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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