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Design and Implementation of Microcontroller based Advance Mopping Robot Manjeet Kaur*, Rohit Verma#, Bhuvanendra Singh#, Pooja Dhiman# *Asst. Prof, ECE Department, Amity University Haryana, # ASET, Amity University Haryana Abstract- Manual work is taken over the robot technology and many of the related robot appliances are being used widely. Here introduces the technology that proposed the working of robot for the Floor cleaning operation. This floor cleaner robot can work in any of two modes i.e. “Automatic and Manual”. All hardware and software operations are controlled by AT89S52 micro controller. This robot can perform sweeping and mopping operations for floor cleaning. A Bluetooth module has been used for wireless communication between remote (manual mode) and robot and having range 50m [1]. This robot is incorporated with IR sensor for obstacle detection and an automatic water sprayer pump. We are using five motors, two for cleaning, and one for water pump and two for wheels. A dual relay circuit is used to drive the motors one for water pump and rest for cleaner. In previous work, there was no automatic water sprayer used and works only in automatic mode. In the automatic mode robot control all the operations itself and change the lane in case of hurdle detection and moves back. In the manual mode, the mobile is used to perform the expected task and to operate robot. LCD is used to display the information related to the mode. The whole circuitry is connected with 12V battery. I. INTRODUCTION Robots have been with us for less than 50 years but the idea of inanimate creations represents a sincere bid whose success is very much older. But the real robots did not come into existence until 1950s and 60s. With the growing invention of transistors and ICs, computer industry added brains to the brawn of already existing machines. In 1959, researchers illustrated the possibility of robotic manufacturing when they unveiled a computer-controlled milling machine.A Bluetooth technology was created by telecom vendor Ericsson in 1994. A Bluetooth device is able to communicate with up to seven Bluetooth modules at same time through one link whose normal working area is within eight meters. The basic function of Bluetooth serial module is replacing the serial port line by connecting one to Bluetooth master device and the other connecting to slave device [2]. As computer processors are getting very faster and inexpensive, robots can afford to get smarter than computers. While, researchers are working on ways to help robots move and “think” more effectively and efficiently. So in present time most of the robots are designed for specific task, our goal is to someday make universal robots that are flexible enough to do just about anything a human does and more. Android is a software stack for mobile devices that includes an operating system and key applications. Android applications provide access to a wide range of useful libraries and tools that can be used to build rich applications. Android also includes a full set of tools that provides developers with high productivity and deep insight into their applications. Bluetooth is a technology having an open standard specification for a radio frequency (RF)based short range connectivity technology that changes the face of computing and wireless communication. Blue-tooth module receives data from Android smart phone is fed as input to the controller. Thereby, the controller acts accordingly on the DC motors to move in the entire robot in all the four directions using the Android phone. II. COMPONENTS OVERVIEW A. Microcontroller Atmel AT89S51 The AT89S51 is a low-power, highperformance CMOS 8-bit microcontroller with 4K bytes of In-System Programmable Flash memory. The manufacturing of device is done by using Atmel’s highdensity nonvolatile memory technology and is compatible with the industry [3]. The AT89S51 provides the following standard features: 4K bytes of Flash memory, 1024 bits or 128 bytes of RAM, 32 I/O lines, Watchdog timer, 2 data pointers for pointing data, 2 16-bit/2byte timer/counters, a 5 vector two-level interrupt architecture, a full duplex serial port for both ways communication, on-chip oscillator, and circuitry of clock. In addition, static logic is used for designing of AT89S51 for operation down to zero frequency and supports two software selectable power saving modes. The Idle Mode stops the CPU while allowing the timer/counters, RAM, serial port, and interrupt system to continue functioning. The Power-down mode is used which saves the RAM contents but freezes the oscillator, which disable all other chip functions until the next external interrupt or hardware reset. B. LCD display A liquid crystal display is special thin flat panels that can allow light go through it, or can stop the light. (Unlike an LED it does not produce its own light). There are several blocks in panel, and each block can acquired any shape. Each block is infuse with liquid crystals that can be made clear or solid, by altering the value of the electric current to that block. Liquid crystal displays are often pronounced LCDs. C. Motors A DC motor in simple words is a device that translates direct current (electrical energy) into mechanical energy [4]. DC motor is based on the principle that when a current-carrying conductor is placed in a magnetic field, a mechanical force is experienced whose direction is given by Fleming's Left-hand rule and whose magnitude is given by (1) Force, F = B*I*L newton (1) Where, B is the magnetic field in weber/m2. I is the current in amperes and L is the length of the coil in meter. D. IR sensors IR Sensors work by using a specific light sensor to detect a select light wavelength in the Infra-Red (IR) spectrum [5]. By using an LED which produces light at the same wavelength as what the sensor wants. When an object is close to the sensor, the light from the LED reflects off the object and into the light sensor. This results in a large transaction in the intensity. III. ARCHITECTURE A. Block Diagram The complete system for advance mopping robot using microcontroller can be explained with the help of block diagram as shown in Fig. 1. It consists of eight main blocks: microcontroller, motor driver, motor supply, DC motors, crystal oscillator, Bluetooth module, regulated power supply and reset block. Bluetooth module will be used to provide manual access to the robot, Crystal oscillator will provide suitable frequency for the operation, reset block will be used to reset the robot, microcontroller process all the data and information coming from all the blocks and provide functionality to the robot. frequency of crystal oscillator is 11.0592MHz. Pin number 20 microcontroller and pin number 16 is connected to LM7085, it is a three terminal positive regulator with several fixed output voltages, making it useful in a wide range of application. Fig. 1Block Diagram B. Circuit Diagram Fig. 2 represents the circuit diagram of the mopping robot. Fig. 2. Circuit Diagram The hardware connections for the above diagram can be explained as following: In the circuit of mopping robot we use a microcontroller, pin number 2 and 3 are using for serial communication. These pins are connected to the Bluetooth device for serial communication and pin numbers 12 to 17 are connected to the motor IC driver L293D.We are using motor IC driver because we need 9 to 12V supply and the supply from micro controller is 5V [7]. One IC driver is used for two motors. Pin number 4 and 5 are used for crystal oscillator. We are using it to provide frequency to microcontroller. The C. Methodologies The Code memory array can be programmed using the serial ISP interface while RST is raised to VCC. The serial interface consists of pins SCK, MOSI (input) and MISO (output). After RST is set high, the Programming Enable instruction needs to be executed first before other operations can be executed. A Chip Erase operation is needed before a reprogramming sequence can occur [3]. The Chip Erase operation turns the content of every memory location in the Code array into FFH. Either an external system clock can be provided at pin XTAL1 or a crystal needs to be connected across pins XTAL1 and XTAL2. The maximum serial clock (SCK) frequency should be less than 1/16 of the crystal frequency. The maximum SCK frequency is 2 MHz which can be achieved with a 33 MHz oscillator clock. The following sequence is advised to program and verify the AT89S51 in the serial programming mode: 1. Power-up sequence: a. Apply power between VCC and GND pins. b. Set RST pin to “H”. If a crystal is not connected across pins XTAL1 and XTAL2, provide a 3 MHz to 33 MHz clock to XTAL1 pin and after wait for at least 10 milli seconds. 2. Enable serial programming by transmitting the Programming Enable serial instruction to pin MOSI/P1.5. The frequency of the shift clock given at pin SCK/P1.7 required to be less than the CPU clock at XTAL1 divided by 16. 3. The Code array is programmed one byte at a time in either the Byte or Page mode. The write cycle can timed itself and typically takes less than 0.5 milliseconds at 5V. 4. Any memory location can be verified by using the Read instruction that returns the content at the selected address at serial output MISO/P1.6. 5. At the end of a programming session, RST can be set low to execute normal device operation. Power-off sequence (if needed): 1. Set XTAL1 to “L” (if a crystal is not used). 2. Set RST to “L”. 3. Turn VCC power off CONCLUSIONS In this project, we achieved control both wireless communication between the mobile Robot Android GUI Application. The main function of this project make a surveillance robot which can be control by emerging android technology .It gives versatile operation of robot controller which need not modify the hardware This system can further be developed by enhancing the performance and by adding more features. Further improvement of this system depends on the application we are using an area of work. The system can be added with features like gas sensing, thermal image sensing, connecting robotic arms and can be used in pick and place purposes can be done. The development of this system has wide area of applications such as in Military and Law enforcement and Industrial and in disaster management and so on. REFERENCES [1] http://study.com/academy/lesson/ short-range-wireless-communicationbluetooth-zigbee-infraredtransmission.html [2] https://learn.sparkfun.com/tutorials/blu etooth-basics/how-bluetooth-works [3] http://www.myengineeringsite.com/200 9/01/at89s51-microcontrollers.html [4] http://www.solarbotics.net/starting/200 111_dcmotor/200111_dcmotor2.html [5] http://www.education.rec.ri.cmu.edu/co ntent/electronics/boe/ir_sensor/1.html [6] “C Microcontroller and Embedded systems:Using assembly and C programming” by Muhammad Ali Mazidi. [7] “Microcontroller: Internals, Instructions, Programming and Interfacing”by Subrata Ghoshal [8] Xueshan Gao, Kejie Li, Yan Wang, Guangliang Men, Dawei zhou and Koki Kikuchi, “ A floor cleaner robot using Swedish wheels”, IEEE international conference on robotics and biomimetics December 15-18, 2007, Sanya, China. [9] http://www.atmel.com/Images/doc2487 .pdf [10] http://www.electrical4u.com/shuntwound-dc-motor-dc-shunt-motor/ [11] http://en.wikipedia.org/wiki/Android _software_development