Cleaning Robot
Cleaning Robot
Cleaning Robot
Introduction
The idea behind domestic robotic devices like the Floor Washing Robot is to liberate people from unpleasant daily chores and free up their time. A cleaning robot
can be used not only for private homes but also in offices, stores, etc. Therobot cleaner changes the way we clean. Floor cleaning robots also work great in
collaboration with a dedicated cleaning devices
POWER
SUPPLY
RTC
DTMF
DECODER
ARM7
RELAY 1
ROBBOT
MOTOR 1
RE LAY 2
ROBBOT
MOTOR 2
ROBBOT
MOTOR 3
RELAY 3
3.5 AUDIO
JACK
RELAY 4
MOBILE
2
LCD
MANNUAL
MODE
SWITCH
AUTO
MODE
SWITCH
KEYPAD
ROBBOT
MOTOR 4
Transformer
Transformers convert AC electricity from one voltage to another with little loss of power.
Transformers work only with AC and this is one of the reasons why mains electricity is AC.
Step-up transformers increase voltage, step-down transformers reduce voltage. Most power supplies use a stepdown transformer to reduce the dangerously high mains voltage (230V in UK) to a safer low voltage.
The input coil is called the primary and the output coil is called the secondary. There is no electrical
connection between the two coils, instead they are linked by an alternating magnetic field created in the softiron core of the transformer. The two lines in the middle of the circuit symbol represent the core.
turns ratio =
Vp
Vs
Np
Ns
Vs Is = Vp Ip
Vs = secondary (output) voltage
Ns = number of turns on secondary coil
Is = secondary (output) current
Bridge rectifier
A bridge rectifier can be made using four individual diodes, but it is also available in special
packages containing the four diodes required. It is called a full-wave rectifier because it uses all
the AC wave (both positive and negative sections). 1.4V is used up in the bridge rectifier because
each diode uses 0.7V when conducting and there are always two diodes conducting, as shown in
the diagram below. Bridge rectifiers are rated by the maximum current they can pass and the
maximum reverse voltage they can withstand (this must be at least three times the supply RMS
voltage so the rectifier can withstand the peak voltages). Please see the Diodes page for more
details, including pictures of bridge rectifier
Instead we use the root mean square voltage (VRMS) which is 0.7 of the peak voltage (Vpeak):
VRMS = 0.7 Vpeak
and
The RMS value is the effective value of a varying voltage or current. It is the equivalent steady DC (constant)
value which gives the same effect.
For example a lamp connected to a 6V RMS AC supply will light with the same brightness when connected to a
steady 6V DC supply. However, the lamp will be dimmer if connected to a 6V peak AC supply because the
RMS value of this is only 4.2V (it is equivalent to a steady 4.2V DC).
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Bridge rectifier
Alternate pairs of diodes conduct, changing over
the connections so the alternating directions of
AC are converted to the one direction of DC.
Smoothing
Smoothing is performed by a large value electrolytic capacitor connected across the DC supply to
act as a reservoir, supplying current to the output when the varying DC voltage from the rectifier
is falling. The diagram shows the unsmoothed varying DC (dotted line) and the smoothed DC
(solid line). The capacitor charges quickly near the peak of the varying DC, and then discharges
as it supplies current to the output.
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Note that smoothing significantly increases the average DC voltage to almost the peak value (1.4 RMS value).
For example 6V RMS AC is rectified to full wave DC of about 4.6V RMS (1.4V is lost in the bridge rectifier),
with smoothing this increases to almost the peak value giving 1.4 4.6 = 6.4V smooth DC.
Smoothing is not perfect due to the capacitor voltage falling a little as it discharges, giving a small ripple
voltage. For many circuits a ripple which is 10% of the supply voltage is satisfactory and the equation below
gives the required value for the smoothing capacitor. A larger capacitor will give less ripple. The capacitor value
must be doubled when smoothing half-wave DC.
5 Io
Vs f
Electrolytic Capacitors
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Examples:
Circuit symbol:
Electrolytic capacitors are polarised and they must be connected the correct way round, at
least one of their leads will be marked + or -. They are not damaged by heat when soldering.
There are two designs of electrolytic capacitors; axial where the leads are attached to each end (220F in
picture) and radial where both leads are at the same end (10F in picture). Radial capacitors tend to be a little
smaller and they stand upright on the circuit board.
It is easy to find the value of electrolytic capacitors because they are clearly printed with their capacitance and
voltage rating. The voltage rating can be quite low (6V for example) and it should always be checked when
selecting an electrolytic capacitor. If the project parts list does not specify a voltage, choose a capacitor with a
rating which is greater than the project's power supply voltage. 25V is a sensible minimum for most battery
circuits.
Voltage regulator
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Many of the fixed voltage regulator ICs have 3 leads and look like power transistors, such as the 7805 +5V 1A
regulator shown on the right. They include a hole for attaching a heatsink if necessary.
LM7805
It requires min of 7 Volt DC input as it has a drop down voltage of 2 volt DC ,hence min of 7 volt
DC is needed at its input
Minimum input needed is = 7 volt DC
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Transformed
We will need a step down tansformer of that will decrease a voltage from 230 volt AC to min of 9
Volt AC , hence we have used a 12 volt AC step down transformer
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Microcontroller 89V51RD2:
P89V51RD2 Features
64 KB flash memory
1 KB RAM
32 I/O lines
In System Application
Accumulator:
ACC is the accumulator register. It is an 8 bit register. It is most versatile and
holds sources operand and receives the result of arithmetic operations including
addition, subtraction, integer multiplication, division and Boolean bit manipulations.
It is also used for data transfer between 8051 and any external memory.
Several functions like rotate, test etc. apply specifically on the accumulator.
Arithmetic and Logic Unit (ALU):
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they are grouped to from the program status word. PSW contain Carry
flag ( CY) , Auxiliary carry flag ( AC ), User defined Flag 0 (F0 ) , register bank
selections flag (RS0,RS1) Overflow flag( OV ) Parity flag (p) .Flags are 1 bit registers
provided to store the results of some instructions. A Flag is a flip flop that indicates
some condition produced by the execution of an instruction.
RST:
Reset input. A high on his pin two machine cycles while the oscillator is running
resets the device. This pin drives high for 98 oscillator periods after the Watchdog times
out. The DISRTO bit in SFR AUXR (address 8 EH) can be used to disable this feature. In
the default state of bit DISRTO, the RESET HIGH out feature is enabled.
Program Counter (PC):
It is a 16-bit register. It is used to hold the address of a byte in the memory.
It keeps the track of the execution of the program. The program instruction bytes are
fetched from locations in memory that are addressed by the Program counter.
The Stack and Stack Pointer:
The stack is a reserved area of the memory in RAM where temporary
information may be stored. An 8 bit stack pointer is used to hold the address of the
most recent stack entry. This location, which has the most recent entry, is called as
the top of the stack.
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External Structure
At the first sight, the external structure of a DC geared motor looks as a straight expansion over the simple DC
ones.
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The lateral view of the motor shows the outer protrudes of the gear head. A nut is placed near the shaft which
helps in mounting the motor to the other parts of the assembly.
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Also, an internally threaded hole is there on the shaft to allow attachments or extensions such as wheel to be
attached to the motor
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RELAY APPLICATIONS:
Relays are remote control electrical switches that are controlled by another switch, such as a horn switch or a
computer as in a power train control module. Relays allow a small current flow circuit to control a higher
current circuit. Several designs of relays are in use today, 3-pin, 4-pin, 5-pin, and 6-pin, single switch or dual
switches.
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RELAY OPERATION
All relays operate using the same basic principle. Our example will use a commonly used 4 - pin relay. Relays
have two circuits: A control circuit (shown in GREEN) and a load circuit (shown in RED). The control circuit
has a small control coil while the load circuit has a switch. The coil controls the operation of the switch.
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Project Working
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Robot Flowchart
START
INITIALIZATION
WAIT FOR USER COMANDS
CHECK PC CODE
CHECK FOR COMMANDS
Is 1
Press?
Is 2
Press?
Is 3
Press?
Is 4
Press?
Is 5
Press?
* Press= Motor1
CLK
0 Press= Motor1
Stop
* Press= Motor 2
CLK
0 Press= Motor 2
Stop
* Press= Motor3
CLK
0 Press= Motor3
Stop
* Press= Motor4
CLK
0 Press= Motor4
Stop
* Press= Motor5
CLK
0 Press= Motor5
Stop
STOP
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Future Development:
Bibliography:
1. The 8051 Microcontroller- [Architecture, Programming, and
Applications]
By
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3. MICROCONTROLLERS-[Textbook]
By
Vijay N. Kukre
Tech-Max
WEB-SITES: www.datasheetarchieve.com
www.maxim-ic.com
www.alldatasheet.com/
www.nxp.com/-Philips
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