TABLE OF CONTENTS

Abstract
Autonomous robot
Ideas
At mega 8
L293D IC
Infrared Sensor
DC Motors
Features
Application
Problem
Future development
Conclusion

ABSTRACT
A new service robot designed for cleaning tasks in home

environments is introduced. System has three subsystems:

electrical, software and mechanical of which microcontroller,
sensors (opponent and light) and motor are the electrical and
mechanical subsystems respectively and the software subsystem is
the brain of the robot. The cleaning robot uses a microcontroller to
detect obstacles and manipulates its direction as per the inputs. It
is programmed to accept inputs to sense obstacles around it and
control the robot to avoid any collisions. In case of an obstacle, or
a potential collision, the microcontroller controls the wheels of the
robot by a motor driver to avoid collision. The vacuum cleaner at
the bottom of the robot performs the cleaning process.

AUTONOMOUS ROBOT
The control of autonomous robots involves a number of subtasks
Understanding and modeling of the mechanism
Kinematics,

Dynamics, and Odometry

Reliable control of the actuators
Closed-loop control
Generation of task-specific motions
Path planning
Integration of sensors
Selection and interfacing of various types of sensors
Coping with noise and uncertainty
Filtering of sensor noise and actuator uncertainty
Creation of flexible control policies
Control has to deal with new situations

WHAT IS CLEANING
ROBOT?
Arobotic vacuum cleaner is an

autonomous robotic vacuum cleanerthat has

intelligent programming and a limited vacuum
cleaning system. Some designs use spinning
brushes to reach tight corners. Others
combine a number of cleaning features
(mopping, obstacle detector) simultaneous to
vacuuming, thus rendering the machine into
more than just a robot "vacuum" cleaner.

IDEA
Most of the people are working and they did

not have enough time to clean.

From time to time technology come up and
need to upgrade for easier human task.
Most of us usually using a hand controlled
vacuum for cleaning .Moreover, most of
vacuum robots in the market are expensive
and may be large in size

THEREFORE
This project is built to be one of the

advantages for human to clean the floor

within small period and more effective.

ATMEGA 8 MICROCONTROLLER
8K bytes of In-System Programmable Flash with Read-

While-Write capabilities,
512 bytes of EEPROM,
23general purpose I/O lines, 32 general purpose working
registers
three flexible Timer/Counters with compare modes
internal and external interrupts
a serial programmable USART, a byte oriented Two-wire
Serial Interface
a programmable Watchdog Timer with Internal Oscillator,

DIAGRAM OF ATMEGA 8

L293D
Motor driver IC used to drive dc motor

rotating in either direction.

16 pin IC which can control a set of two dc
motors simultaneously
It use 5 V for own power and external power
source is needed to drive the motors which
can be up to 36 V and draw up to 600mA.

DC MOTOR
A DC motor is electromechanical device that

converts electrical energy into mechanical

energy
DC motors comes in various ratings like 6V
and12V.
The most common DC motor types are the
brushed and brushless types, which use
internal and external commutation
respectively to create an oscillating AC current
from the DC sourceso they are not purely
DC machines in a strict sense.

WHAT IS A SENSOR?
Device that detects(senses) changes in the
ambient conditions or in the state of another
device or a system, and conveys or records this
information in a certain manner

IR SENSOR
Act as sensing component to the

environment. For Vacuum Cleaner Robot,

sensors are used to detect obstacles.
IR which is sharp type of family
GP2Y0A21YK0F and its distance measuring
range is10 to 80 cm

PRIMARY REQUIREMENT OF
ROBOT
Obstacle avoidance is a primary
requirement for any autonomous
mobile robot.
The robot acquires information
about its surroundings through
sensors mounted on the robot.

PROBLEM

The problem of find a suitable boot that will carry the

vacuum.
A problem that happened because of the vacuum
weight, that caused a problems in turning the wheels
Problem with motor and high current needed to
operate them, and safety method needed to protect
the basic circuit from the backward current.
Problem of dealing with sensor and floating value,
some time sensor read wrong value so we put
technique to ensure the sensor gives us right values

FEATURES
Small size so it will enter a small area.
Low cost, cost of body, three sensors,

microcontroller and one motors driver.

A void any obstacle at the center of a given
area, which may be discrete or continuous.

APPLICATION
Robotic Vacuum Cleaner is developed to make

cleaning process easier especially for working

people.
This Robotic Vacuum Cleaner is designed for
specific area such as under beds.

FUTURE DEVELOPMENT
Now we are working to make the robot smart

enough to detect all objects in any position of

room.
In the future we hope to make the robot smarter
such that when the robot cleans any room it will
save the information about obstacle and its
location and if the user want to clean a room it
just will restore information and will clean faster.
We hope to make the robot to clean tables such
that it can detect edges and it will clean the
tables without falling down.

CONCLUSIONS
Robots are an important component in Intelligent Environments
Automate devices
Provide physical services

Robot Systems in these environments need particular capabilities

Autonomous control systems
Simple and natural human-robot interface
Adaptive and learning capabilities
Robots have to maintain safety during operation

While a number of techniques to address these requirements

exist, no functional, satisfactory solutions have yet been

developed

Only very simple robots for single tasks in intelligent environments exist

THANK
YOU!!