears in front.
The 555 timer:
The 555 Timer is what drives the sensing network. The TSOP sensors respond when an IR beam of frequency approx 38KHz falls on it. This frequency requirement is dealt with by the 555 timer working as an astable multivibrator.
The PIC Microcontroller:
The PIC is the brain that controls all operations, responding to the sensors by telling the motor driver to steer the system one way or the other. The PIC checks the status of the pins connected to the sensors and produces adequate responses as and when a change is identified on these pins. The PIC here has also been interfaced with an LCD display apart from the motor driver and the DSP voice chips.
The second part of the circuitry comes in the form of the chip used for voice recognition and the circuitry required for its functioning. The IC AP7003 is a speech recognition chip that identifies upto 12 predefined vocabulary and furnishes an output as programmed. This has been connected as a separate module which is then linked to the motherboard.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
10
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
4.5 COMPONENT OVERVIEW
PIC Microcontroller 16F877A
PIC microcontrollers are low-cost computers-in-a-chip; they allow electronics designers and hobbyists add intelligence and functions that mimic big computers for almost any electronic product or project. The programming is done using a PIC microcontroller 16F877A. It is a high performance RISC CPU. All instructions are single cycle. It has low power consumption and wide operating range of temperature. A crystal oscillator (11.0592 MHz) is used for providing the required clock frequency of 6 MHz It features 256 bytes of EEPROM data memory. It is a 40 pin IC. An ADC is present inside this microcontroller.
Fig(4) PIC Microcontroller 16F877A
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
11
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
LM7805 Voltage Regulator IC
Fig(5) LM7805 Voltage Regulator IC
These series of IC are used to provide an uninterrupted power supply of 5V regardless of the change in input voltage. This is a crucial element in all our circuits since it is used to provide the 5v that is required for the module to function. However the input to the IC must always be greater than 8v. The rectified & filtered input voltage is supplied from a step down transformer.
Speech Recognition IC AP7003
AP7003 is a monolithic user dependent speech recognition IC designed for toy application. AP7003 consists of microphone amplifier, A/D converter, speech processor, and I/O controller. After pre-recording, AP7003 can recognize up to 12 different word sentences each of 1.2 sec long. With highly I/O programmability, AP7003 can be adapted in a wide range of applications.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
12
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Fig(6) Circuit arrangement for speech recognition Features Built in microphone amplifier Built in A/D converter Twelve 1.5 sec long word sentence Versatile I/O Ports: 2 general inputs, 4 trigger inputs, 2 output ports of 4 outputs and 12 outputs, 2 LED drivers. Code option available for custom application 2.4V ~ 4.5V operation voltage
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
13
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Motor Driver IC L293D
L293D IC
Pinout Diagram of L293d Fig(7)
The L293D is a quadruple high-current half-H driver designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36V. The device is designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as other high-current / high voltage loads in positive-supply applications. A single no. of L293D IC is capable of driving two motors. All inputs of L293d are TTL compatible. With the proper data inputs, each pair of drivers forms a full-H(bridge) reversible drive suitable for solenoid or motor applications. The L293D IC is characterized for operation from 0°C to 70°C.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
14
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Features Wide supply-voltage range: 4.5V to 36 V Separate input-logic supply Internal ESD protection Thermal shutdown High noise immunity inputs Output current 600mA per channel Peak output current 1.2 A per channel Output clamp diodes for inductive transient suppression
IR sensor TSOP1738
The TSOP17xx series are miniaturized receivers for infrared remote control systems. PIN diode and preamplifier are assembled on lead frame, the epoxy package is desighed as IR filter. The demodulated output signal can directly be decoded by a microprocessor. TSOP1738 receives only infrared rays of frequency 38kHz.
TSOP1738 IC Fig(8)
Circuit using TSOP1738
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
15
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Geared dc Motor
Fig(9) Geared Motor
A gear is a rotating machine part having cut teeth, or cogs, which mesh with another toothed part in order to transmit torque. Two or more gears working in tandem are called a transmission and can produce a mechanical advantage through a gear ratio and thus may be considered a simple machine. Geared devices can change the speed, magnitude, and direction of a power source. Geared motors are used to get maximum torque out of the motor
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
16
CHAPTER 5
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
5. PROJECT IMPLEMENTATION
5.1 HARDWARE OVERVIEW 5.1.1 PCB Fabrication
A printed circuit board, or PCB, is used to mechanically support and electrically connect electronic components using conductive pathways, or traces, etched from copper sheets laminated onto a non-conductive substrate. Alternative names are printed wiring board (PWB), and etched wiring board. A PCB populated with electronic components is a printed circuit assembly (PCA), also known as a printed circuit board assembly (PCBA).
PCBs are rugged, inexpensive, and can be highly reliable. They require much more layout effort and higher initial cost than either wire-wrapped or point-to-point constructed circuits, but are much cheaper, faster, and consistent in high volume production. Conducting layers are typically made of thin copper foil. Insulating materials has wider scale, phenolic paper, glass fibre and different plastics are commonly used.
a) Patterning (Etching)
The vast majority of printed circuit boards are made by bonding a layer of copper over the entire substrate, sometimes on both sides, (creating a "blank PCB") then removing unwanted copper after applying a temporary mask (eg. by etching), leaving only the desired copper traces. A few PCBs are made by adding traces to the bare substrate (or a substrate with a very thin layer of copper) usually by a complex process of multiple electroplating steps.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
17
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
b) Drilling
Holes, or vias, through a PCB are typically drilled with tiny drill bits made of solid tungsten carbide. The drilling is performed by automated drilling machines with placement controlled by a drill tape or drill file. These computer-generated files are also called numerically controlled drill (NCD) files or "Excellon files". The drill file describes the location and size of each drilled hole. When very small vias are required, drilling with mechanical bits is costly because of high rates of wear and breakage. In this case, the vias may be evaporated by lasers. Laser-drilled vias typically have an inferior surface finish inside the hole. These holes are called micro vias. It is also possible with controlled-depth drilling, laser drilling, or by pre-drilling the individual sheets of the PCB before lamination, to produce holes that connect only some of the copper layers, rather than passing through the entire board. These holes are called blind vias when they connect an internal copper layer to an outer layer, or buried vias when they connect two or more internal copper layers and no outer layers. The walls of the holes, for boards with 2 or more layers, are plated with copper to form plated-through holes that electrically connect the conducting layers of the PCB. For multilayer boards, those with 4 layers or more, drilling typically produces a smear comprised of the bonding agent in the laminate system. Before the holes can be plated through, this smear must be removed by a chemical de-smear process, or by plasma-etch.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
18
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
c) Exposed Conductor Plating and Coating
The places to which components will be mounted are typically plated, because bare copper oxidizes quickly, and therefore is not readily solderable. Traditionally, any exposed copper was plated with solder. This solder was a tinlead alloy, however new solder compounds are now used to achieve compliance with the RoHS directive in the EU, which restricts the use of lead. Other platings used are OSP (organic surface protectant), immersion silver, immersion tin, electroless nickel with immersion gold coating (ENIG), and direct gold. Edge connectors, placed along one edge of some boards, are often gold plated.
d) Soldering
Soldering is a process in which two or more metal items are joined together by melting and flowing through a filler metal into the joint, the filler metal having a relatively low melting point. Soft soldering is characterized by the melting point of the filler metal, which is below 400°C. The filler metal used in the process is called solder. In a soldering process, heat is applied to the parts to be joined, causing the solder to melt and be drawn into the joint by capillary action and to bond to the materials to be joined by wetting action. After the metal cools, the resulting joints are not as strong as the base metal, but have adequate strength, electrical conductivity, and water-tightness for many uses.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
19
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
The most frequent application of soldering is assembling electronic components to printed circuit boards (PCBs). Another common application is making it permanent but reversible connections between copper pipes in plumbing systems. Jewelry and small mechanical parts are often assembled by soldering. Solders or the soldering filler materials are available in many different alloys for differing applications. In electronics assembly, the eutectic alloy of 63% tin and 37% lead (or 60/40, which is almost identical in performance to the eutectic) is used. Other alloys are used for plumbing, mechanical assembly, and other applications.
The primary purpose of flux in soldering is to prevent oxidation of the base and filler materials. Flux is a substance which is nearly inert at room temperature, but which becomes strongly reducing at elevated temperatures, preventing the formation of metal oxides. Secondarily, flux acts as a wetting agent in the soldering process, reducing the surface tension of the molten solder and causing it to better wet out the parts to be joined.
For attachment of electronic components to a PCB, proper selection and use of flux helps prevent oxidation during soldering, which is essential for good wetting and heat transfer. The soldering iron tip must be clean and pre-tinned with solder to ensure rapid heat transfer. Components which dissipate large amounts of heat during operation are sometimes elevated above the PCB to avoid PCB overheating. Plastic or metal mounting clips or holders may be used with large devices to aid heat dissipation and reduce joint stresses.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
20
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
5.1.2. PCB DESIGN AND LAYOUT
The software we used for PCB designing is Dip Trace v1.40. Dip Trace is a complete PCB Design system. It includes four programs: 1. PCB Layout - PCB design with easy to use manual routing tools and autorouter. 2. Schematic - creates schematic and exports netlist to PCB. 3. ComEdit - pattern editor. 4. SchemEdit - component editor. Draw parts and attach patterns to them.
The PCB Layout of the system is as shown below.
PCB Layout TOP
PCB Layout BOTTOM Fig(10) Main Circuit
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
21
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
PCB Layout TOP
PCB Layout BOTTOM
Fig(11) Speech recognition circuit
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
22
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
5.2 SOFTWARE OVERVIEW
This section explains the various software applications which were used to interface, program the various hardware parts to make it a working project.
a) DIP TRACE 1.40
DipTrace is a complete PCB Design system. It includes four programs:
1. PCB Layout - PCB design with easy to use manual routing tools and autorouter. 2. Schematic - creates schematic and exports netlist to PCB. 3. ComEdit - pattern editor 4. SchemEdit - component editor. Draw parts and attach patterns to them.
Fig(12) Dip Trace 1.40
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
23
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
b) Real PIC Simulator 1.2.0.0
Real Pic Simulator is the fastest software microcontroller simulator targeting the Microchip(tm) baseline and mid-range flash based PIC microcontrollers. It is a software that decreases substantially the developing and the testing time for PIC microcontroller software.
Fig(13) Real PIC Simulator 1.2.0.0 Features Integrated disassembler - allows to export the code to assembler code. Debugger - allows execution of the program in real-time, at selected speedor step-by-step, including breakpoints. RAM and EEPROM viewer - allows the user to inspect RAM and EEPROM memory Processor viewer - view the microcontroller's pin allocation and characteristics. Visual simulator - allows a visual simulation of the program with the visual components (LEDs,Keypads etc.)
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
24
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
c) MPLAB IDE v6.xx
MPLAB IDE v6.xx is a Windows-based Integrated Development Environment for the Microchip Technology Incorporated PIC microcontroller (MCU) and dsPIC digital signal controller (DSC) families. The various features of this software are. Create source code using the built-in editor. The MPLAB IDE and MPLAB Editor are designed to allow PIC microcontroller (MCU) developers an easy and quick method to develop and debug firmware for Microchip Technology Incorporated’s PIC MCU product families. Assemble, compile and link source code using various language tools. An assembler, linker and librarian come with MPLAB IDE. C compilers are available from Microchip and other third party vendors.
Fig(14) MPLAB IDE v6.xx
Debug the executable logic by watching program flow with a simulator, such as MPLAB SIM, or in real time with an emulator, such as MPLAB ICE. Third party emulators that work with MPLAB IDE are also available.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
25
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
d) MICROBOOTLOADER IDE
From Microchip’s document AN732) the PIC16F87X family of microcontrollers has the ability to write to their own program memory. This feature allows a small boot loader program to receive and write new firmware into memory. In its most simple form, the boot loader starts the user code running, unless it finds that new firmware should be downloaded. If there is new firmware to be downloaded, it gets the data and writes it into program memory. There are many variations and additional features that can be added to improve reliability and simplify the use of the boot loader.
Fig(14) Microbootloader IDE
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
26
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
e) MIKROC COMPILER 8.2
mikroC is one of the powerful and easy to use software for programming PIC microcontrollers in embedded C. mikroC is a powerful, feature rich development tool for PICmicros. It is designed to provide the customer what the easiest possible solution for developing applications for embedded systems, without compromising performance or control. Applications can be developed quickly and easily using mikroC for PIC microcontrollers. It provides a simple windows based point-and-click environment for developing applications.
Fig(15) MicroC Compiler 8.2
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
27
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
5.2.1. FLOWCHART
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
28
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
29
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Fig() Flow Chart
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
30
CHAPTER 6
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
6. CODING
// The program code in embedded C generated using mikroC compiler for PIC
void main() { trisc=0xff;
if(portc.f0==0) //check whether automode is on or manual mode is on
goto automode;
else
goto manual; automode:
trisa=0x0f; trisb=0x00; loop1: while(porta.f0!=0) //if no obstacle in front {
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
31
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
portb=0x0a; goto loop1; } goto loop3; loop2: while(porta.f1!=0) // if no obstacle on right { portb=0x08; delay_ms(2000); goto loop1; } while(porta.f2!=0) //if no obstacle on left { portb=0x02; delay_ms(2000); goto loop1; }
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
32
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
loop3: // go reverse { portb=0x05; delay_ms(2000); } goto loop2;
manual: trisc=0x0f; trisb=0x00; if(portc.f1==1) // go forward { portb=0x0a; goto manual; } else if(portc.f2==1) // turn right { portb=0x08; goto manual;
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
33
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
} else if(portc.f3==1) // turn left { portb=0x02; goto manual; } else if(portc.f4==1) // go reverse { portb=0x05; goto manual; } else if(portc.f5==1) // to stop { portb=0x00; goto manual; } else goto manual; }
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
34
CHAPTER 7
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
7. BILL OF MATERIAL
COMPONENT Microcontroller Voice Recognition IC Motor Driver IC Voltage Regulator Timer IC IC Base
TYPE/VALUE PIC16F877A DSP-AP7003 L293D LM7805 555 40 pin 16 pin 8pin 8 pin 12 V , Rechargeable SPST SPDT 12 V geared motor TSOP1738 LED-red IR LED
QUANTITY 1 1 1 2 2 2 1 2 3 1 1 1 2 3 3 3 20 15 1 1 1 1 Total Cost :
COST(INR) 150.00 1300.00 85.00 2x10.00 2x10.00 2x10.00 8.00 5.00 3x10.00 240.00 4.00 5.00 2x200.00 3x32.00 3x1.00 4x3.00 20x0.50 15x1.50 5.00 10.00 350.00 250.00 3,050 (INR)
RMC Connector Battery Switch DC Motor IR Sensor LED Resistor Capacitor Mic Oscillator PCB
Condensor mic 11.0592MHz, Crystal 8x8 cm main board 8x6 cm DSP circuit
Fig(18) Bill of material
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
35
CHAPTER 8
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
8. CONCLUSION
As we mentioned in the Objectives of this project, we were able to demonstrate the intended application of the system. This concept has proven to be an efficient way of saving time and helping physically disabled people. This system is especially beneficial to working women. As specified the user can switch on the device and go for any other work and the robot will automatically clean the floor by detecting and avoiding the obstacles on its way. As the device has a manual mode, the user can also control the robot as per his/her wish. This proves to be a great advantage and can increase the performance. The user can also give commands in their own language due to the digital signal processor which stores commands as provided by the user. Thus the system has been found efficient in the task of cleaning.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
36
CHAPTER 9
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
9. FUTURE SCOPE
In an age where robotics is fast replacing the human hand, from security to smart systems to production lines, robots have taken over with no domain left untouched. Home automation is one domain that has been target of all robotics companies, large and small. Soon a time could come when you clean your home using a robot just like the one we've given life here. These could make the tiresome task of cleaning all those rooms, into a few minutes work. Which means that you can have your Sunday all for yourself? Cleaning your home would no longer be the same.......
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
37
CHAPTER 10
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
10. REFERENCES
[1]
Cleaning and Household Robots: A Technology Survey : Autonomous Robots
Journal
Publisher : Springer Netherlands URL : http://www.springerlink.com/content/uv1318034745915l/
BIBLIOGRAPHY
PIC microcontroller by John.S.Pitman J B GUPTA, Electronic circuits and devices
WEBLIOGRAPHY
www.datasheetcatalog.com/ www.wikipedia.com
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
38
APPENDIX
!
! " #
$ % &' ( (& )
*
#
+
+ (
!
,
,
! (
!& )
( -
# .'
/ ' / &' '01 ! !
+
' /-2/ )- !
0 ( (
! "
-
3- 45 6$$$$$$$$$$$$$$$$$$$$$$$$$) -
7 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$345 $ -6 3 #
7 $$$$$$$$$$$$$$$$$$$$$$$$$$ 89 8 -6
!
3:- 45 :- :8')
( 6 " + #
(!
!
#
(!
" ( #
::/ )::/ )' ' ) ) ; ' )
& ' ; & ' &
-
:$ )
#!
: )
9
!
(
<
(
(
, =
=
+
( +
% ,
= ( (
+ !
&'+ =
( 1
+ = & )
( >
+ =+= <
(
+
( ! ( ?
+
!
%++
! " !%!
? ( ( !+ ( ( (
( ? +"
( (
=
(
% (
+ #
+
(
(
! +( =+=
!
"
!
"
%&
!" # !"$
(
'
'( # '($
%&
) *+ ) !,*' '1 # '1 (,( !, + (23 + !4( +' +!4( 1'* )+ )
!
-
&
./0
(,(
!
!
+ !
+
!,
!, +
(
!
!
&
+
)
!
+
%
!+ # !+
5
!2, 6
!
+
!
$"%&&'(&-
$'
!
(
$
+
$'
= ( = =
+
' B = + +
/ (
!
#,&2#,/
( * =+ ( =
#,& #,' #, #,/D
&9$
(
(9/$
=
? ( +
C
&2/ &'(
+ =
+
( + ( + (
01 & #&2#&'(
( + = ! $'(
! ( + =
01 & !
( 01 &(
+ =
( 01 ' ! # ! 01 ' #(
+
!3 ':6 + =
$'(
(
! !;
( '
(
! *-!#"..$"%&&'(&-
C5 & ' / ) 9 ; F & && &' / ;C &: " *#7 *#7 E *#7 ( "7A0!
& "7A0!
' "7A0!
# " ( 5 5 5 5 " *#7 &
*#7 &'C &:& " *#7 & " *#7 ' " *#7 " *#7 / " *#7 ) " *#7 9 " *#7 " *#7 ; "7A0!
& "7A0!
'
# " ( 5
*#7
! *'!#".
/$"%&&'(&-
& ' #,& C1>& C1>) C1>F #,' C1>' C1>9 C1>& #, C1 C1 C1&& #,/ C1>/ C1>; C1>&'
! *0!#".
$"%&&'(&-
*
7!2 ,
7!2 ,
7!2 # ,
7
8 7!2 4 7!2
, 2: # , 2: ; *
! ,
*
&
%
,
7!2 ,
%
,
%
,
%
9 (
%
%
% ,
%
9 (
%
%
% ,
*
!+ # !+
2
, + <==;
! #
$"%&&'(&-
! "
L293, L293D QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
D D D D D D D D D D
Featuring Unitrode L293 and L293D Products Now From Texas Instruments Wide Supply-Voltage Range: 4.5 V to 36 V Separate Input-Logic Supply Internal ESD Protection Thermal Shutdown High-Noise-Immunity Inputs Functional Replacements for SGS L293 and SGS L293D Output Current 1 A Per Channel (600 mA for L293D) Peak Output Current 2 A Per Channel (1.2 A for L293D) Output Clamp Diodes for Inductive Transient Suppression (L293D)
N, NE PACKAGE (TOP VIEW)
1,2EN 1A 1Y HEAT SINK AND GROUND 2Y 2A VCC2
1 2 3 4 5 6 7 8
16 15 14 13 12 11 10 9
VCC1 4A 4Y HEAT SINK AND GROUND 3Y 3A 3,4EN
DWP PACKAGE (TOP VIEW)
description
The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V. Both devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as other high-current/high-voltage loads in positive-supply applications.
1,2EN 1A 1Y NC NC NC HEAT SINK AND GROUND NC NC 2Y 2A VCC2
1 2 3 4 5 6 7 8 9 10 11 12 13 14
28 27 26 25 24 23 22 21 20 19 18 17 16 15
VCC1 4A 4Y NC NC NC HEAT SINK AND GROUND NC NC 3Y 3A 3,4EN
All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a Darlington transistor sink and a pseudo-Darlington source. Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by 3,4EN. When an enable input is high, the associated drivers are enabled and their outputs are active and in phase with their inputs. When the enable input is low, those drivers are disabled and their outputs are off and in the high-impedance state. With the proper data inputs, each pair of drivers forms a full-H (or bridge) reversible drive suitable for solenoid or motor applications. On the L293, external high-speed output clamp diodes should be used for inductive transient suppression. A VCC1 terminal, separate from VCC2, is provided for the logic inputs to minimize device power dissipation. The L293and L293D are characterized for operation from 0°C to 70°C.
Please be aware that an important notice concerning availability, standard warranty, and use in critical applications of Texas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet.
Copyright 2002, Texas Instruments Incorporated
PRODUCTION DATA information is current as of publication date. Products conform to specifications per the terms of Texas Instruments standard warranty. Production processing does not necessarily include testing of all parameters.
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
1
L293, L293D QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
block diagram
VCC1 1 0 1 0 1 2 1 3 4 M 5 6 2 1 0 7 8 3 10 9 4 14 13 12 11
16 15 1 0 M
1 0 1 0 M
VC NOTE: Output diodes are internal in L293D. TEXAS INSTRUMENTS AVAILABLE OPTIONS PACKAGE TA PLASTIC DIP (NE) L293NE L293DNE
0°C to 70°C
AVAILABLE OPTIONS PACKAGED DEVICES TA SMALL OUTLINE (DWP) L293DWP L293DDWP PLASTIC DIP (N) L293N L293DN
0°C to 70°C
The DWP package is available taped and reeled. Add the suffix TR to device type (e.g., L293DWPTR).
2
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
L293, L293D QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
FUNCTION TABLE (each driver) INPUTS† OUTPUT A H L X EN H H L Y H L Z
H = high level, L = low level, X = irrelevant, Z = high impedance (off) † In the thermal shutdown mode, the output is in the high-impedance state, regardless of the input levels.
logic diagram
1A 1,2EN 2A 2 1 7
3A 3,4EN 4A
10 9 15
schematics of inputs and outputs (L293)
EQUIVALENT OF EACH INPUT VCC1 Current Source
Input
GND
POST OFFICE BOX 655303
ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ
3
1Y
6
2Y
11
3Y
14
4Y
TYPICAL OF ALL OUTPUTS VCC2
Output
GND
• DALLAS, TEXAS 75265
3
L293, L293D QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
recommended operating conditions
MIN Supply voltage VIH VIL High-level High level input voltage Low-level output voltage VCC1 VCC2 VCC1 ≤ 7 V VCC1 ≥ 7 V 4.5 VCC1 2.3 2.3 –0.3† MAX 7 36 VCC1 7 1.5 UNIT V V V V
TA Operating free-air temperature 0 70 °C † The algebraic convention, in which the least positive (most negative) designated minimum, is used in this data sheet for logic voltage levels.
electrical characteristics, VCC1 = 5 V, VCC2 = 24 V, TA = 25°C
PARAMETER VOH VOL VOKH VOKL IIH IIL High-level output voltage Low-level output voltage High-level output clamp voltage Low-level output clamp voltage High-level High level input current Low-level Low level input current A EN A EN TEST CONDITIONS L293: IOH = –1 A L293D: IOH = – 0.6 A L293: IOL = 1 A L293D: IOL = 0.6 A L293D: IOK = – 0.6 A L293D: IOK = 0.6 A VI = 7 V VI = 0 All outputs at high level ICC1 Logic supply current IO = 0 All outputs at low level All outputs at high impedance All outputs at high level ICC2 Output supply current IO = 0 All outputs at low level All outputs at high impedance MIN VCC2–1.8 TYP VCC2–1.4 1.2 VCC2 + 1.3 1.3 0.2 0.2 –3 –2 13 35 8 14 2 2 100 10 –10 –100 22 60 24 24 6 4 mA mA 1.8 MAX UNIT V V V V µA µA
switching characteristics, VCC1 = 5 V, VCC2 = 24 V, TA = 25°C
PARAMETER tPLH tPHL tTLH tTHL Propagation delay time, low-to-high-level output from A input Propagation delay time, high-to-low-level output from A input Transition time, low-to-high-level output Transition time, high-to-low-level output CL = 30 pF pF, See Figure 1 TEST CONDITIONS L293NE, L293DNE MIN TYP 800 400 300 300 MAX UNIT ns ns ns ns
switching characteristics, VCC1 = 5 V, VCC2 = 24 V, TA = 25°C
PARAMETER tPLH tPHL tTLH tTHL Propagation delay time, low-to-high-level output from A input Propagation delay time, high-to-low-level output from A input Transition time, low-to-high-level output Transition time, high-to-low-level output CL = 30 pF pF, See Figure 1 TEST CONDITIONS L293DWP, L293N L293DDWP, L293DN MIN TYP 750 200 100 350 MAX ns ns ns ns UNIT
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
5
TSOP17..
Vishay Telefunken
Photo Modules for PCM Remote Control Systems
Available types for different carrier frequencies
Type TSOP1730 TSOP1736 TSOP1738 TSOP1756 fo 30 kHz 36 kHz 38 kHz 56 kHz Type TSOP1733 TSOP1737 TSOP1740 fo 33 kHz 36.7 kHz 40 kHz
Description
The TSOP17.. – series are miniaturized receivers for infrared remote control systems. PIN diode and preamplifier are assembled on lead frame, the epoxy package is designed as IR filter. The demodulated output signal can directly be decoded by a microprocessor. TSOP17.. is the standard IR remote control receiver series, supporting all major transmission codes.
GND VS OUT
94 8691
Features
D Photo detector and preamplifier in one package D Internal filter for PCM frequency D Improved shielding against electrical field
disturbance
D Low power consumption D High immunity against ambient light D Continuous data transmission possible
(up to 2400 bps)
D TTL and CMOS compatibility D Output active low
D Suitable burst length ≥10 cycles/burst
Block Diagram
2 Input Control Circuit 80 kW 3 PIN AGC Band Pass Demodulator 1 GND OUT VS
94 8136
Document Number 82030 Rev. 10, 02-Apr-01
www.vishay.com 1 (7)
TSOP17..
Vishay Telefunken Absolute Maximum Ratings
Tamb = 25_C Parameter Supply Voltage Supply Current Output Voltage Output Current Junction Temperature Storage Temperature Range Operating Temperature Range Power Consumption Soldering Temperature Test Conditions (Pin 2) (Pin 2) (Pin 3) (Pin 3) Symbol VS IS VO IO Tj Tstg Tamb Ptot Tsd Value –0.3...6.0 5 –0.3...6.0 5 100 –25...+85 –25...+85 50 260 Unit V mA V mA °C °C °C mW °C
(Tamb 85 °C) t 10 s, 1 mm from case
x
x
Basic Characteristics
Tamb = 25_C Parameter Supply Current ( y (Pin 2) ) Supply Voltage (Pin 2) Transmission Distance Test Conditions VS = 5 V, Ev = 0 VS = 5 V, Ev = 40 klx, sunlight Symbol ISD ISH VS d VOSL Ee min 0.35 Min 0.4 4.5 35 250 0.5 Typ 0.6 1.0 Max 1.5 5.5 Unit mA mA V m mV mW/m2
Ev = 0, test signal see fig.7, IR diode TSAL6200, IF = 400 mA Output Voltage Low (Pin 3) IOSL = 0.5 mA,Ee = 0.7 mW/m2, f = fo, tp/T = 0.4 Irradiance (30 – 40 kHz) Pulse width tolerance: tpi – 5/fo < tpo < tpi + 6/fo, test signal (see fig.7) Irradiance (56 kHz) Pulse width tolerance: tpi – 5/fo < tpo < tpi + 6/fo, test signal (see fig.7) Irradiance tpi – 5/fo < tpo < tpi + 6/fo Directivity Angle of half transmission distance
Ee min
0.4
0.6
mW/m2
Ee max ϕ1/2
30 ±45
W/m2 deg
Application Circuit
TSOP17.. TSAL62.. 2 100 W *) 4.7 mF *) Out **) 1
96 12108
+5V >10 kW optional
3
mC
GND
*) recommended to suppress power supply disturbances **) The output voltage should not be hold continuously at a voltage below 3.3V by the external circuit.
www.vishay.com 2 (7)
Document Number 82030 Rev. 10, 02-Apr-01
TSOP17..
Vishay Telefunken Suitable Data Format
The circuit of the TSOP17.. is designed in that way that unexpected output pulses due to noise or disturbance signals are avoided. A bandpassfilter, an integrator stage and an automatic gain control are used to suppress such disturbances. The distinguishing mark between data signal and disturbance signal are carrier frequency, burst length and duty cycle. The data signal should fullfill the following condition: • Carrier frequency should be close to center frequency of the bandpass (e.g. 38kHz). • Burst length should be 10 cycles/burst or longer. • After each burst which is between 10 cycles and 70 cycles a gap time of at least 14 cycles is neccessary. • For each burst which is longer than 1.8ms a corresponding gap time is necessary at some time in the data stream. This gap time should have at least same length as the burst. • Up to 1400 short bursts per second can be received continuously. Some examples for suitable data format are: NEC Code, Toshiba Micom Format, Sharp Code, RC5 Code, RC6 Code, R–2000 Code, Sony Format (SIRCS). When a disturbance signal is applied to the TSOP17.. it can still receive the data signal. However the sensitivity is reduced to that level that no unexpected pulses will occure. Some examples for such disturbance signals which are suppressed by the TSOP17.. are: • DC light (e.g. from tungsten bulb or sunlight) • Continuous signal at 38kHz or at any other frequency • Signals from fluorescent lamps with electronic ballast (an example of the signal modulation is in the figure below).
0
5
10 time [ms]
15
20
IR Signal from Fluorescent Lamp with low Modulation
Document Number 82030 Rev. 10, 02-Apr-01
www.vishay.com 3 (7)
This is the most satisfying yet the most difficult part of the project to writegratifying because printed words serve as attestation, difficult because they fail to convey the real influence others have had on one’s life or work.
First and foremost we would like to express our whole hearted thanks to the invisible, the indomitable God for his blessings showered upon us in enabling to complete the project on time.
We would like to extend our heartiest thanks to the Management of our college, who provided us with necessities for the completion of the project.
We feel highly privileged in making a mention of Dr. (Prof.) V. Job Kuruvilla (Principal, TIST) for his co-operation and help.
We are deeply privileged in taking this opportunity to make a mention of Dr. (Prof.) Rajan V.K Pillai (Dean, ECE) for his co-operation and guidance.
We are deeply indebted to Asst. Prof. Deepa Elizabeth George (H.O.D., ECE) for the inspiration inculcated in us and for the apt guidance.
It would be a grave error if we forget to take a mention of our project guides Ms. Rekha George, Ms. Roshni Polly whose constant persistence and support helped us in the completion of our project.
Before we culminate we would like to extend our heartfelt gratitude to Mr. Joy.T.K and Mr. George.M.Jacob(Lab Instructors) for their invaluable support.
We also stand grateful to our parents, all teaching and non-teaching staff and fellow students for their constant help and support.
ABSTRACT
“Time and Tide waits for no man” We all relate to this saying. In this present era, time is one thing which everyone wishes that they had more. Especially for working women it becomes difficult to handle home and office together. Keeping the house clean becomes a herculean task for them. They wish for something which could make their work easier. Here we present a device which comes in to the rescue in such situations.
A robot can be defined as an electromechanical system with the capability of sensing its environment, manipulating it and acting according to the programmed sequence. It is a machine that appears intelligent due to the instructions it receives from a computer inside it which handles multiple tasks.
The house cleaning robot uses a microcontroller to detect obstacles and manipulates its direction as per the inputs from infrared sensors mounted in front, back, right and left of the robot. The heart of the system is a microcontroller . It is programmed to accept inputs to sense obstacles around it and control the robot to avoid any collisions. There are 4 IR sensors used in this project- one at the front, and the remaining on the left, right and back of the robot to detect obstacles, if any. A Digital Signal Processor is used to process speech signals. In case of an obstacle ,or a potential collision, the microcontroller controls the wheels of the robo by a motor driver to avoid collision. The vacuum cleaner mounted on the robot performs the cleaning process.
TABLE OF CONTENTS
No.
1 2 3 4
CONTENT S
INTRODUCTION LITERATURE SURVEY PROBLEM DEFENITION . . .
Page No
... 1 .....2 .. ..3
PROJECT ANALYSIS & DESIGN 4.1. BLOCK DIAGRAM ......4 4.2. BLOCK DIAGRAM EXPLANATION .. 5 4.3. CIRCUIT DIAGRAM ....7 4.4. CIRCUIT DIAGRAM EXPLANATION ...9 4.5. COMPONENT OVERVIEW 11 PROJECT IMPLEMENTATION 5.1 HARDWARE OVERVIEW PCB FABRICATION PCB LAYOUT 5.2 SOFTWARE OVERVIEW SIMULATOR MPLAB IDE . FLOW CHART CODING BILLS AND COST CONCLUSION FUTURE SCOPE REFERENCES APPENDIX . ... .. .. .. .. .
5
. . 17 ... .17. ....21 . . ..23 .. 24 .. . . 25 . . .28. ....31 ....35 ..36 . 37 . ..38 .39
6 7 8 9 10
LIST OF FIGURES
Fig No. Title Page No
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
Block Diagram Main Circuit Diagram Voice Recognition Circuit diagram PIC Microcontroller LM7805 Regulator IC AP7003 Speech Recognition Circuit L293D Motor Driver IC TSOP1738 IR Sensor Geared DC Motor PCB Layout of Main Circuit .. .. . .
4 .7 ...................................8 11 12 .13 .....14 ......15 .... 16 21
PCB Layout of Speech Recognition Circuit ................................22 Dip Trace Real PIC Simulator MPLAB IDE Microbootloader IDE MicroC Compiler Flow Chart Bill of Material .....................................23 ....................................24 .....................................25 ...................................26 ..................................27 ....................................28-30 .. .35
CHAPTER 1
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
1. INTRODUCTION
The house cleaning robot uses a microcontroller to detect obstacles and manipulates its direction as per the inputs from infrared sensors mounted in front, right and left of the robot or the digital signal processor. The heart of the system is a microcontroller – PIC 16F877A . It is programmed to accept inputs to sense obstacles around it and control the robot to avoid any collisions. There are 4 IR sensors used in this project- one at the front, and the remaining on the left, right and back of the robot to detect obstacles, if any. In case of an obstacle ,or a potential collision, the microcontroller controls the wheels of the robo by a motor driver IC- L293D to avoid collision. The vacuum cleaner mounted on the robot performs the cleaning process. The robot works in 2 modes : Auto mode and Manual mode. Auto mode:- In this mode, the PIC microcontroller is programmed in such a way that it takes the decision and changes the path of the robot as per the sensor inputs to avoid the obstacles. A timer is used to set the time limit for the cleaning process. Manual mode:In manual mode, we use a DSP- AP7003 to control the
robot manually. This DSP converts speech commands to digital format and these values are stored in its memory. This is done pre-hand by the user. When cleaning is to be done, the user just deliver the speech commands which has been already stored in the DSP. After comparing the two speech commands , the corresponding output of DSP drives the PIC microcontroller and moves the robot accordingly.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
1
CHAPTER 2
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
2. LITERATURE SURVEY
Cleaning and Household Robots: A Technology Survey [1]
This paper describes some of the main technology areas that have been actually used in the development of cleaning robots. The approach taken in this survey is to examine the characteristics of cleaning robots that have made successful laboratory demonstration or have become commercial products. We then identify the technology approach followed by the authors, and group their contributions in a few general areas. The result is a summary of used approaches to thesolution of difficult, albeit very practical, problems in the area of autonomous execution of cleaning tasks.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
2
CHAPTER 3
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
3. PROBLEM DEFENITION
In this present era, people live a very busy life. People in cities have irregular and long working times. In such a situation a person will always find ways of saving time. Household chores are the ones that are most dreaded upon. And cleaning a home tops the list. Not only its time consuming, but also its very tiring. Especially for working women it becomes difficult to handle both home and office work together. She has to do the household chores in the morning, go to work and do the works there and return home in the evening to again start her chores at home. Thus she lives a dual life. In this dual life, we thought of gifting her a way of saving some of her precious time.
So the requirement of a House Cleaning Robot is born. For saving time we needed an automatic system that cleans on its own without human interventions. Also, we did think about how to aid people with physical disabilities. Since we had to do this, we knew that we needed a cleaning system that could work in accordance to what we say, thus helping a physically disabled person.
Hence we planned a system that could perform the cleaning process either automatically or according to what we say.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
3
CHAPTER 4
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
4. PROJECT ANALYSIS & DESIGN
4.1 BLOCK DIAGRAM
MOTOR DRIVER CIRCUIT
CPU PIC16F877A VOICE RECOGNITION IR SENSOR
DC Power Unit Fig(1) Block Diagram
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
4
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
4.2 BLOCK DIAGRAM EXPLANATION
DC POWER UNIT:
This block consists of a 12v rechargeable battery and a voltage regulator. The LM7805 IC connected to the output of the battery, provides a constant output of 5V, regardless of the load in the circuit. Thus the power requirements of the system are strictly met without putting the system at risk during high loads.
PIC MICROCONTROLLER 16F877A:
The microcontroller used here is Microchip’s PIC 16F877A, which is a 40 pin 8 bit microcontroller. The microcontroller is the heart, which makes the system automatic. The PIC 16F877A reads the signals from the IR sensors and the digital signal processor. It then processes this data and controls the movement of robot by giving signals to the motor driver IC L293D.
VOIC RECOGNITION :
A digital signal processor AP7003 is used for voice recognition purpose. AP7003 is a monolithic user dependant speech recognition IC designed for toy application. This digital signal processor accepts input from the user as speech signals and stores in its internal memory. When the robot is being functioned it accepts the speech commands and compares them with previously stored commands and sends appropriate signals to PIC microcontroller.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
5
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
IR SENSORS:
An astable multivibrator, an IR LED and an IR sensor TSOP1738 constitutes the IR sensor block. Here we use four pairs of IR LED and sensor for the automatic operation of the House Cleaning Robot. The multivibrator is set to produce square wave oscillations at a frequency of 38kHz. The output of the multivibrator drives the IR LEDs. When an obstacle comes in front of the robot, the IR rays gets reflected from the obstacle and falls on the IR sensor, which turns the normally high output of sensor to off. The PIC controls the movement of robot according to the output of the IR sensors.
MOTOR DRIVER CIRCUIT:
A motor driver IC L293D is used to control the two geared dc motors. It can make a motor rotate in either clockwise direction or in anti-clockwise direction according to the control inputs given to it. The PIC provides the control signals to the motor driver IC according to the output of DSP in manual mode or IR sensors in automatic mode.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
6
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
4.3 CIRCUIT DIAGRAM
Fig( 2) Main Circuit
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
7
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Fig(3) Voice Recognition Circuit
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
8
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
4.4 CIRCUIT DIAGRAM EXPLANATION
The whole system is basically divided into two separate circuits. The main circuit of the system houses the PIC Microcontroller which is the heart of the system. The main circuitry has the following circuit elements :
The Power Supply:
This section consists of IC7805 which is a 5 volt voltage regulator, which supplies the 5V requirement for the PIC as well as for the sensors. There are two separate 7805 ICs shown as the motor driver section has been isolated
from the PIC power network. This is done because the motor driver may require more current thereby not permitting faithful operation of the PIC. The external input to the 7805 is 12V DC. Separate power supply terminals have been laid out on the motherboard to drive the sensors and for other peripherals.
The Motor Driver Unit:
This unit makes motion possible for the system. The driver used is TI L293D.The driver drives two regulated 12V DC motors. The power supply requirements of the driver are dealt by the power supply section which supports both 5V and 12V which are required by the motor.
Sensing and detection:
This section connects the system to the outside world. This section handles the task of sensing obstacles and informing the PIC about them. The sensors used are TSOP1738 IR sensors. These detect presence of any obstacle within a range of approximately 10cm.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
9
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
The sensing mechanism works by means of reflection, where by the IR LEDs are placed alongside the sensors and the sensor works only when an obstacle appears in front.
The 555 timer:
The 555 Timer is what drives the sensing network. The TSOP sensors respond when an IR beam of frequency approx 38KHz falls on it. This frequency requirement is dealt with by the 555 timer working as an astable multivibrator.
The PIC Microcontroller:
The PIC is the brain that controls all operations, responding to the sensors by telling the motor driver to steer the system one way or the other. The PIC checks the status of the pins connected to the sensors and produces adequate responses as and when a change is identified on these pins. The PIC here has also been interfaced with an LCD display apart from the motor driver and the DSP voice chips.
The second part of the circuitry comes in the form of the chip used for voice recognition and the circuitry required for its functioning. The IC AP7003 is a speech recognition chip that identifies upto 12 predefined vocabulary and furnishes an output as programmed. This has been connected as a separate module which is then linked to the motherboard.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
10
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
4.5 COMPONENT OVERVIEW
PIC Microcontroller 16F877A
PIC microcontrollers are low-cost computers-in-a-chip; they allow electronics designers and hobbyists add intelligence and functions that mimic big computers for almost any electronic product or project. The programming is done using a PIC microcontroller 16F877A. It is a high performance RISC CPU. All instructions are single cycle. It has low power consumption and wide operating range of temperature. A crystal oscillator (11.0592 MHz) is used for providing the required clock frequency of 6 MHz It features 256 bytes of EEPROM data memory. It is a 40 pin IC. An ADC is present inside this microcontroller.
Fig(4) PIC Microcontroller 16F877A
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
11
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
LM7805 Voltage Regulator IC
Fig(5) LM7805 Voltage Regulator IC
These series of IC are used to provide an uninterrupted power supply of 5V regardless of the change in input voltage. This is a crucial element in all our circuits since it is used to provide the 5v that is required for the module to function. However the input to the IC must always be greater than 8v. The rectified & filtered input voltage is supplied from a step down transformer.
Speech Recognition IC AP7003
AP7003 is a monolithic user dependent speech recognition IC designed for toy application. AP7003 consists of microphone amplifier, A/D converter, speech processor, and I/O controller. After pre-recording, AP7003 can recognize up to 12 different word sentences each of 1.2 sec long. With highly I/O programmability, AP7003 can be adapted in a wide range of applications.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
12
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Fig(6) Circuit arrangement for speech recognition Features Built in microphone amplifier Built in A/D converter Twelve 1.5 sec long word sentence Versatile I/O Ports: 2 general inputs, 4 trigger inputs, 2 output ports of 4 outputs and 12 outputs, 2 LED drivers. Code option available for custom application 2.4V ~ 4.5V operation voltage
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
13
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Motor Driver IC L293D
L293D IC
Pinout Diagram of L293d Fig(7)
The L293D is a quadruple high-current half-H driver designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36V. The device is designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as other high-current / high voltage loads in positive-supply applications. A single no. of L293D IC is capable of driving two motors. All inputs of L293d are TTL compatible. With the proper data inputs, each pair of drivers forms a full-H(bridge) reversible drive suitable for solenoid or motor applications. The L293D IC is characterized for operation from 0°C to 70°C.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
14
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Features Wide supply-voltage range: 4.5V to 36 V Separate input-logic supply Internal ESD protection Thermal shutdown High noise immunity inputs Output current 600mA per channel Peak output current 1.2 A per channel Output clamp diodes for inductive transient suppression
IR sensor TSOP1738
The TSOP17xx series are miniaturized receivers for infrared remote control systems. PIN diode and preamplifier are assembled on lead frame, the epoxy package is desighed as IR filter. The demodulated output signal can directly be decoded by a microprocessor. TSOP1738 receives only infrared rays of frequency 38kHz.
TSOP1738 IC Fig(8)
Circuit using TSOP1738
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
15
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Geared dc Motor
Fig(9) Geared Motor
A gear is a rotating machine part having cut teeth, or cogs, which mesh with another toothed part in order to transmit torque. Two or more gears working in tandem are called a transmission and can produce a mechanical advantage through a gear ratio and thus may be considered a simple machine. Geared devices can change the speed, magnitude, and direction of a power source. Geared motors are used to get maximum torque out of the motor
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
16
CHAPTER 5
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
5. PROJECT IMPLEMENTATION
5.1 HARDWARE OVERVIEW 5.1.1 PCB Fabrication
A printed circuit board, or PCB, is used to mechanically support and electrically connect electronic components using conductive pathways, or traces, etched from copper sheets laminated onto a non-conductive substrate. Alternative names are printed wiring board (PWB), and etched wiring board. A PCB populated with electronic components is a printed circuit assembly (PCA), also known as a printed circuit board assembly (PCBA).
PCBs are rugged, inexpensive, and can be highly reliable. They require much more layout effort and higher initial cost than either wire-wrapped or point-to-point constructed circuits, but are much cheaper, faster, and consistent in high volume production. Conducting layers are typically made of thin copper foil. Insulating materials has wider scale, phenolic paper, glass fibre and different plastics are commonly used.
a) Patterning (Etching)
The vast majority of printed circuit boards are made by bonding a layer of copper over the entire substrate, sometimes on both sides, (creating a "blank PCB") then removing unwanted copper after applying a temporary mask (eg. by etching), leaving only the desired copper traces. A few PCBs are made by adding traces to the bare substrate (or a substrate with a very thin layer of copper) usually by a complex process of multiple electroplating steps.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
17
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
b) Drilling
Holes, or vias, through a PCB are typically drilled with tiny drill bits made of solid tungsten carbide. The drilling is performed by automated drilling machines with placement controlled by a drill tape or drill file. These computer-generated files are also called numerically controlled drill (NCD) files or "Excellon files". The drill file describes the location and size of each drilled hole. When very small vias are required, drilling with mechanical bits is costly because of high rates of wear and breakage. In this case, the vias may be evaporated by lasers. Laser-drilled vias typically have an inferior surface finish inside the hole. These holes are called micro vias. It is also possible with controlled-depth drilling, laser drilling, or by pre-drilling the individual sheets of the PCB before lamination, to produce holes that connect only some of the copper layers, rather than passing through the entire board. These holes are called blind vias when they connect an internal copper layer to an outer layer, or buried vias when they connect two or more internal copper layers and no outer layers. The walls of the holes, for boards with 2 or more layers, are plated with copper to form plated-through holes that electrically connect the conducting layers of the PCB. For multilayer boards, those with 4 layers or more, drilling typically produces a smear comprised of the bonding agent in the laminate system. Before the holes can be plated through, this smear must be removed by a chemical de-smear process, or by plasma-etch.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
18
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
c) Exposed Conductor Plating and Coating
The places to which components will be mounted are typically plated, because bare copper oxidizes quickly, and therefore is not readily solderable. Traditionally, any exposed copper was plated with solder. This solder was a tinlead alloy, however new solder compounds are now used to achieve compliance with the RoHS directive in the EU, which restricts the use of lead. Other platings used are OSP (organic surface protectant), immersion silver, immersion tin, electroless nickel with immersion gold coating (ENIG), and direct gold. Edge connectors, placed along one edge of some boards, are often gold plated.
d) Soldering
Soldering is a process in which two or more metal items are joined together by melting and flowing through a filler metal into the joint, the filler metal having a relatively low melting point. Soft soldering is characterized by the melting point of the filler metal, which is below 400°C. The filler metal used in the process is called solder. In a soldering process, heat is applied to the parts to be joined, causing the solder to melt and be drawn into the joint by capillary action and to bond to the materials to be joined by wetting action. After the metal cools, the resulting joints are not as strong as the base metal, but have adequate strength, electrical conductivity, and water-tightness for many uses.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
19
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
The most frequent application of soldering is assembling electronic components to printed circuit boards (PCBs). Another common application is making it permanent but reversible connections between copper pipes in plumbing systems. Jewelry and small mechanical parts are often assembled by soldering. Solders or the soldering filler materials are available in many different alloys for differing applications. In electronics assembly, the eutectic alloy of 63% tin and 37% lead (or 60/40, which is almost identical in performance to the eutectic) is used. Other alloys are used for plumbing, mechanical assembly, and other applications.
The primary purpose of flux in soldering is to prevent oxidation of the base and filler materials. Flux is a substance which is nearly inert at room temperature, but which becomes strongly reducing at elevated temperatures, preventing the formation of metal oxides. Secondarily, flux acts as a wetting agent in the soldering process, reducing the surface tension of the molten solder and causing it to better wet out the parts to be joined.
For attachment of electronic components to a PCB, proper selection and use of flux helps prevent oxidation during soldering, which is essential for good wetting and heat transfer. The soldering iron tip must be clean and pre-tinned with solder to ensure rapid heat transfer. Components which dissipate large amounts of heat during operation are sometimes elevated above the PCB to avoid PCB overheating. Plastic or metal mounting clips or holders may be used with large devices to aid heat dissipation and reduce joint stresses.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
20
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
5.1.2. PCB DESIGN AND LAYOUT
The software we used for PCB designing is Dip Trace v1.40. Dip Trace is a complete PCB Design system. It includes four programs: 1. PCB Layout - PCB design with easy to use manual routing tools and autorouter. 2. Schematic - creates schematic and exports netlist to PCB. 3. ComEdit - pattern editor. 4. SchemEdit - component editor. Draw parts and attach patterns to them.
The PCB Layout of the system is as shown below.
PCB Layout TOP
PCB Layout BOTTOM Fig(10) Main Circuit
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
21
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
PCB Layout TOP
PCB Layout BOTTOM
Fig(11) Speech recognition circuit
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
22
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
5.2 SOFTWARE OVERVIEW
This section explains the various software applications which were used to interface, program the various hardware parts to make it a working project.
a) DIP TRACE 1.40
DipTrace is a complete PCB Design system. It includes four programs:
1. PCB Layout - PCB design with easy to use manual routing tools and autorouter. 2. Schematic - creates schematic and exports netlist to PCB. 3. ComEdit - pattern editor 4. SchemEdit - component editor. Draw parts and attach patterns to them.
Fig(12) Dip Trace 1.40
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
23
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
b) Real PIC Simulator 1.2.0.0
Real Pic Simulator is the fastest software microcontroller simulator targeting the Microchip(tm) baseline and mid-range flash based PIC microcontrollers. It is a software that decreases substantially the developing and the testing time for PIC microcontroller software.
Fig(13) Real PIC Simulator 1.2.0.0 Features Integrated disassembler - allows to export the code to assembler code. Debugger - allows execution of the program in real-time, at selected speedor step-by-step, including breakpoints. RAM and EEPROM viewer - allows the user to inspect RAM and EEPROM memory Processor viewer - view the microcontroller's pin allocation and characteristics. Visual simulator - allows a visual simulation of the program with the visual components (LEDs,Keypads etc.)
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
24
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
c) MPLAB IDE v6.xx
MPLAB IDE v6.xx is a Windows-based Integrated Development Environment for the Microchip Technology Incorporated PIC microcontroller (MCU) and dsPIC digital signal controller (DSC) families. The various features of this software are. Create source code using the built-in editor. The MPLAB IDE and MPLAB Editor are designed to allow PIC microcontroller (MCU) developers an easy and quick method to develop and debug firmware for Microchip Technology Incorporated’s PIC MCU product families. Assemble, compile and link source code using various language tools. An assembler, linker and librarian come with MPLAB IDE. C compilers are available from Microchip and other third party vendors.
Fig(14) MPLAB IDE v6.xx
Debug the executable logic by watching program flow with a simulator, such as MPLAB SIM, or in real time with an emulator, such as MPLAB ICE. Third party emulators that work with MPLAB IDE are also available.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
25
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
d) MICROBOOTLOADER IDE
From Microchip’s document AN732) the PIC16F87X family of microcontrollers has the ability to write to their own program memory. This feature allows a small boot loader program to receive and write new firmware into memory. In its most simple form, the boot loader starts the user code running, unless it finds that new firmware should be downloaded. If there is new firmware to be downloaded, it gets the data and writes it into program memory. There are many variations and additional features that can be added to improve reliability and simplify the use of the boot loader.
Fig(14) Microbootloader IDE
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
26
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
e) MIKROC COMPILER 8.2
mikroC is one of the powerful and easy to use software for programming PIC microcontrollers in embedded C. mikroC is a powerful, feature rich development tool for PICmicros. It is designed to provide the customer what the easiest possible solution for developing applications for embedded systems, without compromising performance or control. Applications can be developed quickly and easily using mikroC for PIC microcontrollers. It provides a simple windows based point-and-click environment for developing applications.
Fig(15) MicroC Compiler 8.2
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
27
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
5.2.1. FLOWCHART
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
28
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
29
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
Fig() Flow Chart
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
30
CHAPTER 6
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
6. CODING
// The program code in embedded C generated using mikroC compiler for PIC
void main() { trisc=0xff;
if(portc.f0==0) //check whether automode is on or manual mode is on
goto automode;
else
goto manual; automode:
trisa=0x0f; trisb=0x00; loop1: while(porta.f0!=0) //if no obstacle in front {
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
31
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
portb=0x0a; goto loop1; } goto loop3; loop2: while(porta.f1!=0) // if no obstacle on right { portb=0x08; delay_ms(2000); goto loop1; } while(porta.f2!=0) //if no obstacle on left { portb=0x02; delay_ms(2000); goto loop1; }
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
32
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
loop3: // go reverse { portb=0x05; delay_ms(2000); } goto loop2;
manual: trisc=0x0f; trisb=0x00; if(portc.f1==1) // go forward { portb=0x0a; goto manual; } else if(portc.f2==1) // turn right { portb=0x08; goto manual;
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
33
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
} else if(portc.f3==1) // turn left { portb=0x02; goto manual; } else if(portc.f4==1) // go reverse { portb=0x05; goto manual; } else if(portc.f5==1) // to stop { portb=0x00; goto manual; } else goto manual; }
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
34
CHAPTER 7
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
7. BILL OF MATERIAL
COMPONENT Microcontroller Voice Recognition IC Motor Driver IC Voltage Regulator Timer IC IC Base
TYPE/VALUE PIC16F877A DSP-AP7003 L293D LM7805 555 40 pin 16 pin 8pin 8 pin 12 V , Rechargeable SPST SPDT 12 V geared motor TSOP1738 LED-red IR LED
QUANTITY 1 1 1 2 2 2 1 2 3 1 1 1 2 3 3 3 20 15 1 1 1 1 Total Cost :
COST(INR) 150.00 1300.00 85.00 2x10.00 2x10.00 2x10.00 8.00 5.00 3x10.00 240.00 4.00 5.00 2x200.00 3x32.00 3x1.00 4x3.00 20x0.50 15x1.50 5.00 10.00 350.00 250.00 3,050 (INR)
RMC Connector Battery Switch DC Motor IR Sensor LED Resistor Capacitor Mic Oscillator PCB
Condensor mic 11.0592MHz, Crystal 8x8 cm main board 8x6 cm DSP circuit
Fig(18) Bill of material
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
35
CHAPTER 8
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
8. CONCLUSION
As we mentioned in the Objectives of this project, we were able to demonstrate the intended application of the system. This concept has proven to be an efficient way of saving time and helping physically disabled people. This system is especially beneficial to working women. As specified the user can switch on the device and go for any other work and the robot will automatically clean the floor by detecting and avoiding the obstacles on its way. As the device has a manual mode, the user can also control the robot as per his/her wish. This proves to be a great advantage and can increase the performance. The user can also give commands in their own language due to the digital signal processor which stores commands as provided by the user. Thus the system has been found efficient in the task of cleaning.
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
36
CHAPTER 9
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
9. FUTURE SCOPE
In an age where robotics is fast replacing the human hand, from security to smart systems to production lines, robots have taken over with no domain left untouched. Home automation is one domain that has been target of all robotics companies, large and small. Soon a time could come when you clean your home using a robot just like the one we've given life here. These could make the tiresome task of cleaning all those rooms, into a few minutes work. Which means that you can have your Sunday all for yourself? Cleaning your home would no longer be the same.......
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
37
CHAPTER 10
Semester : VI
Branch : ECE
Project Title : House Cleaning Robot
10. REFERENCES
[1]
Cleaning and Household Robots: A Technology Survey : Autonomous Robots
Journal
Publisher : Springer Netherlands URL : http://www.springerlink.com/content/uv1318034745915l/
BIBLIOGRAPHY
PIC microcontroller by John.S.Pitman J B GUPTA, Electronic circuits and devices
WEBLIOGRAPHY
www.datasheetcatalog.com/ www.wikipedia.com
Toc H Institute of Science & Technology Arakkunnam – 682 313
Page
38
APPENDIX
!
! " #
$ % &' ( (& )
*
#
+
+ (
!
,
,
! (
!& )
( -
# .'
/ ' / &' '01 ! !
+
' /-2/ )- !
0 ( (
! "
-
3- 45 6$$$$$$$$$$$$$$$$$$$$$$$$$) -
7 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$345 $ -6 3 #
7 $$$$$$$$$$$$$$$$$$$$$$$$$$ 89 8 -6
!
3:- 45 :- :8')
( 6 " + #
(!
!
#
(!
" ( #
::/ )::/ )' ' ) ) ; ' )
& ' ; & ' &
-
:$ )
#!
: )
9
!
(
<
(
(
, =
=
+
( +
% ,
= ( (
+ !
&'+ =
( 1
+ = & )
( >
+ =+= <
(
+
( ! ( ?
+
!
%++
! " !%!
? ( ( !+ ( ( (
( ? +"
( (
=
(
% (
+ #
+
(
(
! +( =+=
!
"
!
"
%&
!" # !"$
(
'
'( # '($
%&
) *+ ) !,*' '1 # '1 (,( !, + (23 + !4( +' +!4( 1'* )+ )
!
-
&
./0
(,(
!
!
+ !
+
!,
!, +
(
!
!
&
+
)
!
+
%
!+ # !+
5
!2, 6
!
+
!
$"%&&'(&-
$'
!
(
$
+
$'
= ( = =
+
' B = + +
/ (
!
#,&2#,/
( * =+ ( =
#,& #,' #, #,/D
&9$
(
(9/$
=
? ( +
C
&2/ &'(
+ =
+
( + ( + (
01 & #&2#&'(
( + = ! $'(
! ( + =
01 & !
( 01 &(
+ =
( 01 ' ! # ! 01 ' #(
+
!3 ':6 + =
$'(
(
! !;
( '
(
! *-!#"..$"%&&'(&-
C5 & ' / ) 9 ; F & && &' / ;C &: " *#7 *#7 E *#7 ( "7A0!
& "7A0!
' "7A0!
# " ( 5 5 5 5 " *#7 &
*#7 &'C &:& " *#7 & " *#7 ' " *#7 " *#7 / " *#7 ) " *#7 9 " *#7 " *#7 ; "7A0!
& "7A0!
'
# " ( 5
*#7
! *'!#".
/$"%&&'(&-
& ' #,& C1>& C1>) C1>F #,' C1>' C1>9 C1>& #, C1 C1 C1&& #,/ C1>/ C1>; C1>&'
! *0!#".
$"%&&'(&-
*
7!2 ,
7!2 ,
7!2 # ,
7
8 7!2 4 7!2
, 2: # , 2: ; *
! ,
*
&
%
,
7!2 ,
%
,
%
,
%
9 (
%
%
% ,
%
9 (
%
%
% ,
*
!+ # !+
2
, + <==;
! #
$"%&&'(&-
! "
L293, L293D QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
D D D D D D D D D D
Featuring Unitrode L293 and L293D Products Now From Texas Instruments Wide Supply-Voltage Range: 4.5 V to 36 V Separate Input-Logic Supply Internal ESD Protection Thermal Shutdown High-Noise-Immunity Inputs Functional Replacements for SGS L293 and SGS L293D Output Current 1 A Per Channel (600 mA for L293D) Peak Output Current 2 A Per Channel (1.2 A for L293D) Output Clamp Diodes for Inductive Transient Suppression (L293D)
N, NE PACKAGE (TOP VIEW)
1,2EN 1A 1Y HEAT SINK AND GROUND 2Y 2A VCC2
1 2 3 4 5 6 7 8
16 15 14 13 12 11 10 9
VCC1 4A 4Y HEAT SINK AND GROUND 3Y 3A 3,4EN
DWP PACKAGE (TOP VIEW)
description
The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V. Both devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as other high-current/high-voltage loads in positive-supply applications.
1,2EN 1A 1Y NC NC NC HEAT SINK AND GROUND NC NC 2Y 2A VCC2
1 2 3 4 5 6 7 8 9 10 11 12 13 14
28 27 26 25 24 23 22 21 20 19 18 17 16 15
VCC1 4A 4Y NC NC NC HEAT SINK AND GROUND NC NC 3Y 3A 3,4EN
All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a Darlington transistor sink and a pseudo-Darlington source. Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by 3,4EN. When an enable input is high, the associated drivers are enabled and their outputs are active and in phase with their inputs. When the enable input is low, those drivers are disabled and their outputs are off and in the high-impedance state. With the proper data inputs, each pair of drivers forms a full-H (or bridge) reversible drive suitable for solenoid or motor applications. On the L293, external high-speed output clamp diodes should be used for inductive transient suppression. A VCC1 terminal, separate from VCC2, is provided for the logic inputs to minimize device power dissipation. The L293and L293D are characterized for operation from 0°C to 70°C.
Please be aware that an important notice concerning availability, standard warranty, and use in critical applications of Texas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet.
Copyright 2002, Texas Instruments Incorporated
PRODUCTION DATA information is current as of publication date. Products conform to specifications per the terms of Texas Instruments standard warranty. Production processing does not necessarily include testing of all parameters.
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
1
L293, L293D QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
block diagram
VCC1 1 0 1 0 1 2 1 3 4 M 5 6 2 1 0 7 8 3 10 9 4 14 13 12 11
16 15 1 0 M
1 0 1 0 M
VC NOTE: Output diodes are internal in L293D. TEXAS INSTRUMENTS AVAILABLE OPTIONS PACKAGE TA PLASTIC DIP (NE) L293NE L293DNE
0°C to 70°C
AVAILABLE OPTIONS PACKAGED DEVICES TA SMALL OUTLINE (DWP) L293DWP L293DDWP PLASTIC DIP (N) L293N L293DN
0°C to 70°C
The DWP package is available taped and reeled. Add the suffix TR to device type (e.g., L293DWPTR).
2
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
L293, L293D QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
FUNCTION TABLE (each driver) INPUTS† OUTPUT A H L X EN H H L Y H L Z
H = high level, L = low level, X = irrelevant, Z = high impedance (off) † In the thermal shutdown mode, the output is in the high-impedance state, regardless of the input levels.
logic diagram
1A 1,2EN 2A 2 1 7
3A 3,4EN 4A
10 9 15
schematics of inputs and outputs (L293)
EQUIVALENT OF EACH INPUT VCC1 Current Source
Input
GND
POST OFFICE BOX 655303
ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ
3
1Y
6
2Y
11
3Y
14
4Y
TYPICAL OF ALL OUTPUTS VCC2
Output
GND
• DALLAS, TEXAS 75265
3
L293, L293D QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
recommended operating conditions
MIN Supply voltage VIH VIL High-level High level input voltage Low-level output voltage VCC1 VCC2 VCC1 ≤ 7 V VCC1 ≥ 7 V 4.5 VCC1 2.3 2.3 –0.3† MAX 7 36 VCC1 7 1.5 UNIT V V V V
TA Operating free-air temperature 0 70 °C † The algebraic convention, in which the least positive (most negative) designated minimum, is used in this data sheet for logic voltage levels.
electrical characteristics, VCC1 = 5 V, VCC2 = 24 V, TA = 25°C
PARAMETER VOH VOL VOKH VOKL IIH IIL High-level output voltage Low-level output voltage High-level output clamp voltage Low-level output clamp voltage High-level High level input current Low-level Low level input current A EN A EN TEST CONDITIONS L293: IOH = –1 A L293D: IOH = – 0.6 A L293: IOL = 1 A L293D: IOL = 0.6 A L293D: IOK = – 0.6 A L293D: IOK = 0.6 A VI = 7 V VI = 0 All outputs at high level ICC1 Logic supply current IO = 0 All outputs at low level All outputs at high impedance All outputs at high level ICC2 Output supply current IO = 0 All outputs at low level All outputs at high impedance MIN VCC2–1.8 TYP VCC2–1.4 1.2 VCC2 + 1.3 1.3 0.2 0.2 –3 –2 13 35 8 14 2 2 100 10 –10 –100 22 60 24 24 6 4 mA mA 1.8 MAX UNIT V V V V µA µA
switching characteristics, VCC1 = 5 V, VCC2 = 24 V, TA = 25°C
PARAMETER tPLH tPHL tTLH tTHL Propagation delay time, low-to-high-level output from A input Propagation delay time, high-to-low-level output from A input Transition time, low-to-high-level output Transition time, high-to-low-level output CL = 30 pF pF, See Figure 1 TEST CONDITIONS L293NE, L293DNE MIN TYP 800 400 300 300 MAX UNIT ns ns ns ns
switching characteristics, VCC1 = 5 V, VCC2 = 24 V, TA = 25°C
PARAMETER tPLH tPHL tTLH tTHL Propagation delay time, low-to-high-level output from A input Propagation delay time, high-to-low-level output from A input Transition time, low-to-high-level output Transition time, high-to-low-level output CL = 30 pF pF, See Figure 1 TEST CONDITIONS L293DWP, L293N L293DDWP, L293DN MIN TYP 750 200 100 350 MAX ns ns ns ns UNIT
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
5
TSOP17..
Vishay Telefunken
Photo Modules for PCM Remote Control Systems
Available types for different carrier frequencies
Type TSOP1730 TSOP1736 TSOP1738 TSOP1756 fo 30 kHz 36 kHz 38 kHz 56 kHz Type TSOP1733 TSOP1737 TSOP1740 fo 33 kHz 36.7 kHz 40 kHz
Description
The TSOP17.. – series are miniaturized receivers for infrared remote control systems. PIN diode and preamplifier are assembled on lead frame, the epoxy package is designed as IR filter. The demodulated output signal can directly be decoded by a microprocessor. TSOP17.. is the standard IR remote control receiver series, supporting all major transmission codes.
GND VS OUT
94 8691
Features
D Photo detector and preamplifier in one package D Internal filter for PCM frequency D Improved shielding against electrical field
disturbance
D Low power consumption D High immunity against ambient light D Continuous data transmission possible
(up to 2400 bps)
D TTL and CMOS compatibility D Output active low
D Suitable burst length ≥10 cycles/burst
Block Diagram
2 Input Control Circuit 80 kW 3 PIN AGC Band Pass Demodulator 1 GND OUT VS
94 8136
Document Number 82030 Rev. 10, 02-Apr-01
www.vishay.com 1 (7)
TSOP17..
Vishay Telefunken Absolute Maximum Ratings
Tamb = 25_C Parameter Supply Voltage Supply Current Output Voltage Output Current Junction Temperature Storage Temperature Range Operating Temperature Range Power Consumption Soldering Temperature Test Conditions (Pin 2) (Pin 2) (Pin 3) (Pin 3) Symbol VS IS VO IO Tj Tstg Tamb Ptot Tsd Value –0.3...6.0 5 –0.3...6.0 5 100 –25...+85 –25...+85 50 260 Unit V mA V mA °C °C °C mW °C
(Tamb 85 °C) t 10 s, 1 mm from case
x
x
Basic Characteristics
Tamb = 25_C Parameter Supply Current ( y (Pin 2) ) Supply Voltage (Pin 2) Transmission Distance Test Conditions VS = 5 V, Ev = 0 VS = 5 V, Ev = 40 klx, sunlight Symbol ISD ISH VS d VOSL Ee min 0.35 Min 0.4 4.5 35 250 0.5 Typ 0.6 1.0 Max 1.5 5.5 Unit mA mA V m mV mW/m2
Ev = 0, test signal see fig.7, IR diode TSAL6200, IF = 400 mA Output Voltage Low (Pin 3) IOSL = 0.5 mA,Ee = 0.7 mW/m2, f = fo, tp/T = 0.4 Irradiance (30 – 40 kHz) Pulse width tolerance: tpi – 5/fo < tpo < tpi + 6/fo, test signal (see fig.7) Irradiance (56 kHz) Pulse width tolerance: tpi – 5/fo < tpo < tpi + 6/fo, test signal (see fig.7) Irradiance tpi – 5/fo < tpo < tpi + 6/fo Directivity Angle of half transmission distance
Ee min
0.4
0.6
mW/m2
Ee max ϕ1/2
30 ±45
W/m2 deg
Application Circuit
TSOP17.. TSAL62.. 2 100 W *) 4.7 mF *) Out **) 1
96 12108
+5V >10 kW optional
3
mC
GND
*) recommended to suppress power supply disturbances **) The output voltage should not be hold continuously at a voltage below 3.3V by the external circuit.
www.vishay.com 2 (7)
Document Number 82030 Rev. 10, 02-Apr-01
TSOP17..
Vishay Telefunken Suitable Data Format
The circuit of the TSOP17.. is designed in that way that unexpected output pulses due to noise or disturbance signals are avoided. A bandpassfilter, an integrator stage and an automatic gain control are used to suppress such disturbances. The distinguishing mark between data signal and disturbance signal are carrier frequency, burst length and duty cycle. The data signal should fullfill the following condition: • Carrier frequency should be close to center frequency of the bandpass (e.g. 38kHz). • Burst length should be 10 cycles/burst or longer. • After each burst which is between 10 cycles and 70 cycles a gap time of at least 14 cycles is neccessary. • For each burst which is longer than 1.8ms a corresponding gap time is necessary at some time in the data stream. This gap time should have at least same length as the burst. • Up to 1400 short bursts per second can be received continuously. Some examples for suitable data format are: NEC Code, Toshiba Micom Format, Sharp Code, RC5 Code, RC6 Code, R–2000 Code, Sony Format (SIRCS). When a disturbance signal is applied to the TSOP17.. it can still receive the data signal. However the sensitivity is reduced to that level that no unexpected pulses will occure. Some examples for such disturbance signals which are suppressed by the TSOP17.. are: • DC light (e.g. from tungsten bulb or sunlight) • Continuous signal at 38kHz or at any other frequency • Signals from fluorescent lamps with electronic ballast (an example of the signal modulation is in the figure below).
0
5
10 time [ms]
15
20
IR Signal from Fluorescent Lamp with low Modulation
Document Number 82030 Rev. 10, 02-Apr-01
www.vishay.com 3 (7)
