House Keeping Robot

ABSTRACT
The goal of this project is to make a robot that can be used in houses for many useful purposes such as Cleaning, Serving, Security purpose, Automated hauling (carry dishes and small loads from room to room) and also for the hazard detection in the house. It can be also used to operate in industries where there is risk of chemical substances which can endanger the condition of human being. The robot has inbuilt vacuum cleaner that is used to clean the house automatically. So that once the command is provided to the robot it will do its job. Sensors are used to detect the obstacles while cleaning. The robot will have two arms like human being, and a gripper attached to the arm for picking and placing objects. It will also have a camera for security purpose, so that when a person is not in his house he can still watch what is happening in his home. Thus would act as a spy robot. The robots mobility would allow more areas in the home to be protected The robot can also be used for hazard detection such as release of L.P.G gas, Fire, Smoke etc. Every night the robot can make rounds to ensure that everything is okay.

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1. INTRODUCTION
1.1 LITERATURE SURVEY
Even though the market size is still small at this moment, applied fields of robots are gradually spreading from the manufacturing industry to the others in recent years. One can now easily expect that applications of robots will expand into the first and the third industrial fields as one of the important components to support our society in the 21st century. There also raises strong anticipations in many countries that robots for the personal use will coexist with humans and provide supports such as the assistance for the housework, care of the aged and the physically handicapped, since Japan is the fastest aging society in the world. Service robots are emerging from the laboratory as commercial products. Floor cleaning, material transporting in radioactive and other hostile environments and security robots are some of the facets of a service robot. This project focuses on one such service robot for housekeeping purposes, the concept and a design aspect of the developed robot is presented. The design philosophy that emphasizes compromise and practicality in design is being explained. This philosophy is used in the design and integration of a housekeeping robot system and sensor systems to provide new functionality for the user. The robot navigation problem is solved through a hybrid sensor system. The developed robot system comprises of a mobile platform, hybrid sensor system and a gripper system. This synopsis also discusses the design concepts and realization of a housekeeping robot to perform picking and placing tasks.

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1.2 Need of a House Keeping Robot:

Often, robots are used to do jobs that could be done by humans. However, there are many reasons why robots may be better than humans in performing certain tasks. Speed Robots may be used because they are FASTER than people at carrying out tasks. This is because a robot is really a mechanism which is controlled by a computer - and we know that computers can do calculations and process data very quickly. Some robots actually MOVE more quickly than we can, so they can carry out a task, such as picking up and inserting items, more quickly than a human can. Hazardous (dangerous) Environments Robots may be used because they can work in places where a human would be in danger. For example, robots can be designed to withstand greater amounts of heat radiation, chemical fumes
Than humans could.

Efficiency Efficiency is all about carrying out tasks without waste. This could mean not wasting time not wasting materials not wasting energy

Repetitive Tasks

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Sometimes robots are not really much faster than humans, but they are good at simply doing the same job over and over again. This is easy for a robot, because once the robot has been programmed to do a job once, the same program can be run many times to carry out the job many times. And the robot will not get bored as a human would. Accuracy Accuracy is all about carrying out tasks very precisely. assembled, a robot can position parts within fractions of a millimetre. Adaptability Adaptability is where a certain robot can be used to carry out more than one task. A simple example is a robot being used to weld car bodies. If a different car body is to be manufactured, the program which controls the robot can be changed. The robot will then carry out a different series of movements to weld the new car body In a factory

manufacturing items, each item has to be made identically. When items are being

1.3 BLOCK DIAGRAM:

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1.4 OVERVIEW OF BLOCK DIAGRAM:

The different units present in the block diagram are as follows:5|Page

House Keeping Robot Automatic vacuum cleaner

Robotic arm and its control circuitry

Input section : Voice recognition module Robotic control through mobile using DTMF RF control Hazard detection unit. Output section LCD display Buzzer Voice recording and playback Transmitter section. Power supply unit

2. DESCRIPTION OF DIFFERENT SECTIONS 2.1 Automatic Vacuum cleaning unit:6|Page

House Keeping Robot The main function of this unit is to automatically clean the house with the help of an inbuilt vacuum cleaner that is attached to the base of the robot. The basic block diagram of automatic vacuum cleaner is as shown below

The movement of the robot is achieved by using a D.C motor which is used in differential drive as explained below Differential drive is a method of controlling a robot with only two motorized wheels. What makes this algorithm important for a robot builder is that it is also the simplest control method for a robot. The term 'differential' means that robot turning speed is determined by the speed difference between both wheels, each on either side of your robot. to drive straight both wheels move forward at same speed to drive reverse both wheels move back at same speed to turn left the left wheel moves in reverse and the right wheel moves forward to turn right the right wheel moves in reverse and the left wheel moves forward The DC motors used in this robot is a permanent magnet geared DC Motors that has a speed of 60r.p.m and has a torque of 10kg-cm for a single DC motor. Thus we have a total torque of 20kg because of two motors.
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House Keeping Robot Once the clean mode is selected the microcontroller switches ON the vacuum cleaner with the help of a relay. The relay is interfaced with the microcontroller by the help of Darlington pair IC uln 2803. The robot identifies the obstacles with the help of an obstacle detection sensor which is nothing but the infrared sensor. Three sensors are used one is attached in the front and the either two sensors are attached in the right and left side of the robot. Whenever the sensor is interrupted by a wall or a obstacle it interrupts the microcontroller, now depending on the input from the sensor the corresponding motors are rotated to achieve the desired turn. For example when a front and right side sensors are interrupted the motor is driven to take a left turn by the microcontroller. In this way any type of movement can be achieved depending on the state of the sensor output. The clean mode can be started with the help of a voice command, or control from the handheld remote or through mobile phone. The time required for cleaning can also be set by the microcontroller.

2.2 Robotic arm and its control circuitry:-

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In this project we use two robotic arm that has a gripper attached to it. Each robotic arm has 4 servo motors for 4 degree of freedom and 1 servo motor for the gripper. Each servo motor is controlled by the microcontroller which receives command from the master microcontroller. The main function of the robotic arm is for picking and placing objects from one place to another.

Degrees of Freedom (DOF):The degrees of freedom,or DOF, is a very important term to understand. Each degree of freedom is a joint on the arm, a place where it can bend or rotate or translate. we can typically identify the number of degrees of freedom by the number of actuators on the robot arm. The actuators are the servo motors which are responsible for the movement. The robotic arm with 4 DOF is as shown below:

The basic block diagram is as shown below:9|Page

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The microcontroller drives the servo motor with the help of a driver which nothing but a buffer IC that is used to prevent the loading effect of the microcontroller since the source current of the microcontroller is very less as compared to current required by servo motor.

What are Servo Motors?

Servo refers to an error sensing feedback control which is used to correct the performance of a system. Servo or RC Servo Motors are DC motors equipped with a servo mechanism for precise control of angular position. The RC servo motors usually have a rotation limit from 90 to 180. Some servos also have rotation limit of 360 or more. But servos do not rotate continually. Their rotation is restricted in between the fixed angles. Servo Wiring All servo motor will have three wires: Black or Brown is for ground. Red is for power (~4.8-6V). Yellow, Orange, or White is the signal wire (3-5V). Servo Voltage (Red and Black/Brown wires) Servos can operate under a range of voltages. Typical operation is from 4.8V to 6V. There are a few micro sized servos that can operate at less, and now a few Hitec servos that operate at much more. The reason for this standard range is because most microcontrollers and RC receivers operate near this voltage. So what voltage should you operate at? Well, unless you have abattery voltage/current/power limitation, you should operate at 6V. This is simply because DC motors have higher torque at higher voltages.

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Signal Wire (Yellow/Orange/White wire) While the black and red wires provide power to the motor, the signal wire is what you use to command the servo. The general concept is to simply send an ordinary logic square wave to your servo at a specific wave length, and your servo goes to a particular angle (or velocity if your servo is modified).The wavelength directly maps to servo angle. The standard time vs. angle is represented in this chart:

Servo Current Servo current operates the same as in a DC motor, except that you now also have a hard to predict feedback control system to contend with. If your DC motor is not at the specified angle, it will suddenly draw huge amounts of current to reach that angle. But there are other peculiarities as well. If you run an experiment with a servo at a fixed angle and hang precision weights from the servo horn, the measured current will not be what you expect. One would think that the current would increase at some fixed rate as the weights increased linearly. Instead you will get unpredictable curves and multiple rates.

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Gear Types:More expensive servos come with metal gears for higher torque and longer life, followed by karbonite and then nylon gears for the cheapest. Nylon Gears - Nylon gears are most common in servos. They are extremely smooth with little or no wear factors. They are also very lightweight, but lack in durability and strength. Karbonite Gears - Karbonite gears are relatively new to the market. They offer almost 5 times the strength of nylon gears and also better wear resistance. Cycle times of well over 300,000 have been observed with these gears with virtually no wear. Servos with these gears are more expensive but what you get in durability is more than equaled. Metal Gears - Metal gears have been around for sometime now. Although the heaviest and having the highest wear rate of all gear types, they offer unparalleled strength. With a metal output shaft, side-loads can be much greater. Ever had a nylon output shaft crack? I have. In applications that are jarred around, metal gears are best. Unfortunately, due to wear, metal gears will eventually develop slight play in the geartrain. Accuracy will slowly be lost.

Velocity The servo turn rate, or transit time, is used for determining servo rotational velocity. This is the amount of time it takes for the servo to move a set amount, usually
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60 degrees. For example, suppose you have a servo with a transit time of 0.17sec/60 degrees at no load. This means it would take nearly half a second to rotate an entire 180 degrees. More if the servo were under a load. This information is very important if high servo response speed is a requirement of your robot application. It is also useful for determining the maximum forward velocity of your robot if your servo is modified for full rotation. Remember, the worst case turning time is when the servo is at the minimum rotation angle and is then commanded to go to maximum rotation angle, all while under load. This can take several seconds on a very high torque servo.

Efficiency and Noise Due to noise and control circuitry requirements, servos are less efficient than DC motors uncontrolled. To begin with, the control circuitry typically drains 5-8mA just on idle. Secondly, noise can more than triple current draw during a holding position (not moving), and almost double current during rotation. Noise is often a major source of servo inefficiency and therefore should be avoided. Ever notice your servo jitter or vibrate? This is because your servo is rapidly jumping between two different angles due to interference. What causes this interference? Well the signal wire is no different than a long antennae, capable of accepting unwanted foreign signals and sending them straight to your servo as a command. A common interference source is usually from other nearby servos and/or servo wiring. How to prevent this problem? Keep your signal wire short, meaning do not add say 3+ feet of extension cables to your servo. If you have many servo wires going through one area, and it isn't feasible to keep them apart, then twist them together. Supposedly this reduces cross interference and I've heard it works, although I cannot

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really tell for sure myself. You can also buy something called a servo booster extension which buffers and amplifies the signal.

2.3 INPUT SECTION UNIT:The movement of the robot can be controlled either by voice command, or from the remote control, or by the mobile phone. It can also be controlled automatically with the help of the sensor attached to it. The different parts in the input section unit are as follows: Voice recognition module Robotic control through mobile using DTMF RF control

2.3.1

Voice recognition module:

The heart of the Voice Recognition Module is the Speech Recognition IC

HM2007. The HM2007 is a CMOS voice recognition LSI (Large Scale Integration) circuit. The chip contains an analog front end, voice analysis, regulation, and system control functions. The chip may be used in a stand alone or CPU connected. The voice recognition module is completely assembled and easy to use programmable speech recognition circuit. Programmable, in the sense that you train the words (or vocal utterances) you want the circuit to recognize. This board allows you to experiment with many facets of speech recognition technology. It has 8 bit data out which is interfaced with the microcontroller. Some of interfacing applications which can be made are controlling robotics movements, Speech Assisted technologies, Speech to text translation, and many more.

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The circuit will accept and recognize up to 20 words (numbers 1 through 20). It is not necessary to train all word spaces. If you only require 10 target words thats all you need to train. The time period for each word length is around 1.92 seconds.

Features Self-contained stand alone speech recognition circuit User programmable Up to 20 word vocabulary of duration two second each Non-volatile memory back up with 3V battery onboard. Would keep the speech recognition data in memory even when power is OFF Easily interfaced to control external circuits & appliances Specification: Input Voltage - 9 to 15 V DC Output Data - 8 bits at 5V Logic Level Using the System: The keypad and digital display are used to communicate with and program the HM2007 chip. The keypad is made up of 12 normally open momentary contact switches. When the circuit is turned on, 00 is on the digital display, the red LED (READY) is lit and the circuit waits for a command. Training Words for Recognition: Press 1 (display will show 01 and the LED will turn off) on the keypad, then press the TRAIN key ( the LED will turn on) to place circuit in training mode, for word one. Say the target word into the onboard microphone (near LED) clearly. The circuit
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signals acceptance of the voice input by blinking the LED off then on. The word (or utterance) is now identified as the 01 word. If the LED did not flash, start over by pressing 1 and then TRAIN key. You may continue training new words in the circuit. Press 2 then TRN to train the second word and so on. The circuit will accept and recognize up to 20 words (numbers 1 through 20).

Testing Recognition: Repeat a trained word into the microphone. The number of the word should be displayed on the digital display. For instance, if the word directory was trained as word number 20, saying the word directory into the microphone will cause the number 20 to be displayed. Error Codes: The chip provides the following error codes. 55 = word to long 66 = word to short 77 = no match Clearing Memory: To erase all words in memory press 99 and then CLR. The numbers will quickly scroll by on the digital display as the memory is erased. Changing & Erasing Words: Trained words can easily be changed by overwriting the original word. For instances suppose word six was the word Capital and you want to change it to the word State. Simply retrain the word space by pressing 6 then the TRAIN key and saying the word State into the microphone. If one wishes to erase the word without replacing it with another word press the word number (in this case six) then press the CLR key. Word six is now erased.
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Simulated Independent Recognition: The speech recognition system is speaker dependant, meaning that the voice that trained the system has the highest recognition accuracy. But you can simulate independent speech recognition. To make the recognition system simulate speaker independence one uses more than one word space for each target word. Now we use four word spaces per target word. Therefore we obtain four different enunciations of each target word. (speaker independent). The word spaces 01, 02, 03 and 04 are allocated to the first target word. We continue do this for the remaining word space. For instance, the second target word will use the word spaces 05, 06, 07 and 08. We continue in this manner until all the words are programmed. If you are experimenting with speaker independence use different people when training a target word. This will enable the system to recognize different voices, inflections and enunciation's of the target word. The more system resources that are allocated for independent recognition the more robust the circuit will become. If you are experimenting with designing the most robust and accurate system possible, train target words using one voice with different inflections and enunciation's of the target word. Homonyms are words that sound alike. For instance the words cat, bat, sat and fat sound alike. Because of their like sounding nature they can confuse the speech recognition circuit. While choosing target words for your system dont use homonyms. The Voice with Stress & Excitement: Stress and excitement alters ones voice. This affects the accuracy of the circuits recognition. For instance assume you are sitting at your workbench and you program the target words like fire, left, right, forward, etc., into the circuit. Then you use the circuit to control a flight simulator game, Doom or Duke Nukem. Well, when youre playing the game youll likely be yelling FIRE! Fire! ...FIRE!! ...LEFT go RIGHT!. In the heat of the action youre voice will sound much different than when you were sitting down relaxed and
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programming the circuit. To achieve higher accuracy word recognition one needs to mimic the excitement in ones voice when programming the circuit. These factors should be kept in mind to achieve the high accuracy possible from the circuit. This becomes increasingly important when the speech recognition circuit is taken out of the lab and put to work in the outside world. Error Codes: When interfacing the external circuit through its data bus, The decoding circuit must recognize the word numbers from error codes. So the circuit must be designed to recognize error codes 55, 66 and 77 and not confuse them with word spaces 5, 6 and 7. Voice Security System This circuit isnt designed for a voice security system in a commercial application, but that should not prevent anyone from experimenting with it for that purpose. A common approach is to use three or four keywords that must be spoken and recognized in sequence in order to open a lock or allow entry. Aural Interfaces Its been found that mixing visual and aural information is not effective. Products that require visual confirmation of an aural command grossly reduces efficiency. To create an effective AUI products need to understand (recognize) commands given in an unstructured and efficient methods. The way in which the people typically communicate verbally. Learning to Listen The ability to listen to one person speak among several at a party is beyond the capabilities of todays speech recognition systems. Speech recognition systems can not (as of yet) separate and filter out what should be considered extraneous noise. Speech recognition does not understand speech. Understanding the meaning of words is a
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higher intellectual function. Because a circuit can respond to a vocal command doesnt mean it understands the command spoken. In the future, voice recognition systems may have the ability to distinguish nuances of speech and meanings of words, to Do what I mean, not what I say!

Speaker Dependent / Speaker Independent: Speech recognition is divided into two broad processing categories; speaker dependent and speaker independent. Speaker dependent systems are trained by the individual who will be using the system. These systems are capable of achieving a high command count and better than 95% accuracy for word recognition. The drawback to this approach is that the system only responds accurately only to the individual who trained the system. This is the most common approach employed in software for personal computers. Speaker independent is a system trained to respond to a word regardless of who speaks. Therefore the system must respond to a large variety of speech patterns, inflections and enunciation's of the target word. The command word count is usually lower than the speaker dependent however high accuracy can still be maintain within processing limits. Industrial applications more often require speaker independent voice recognition systems. Recognition Style: In addition to the speaker dependent/independent classification, speech recognition also contends with the style of speech it can recognize. They are three styles of speech: isolated, connected and continuous. Isolated: Words are spoken separately or isolated. This is the most common speech recognition system available today. The user must pause between each word or command spoken. Connected: This is a half way point between isolated word and continuous speech recognition. It permits users to speak multiple words. The HM2007 can be set up to identify words or phrases 1.92 seconds in length. This reduces the word recognition dictionary number to 20. Continuous: This is the natural conversational speech we use to in everyday life. It is
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extremely difficult for a recognizer to sift through the sound as the words tend to merge together.

2.3.2 Robotic control through mobile using DTMF:Conventionally, wireless controlled robots user circuits, which have a drawback of limited working range, limited frequency range and limited control. Use of mobile phones for robotic control can overcome these limitations. It provides the advantages of robust control, working range as large as the coverage area of the service provider, no interference with other controllers and up to twelve controls.

The basic block diagram is as shown below:

In the project the robot is controlled by a mobile phone that makes a call to the mobile phone attached to the robot. In the course of a call, if any button is pressed a tone corresponding to the button pressed is heard at the other end called Dual Tone Multiple frequency (DTMF) tone. The robot receives these tones with help of phone stacked in the robot. The received tone is processed by the microcontroller with the help

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of DTMF decoder IC MT 8870. This IC sends a signal to the motor driver IC l298d which drives the motor forward, reverseetc

Dual-Tone Multi-Frequency (DTMF) Dual-tone multi-frequency (DTMF) signaling is used for telephone signaling over the line in the voice-frequency band to the call switching center. The version of DTMF used for telephone tone dialing is known by the trademarked term Touch-Tone, and is standardised by ITU-T Recommendation Q.23. Other multi-frequency systems are used for signaling internal to the telephone network.
Keypad

The DTMF keypad is laid out in a 44 matrix, with each row representing a low frequency, and each column representing a high frequency. Pressing a single key such as '1' will send a sinusoidal tone of the two frequencies 697 and 1209 hertz (Hz). The original keypads had levers inside, so each button activated two contacts. The multiple tones are the reason for calling the system multifrequency. These tones are then decoded by the switching center to determine which key was pressed.
1209 Hz 1 4 7 * 1336 Hz 2 5 8 0 1477 Hz 3 6 9 # 1633 Hz A B C D

697 Hz 770 Hz 852 Hz 941 Hz

The M-8870 is a full DTMF Receiver that integrates both band split filter and decoder functions into a single 18-pin DIP or SOIC package. Manufactured using
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CMOS process technology, the M-8870 offers low power consumption (35 mW max) and precise data handling. Its filter section uses switched capacitor technology for both the high and low group filters and for dial tone rejection. Its decoder uses digital counting techniques to detect and decode all 16 DTMF tone pairs into a 4-bit code. External component count is minimized by provision of an on-chip differential input amplifier, clock generator, and latched tri-state interface bus. Minimal external components required include a low-cost 3.579545 MHz color burst crystal, a timing resistor, and a timing capacitor. The M-8870-02 provides a power-down option which, when enabled, drops consumption to less than 0.5 mW. The M-8870-02 can also inhibit the decoding of fourth column digits The output of the decoder IC depending upon the input from the mobile which produces a dual tone can be shown as follows:

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From the above table it can be said that when a key no. 2 is pressed from the mobile phone the decoder IC generates the four bit digital data output corresponding to the mobile key no. 2 that is 0010. The digital data is now fed to microcontroller to the required task.

2.3.3 RF TRANSMITTER AND RECEIVER SECTION:

The RF receiver and transmitter is used to control the robot using a remote control which is the RF transmitter. The robotic movement can be changed with the help of the hand held remote control which uses a RF module. The RF Module works at the frequency of 434Mhz. The basic block diagram of transmitter and receiver section is as shown below:

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In the transmitter unit data is provided from the switches therefore the data is in parallel form so this data should be converted into serial form. This can be achieved with the help of an encoder, Hence Holtek encoder is used i.e. HT12E the output of the HT12E IC is in serial form. It has a 12bit data output which comprises of 8 address bits and four data bits. The serial data is then transmitted through the transmitter RF module TWS 434. The module uses the Amplitude shift keying of the digital data and is then transmitted in the space. The range of the transmission can be achieved at around 200 meters with the help of an antenna at a height of 30cm. In the Receiver unit the antenna receives the signal of the frequency 434Mhz, the receiver module RWS 434 converts the received signal into digital form which is then decoded into data bits with the help of an decoder IC HT12D. The decoder IC receives
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the data in serial form and converts the data in parallel form the data is then fed to the microcontroller for further processing such as moving the robot or selecting a particular mode of operation.

2.4 Hazard detection unit:The main purpose of the hazard detection unit is to alert during some hazardous conditions such as release of LPG gas, fire, release of smoke etc. For this purpose different types of sensors are used in the robot.

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The release of LPG gas can be detected with the help of a sensor called TGS 2600, where the sensing element is comprised of a metal oxide semiconductor layer formed on an alumina substrate of a sensing chip together with an integrated heater. In the presence of a detectable gas, the sensor's conductivity increases depending on the gas concentration in the air. A simple electrical circuit can convert the change in conductivity to an output signal which corresponds to the gas concentration. The TGS 2600 has high sensitivity to low concentrations of gaseous air contaminants such as hydrogen and carbon monoxide which exist in cigarette smoke. The sensor can detect hydrogen at a level of several ppm. Figaro also offers a microprocessor (FIC02667) which contains special software for handling the sensor's signal for appliance control applications. Due to miniaturization of the sensing chip, TGS 2600 requires a heater current of only 42mA and the device is housed in a standard TO-5 package. When LPG Gas releases the Robot alerts by providing a siren sound this happens since the release of gas makes the resistance of the sensor low due to which it provides a signal to the microcontroller and the microcontroller switches on the buzzer

Features: Low power consumption High sensitivity to gaseous air contaminants Long life and low cost Uses simple electrical circuit

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Small size

2.4.2 Fire detection:The fire can be detected with the help of a thermistor PT 100, the Platinum resistance thermometers (PRTs) offer excellent accuracy over a wide temperature range (from-200 to +850 C). Standard Sensors are are available from many manufacturers with various accuracy specifications and numerous packaging options to suit most applications. Unlike thermocouples, it is not necessary to use special cables to connect to the sensor. The principle of operation is to measure the resistance of a platinum element. The most common type (PT100) has a resistance of 100 ohms at 0 C and 138.4 ohms at 100 C. There are also PT1000 sensors that have a resistance of 1000 ohms at 0 C. The relationship between temperature and resistance is approximately linear over a small temperature range: for example, if you assume that it is linear over the 0 to 100 C range, the error at 50 C is 0.4 C. For precision measurement, it is necessary to linearise the resistance to give an accurate temperature. The most recent definition of the relationship between resistance and temperature is International Temperature Standard 90 (ITS-90).

This linearisation is done automatically, in software, when using Pico signal conditioners. The linearisation equation is: Rt = R0 * (1 + A* t + B*t2 + C*(t-100)* t3) Where:

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Rt is the resistance at temperature t, R0 is the resistance at 0 C, and A=3.9083 E-3 B = -5.775 E-7 C = -4.183 E -12 (below 0 C), or C = 0 (above 0 C) For a PT100 sensor, a 1 C temperature change will cause a 0.384 ohm change in resistance, so even a small error in measurement of the resistance (for example, the resistance of the wires leading to the sensor) can cause a large error in the measurement of the temperature. For precision work, sensors have four wires- two to carry the sense current, and two to measure the voltage across the sensor element. It is also possible to obtain three-wire sensors, although these operate on the (not necessarily valid) assumption that the resistance of each of the three wires is the same. The current through the sensor will cause some heating: for example, a sense current of 1mA through a 100 ohm resistor will generate 100 W of heat. If the sensor element is unable to dissipate this heat, it will report an artificially high temperature. This effect can be reduced by either using a large sensor element, or by making sure that it is in good thermal contact with its environment. Using a 1mA sense current will give a signal of only 100 mV. Because the change in resistance for a degree celsius is very small, even a small error in the measurement of the voltage across the sensor will produce a large error in the temperature measurement. For example, a 100 V voltage measurement error will give a 0.4 C error in the temperature reading. Similarly, a 1 A error in the sense current will give 0.4 C temperature error. Because of the low signal levels, it is important to keep any cables away from electric cables, motors, switchgear and other devices that may emit electrical noise. Using screened cable, with the screen grounded at one end, may help to reduce interference. When using long cables, it is necessary to check that the measuring equipment is capable of handling the resistance of the cables. Most equipment can cope with up to 100 ohms per core.
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The type of probe and cable should be chosen carefully to suit the application. The main issues are the temperature range and exposure to fluids (corrosive or conductive) or metals. Clearly, normal solder junctions on cables should not be used at temperatures above about 170 C. The sensor can also be used to show the room temperature with the help of a LCD display.

2.4.3 Smoke Detector:The smoke detector can built using a LDR and LED, normally light falls on the LDR. The LED and LDR are enclosed in a small box with a window present on it. When the smoke gets filled into this gap it interrupts the light falling on the LDR due to which the resistance of the LDR becomes very high and this provides a change in voltage to the microcontroller port and the microcontroller indicates by switching on the buffer.

2.5 OUTPUT SECTION:

The output section consists of the LCD Display which is a 16character X 2line display used to indicate the modes selected, the clock time, room temperature. Etc. The LCD Display mainly consists of two RAM 1) Display Data RAM (DDRAM)
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2) Character Generator RAM (CGRAM)-User defined character RAM Display Data RAM (DDRAM) Display data RAM (DDRAM) is where you send the characters (ASCII code) you want to see on the LCD screen. It stores display data represented in 8-bit character codes. Its capacity is 80 characters (bytes). Below you see DD RAM address layout of a 2*16 LCD.

In the above memory map, the area shaded in black is the visible display (For 16x2 display). For first line addresses for first 15 characters is from 00h to 0Fh. But for second line address of first character is 40h and so on up to 4Fh for the 16th character. So if you want to display the text at specific positions of LCD, we require to manipulate address and then to set cursor position accordingly. Character Generator RAM (CGRAM)-User defined character RAM In the character generator RAM, we can define our own character patterns by program. CG RAM is 64 bytes, allowing for eight 5*8 pixel, character patterns to be defined. However how to define this and use it is out of scope of this tutorial. So I will not talk any more about CGRAM Registers The HD44780 has two 8-bit registers, an instruction register (IR) and a data register (DR). The IR stores instruction codes. The DR temporarily stores data to be written into DDRAM or CGRAM and temporarily stores data to be read from DDRAM or CGRAM. Data written into the DR is automatically written into DDRAM or CGRAM

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by an internal operation. . These two registers can be selected by the register selector (RS) signal. See the table below: Register Selection RS 0 0 1 1 R/W Operation 0 1 0 1 IR write as an internal operation (display clear, etc.) Read busy flag (DB7) and address counter (DB0 to DB6) DR write as an internal operation (DR to DDRAM or CGRAM) DR read as an internal operation (DDRAM or CGRAM to DR)

Busy Flag (BF) When the busy flag is 1, the LCD is in the internal operation mode, and the next instruction will not be accepted. When RS = 0 and R/W = 1 (see the table above), the busy flag is output to DB7 (MSB of LCD data bus). The next instruction must be written after ensuring that the busy flag is 0.

LCD Commands The LCDs internal controller accept several commands and modify the display accordingly. These commands would be things like: Clear screen Return home Shift display right/left

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Instruction Function set (8-bit interface, 2 lines, 5*7 Pixels) Function set (8-bit interface, 1 line, 5*7 Pixels) Function set (4-bit interface, 2 lines, 5*7 Pixels) Function set (4-bit interface, 1 line, 5*7 Pixels) Entry mode set Scroll display one character right (all lines) Scroll display one character left (all lines) Home (move cursor to top/left character position) Move cursor one character left Move cursor one character right Turn on visible underline cursor Turn on visible blinking-block cursor Make cursor invisible Blank the display (without clearing) Restore the display (with cursor hidden) Clear Screen Set cursor position (DDRAM address) Set pointer in character-generator RAM (CG RAM address) Decimal 56 48 40 32 See Below 28 24 2 16 20 14 15 12 8 12 1 128 + addr 64 + addr HEX 38 30 28 20 See Below 1E 18 2 10 14 0E 0F 0C 08 0C 01 80+ addr 40+ addr

Entry mode set This command sets cursor move direction and display shift ON/OFF. There are 4 possible function set commands;04, 05, 06, and 07. This command changes the direction the cursor moves by setting the address counter to increment or decrement. This command is very important. If you do not understand it you may not see anything or what you actually wanted to see on LCD screen. I have created 4 animated gifs to demonstrate what the function set command is all about.

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Set cursor position (DDRAM address) As said earlier if we want to display the text at specific positions of LCD, we require to manipulate address and then to set cursor position accordingly. If we want to display "Hi WELCOME" at the right corner of first line then I should start from 10th character , So referring to table 80h+0Ah= 8Ah.

2.6 POWER SUPPLY UNIT:The power supply unit consists of battery and a regulator IC to provide constant voltage for all the circuits employed in the robot. It also provides supply to the Vacuum cleaner and all the motors.

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The operating time of the robot is determined by the battery used in the robot, so the battery should be selected properly. The battery selection is done according to the power consumed by the motors and the circuits used in the project then depending on the battery backup required the Ampere-hour rating is selected. A 2000mAH (= 2.0 AH) battery pack can power a robot with two drive motors drawing 1A each continuously for up to 1 hour. Similarly, it can power a robot with two drive wheels each consuming 0.5A for 2 hours (0.5 * 2 * 2). Usually, higher capacity battery packs are physically larger. An important note is that battery packs rated at a specific capacity are not always intended to be used at the maximum discharge rate. For example, a battery pack rated at 5AH should not necessarily be discharged at 5A for 1 hour. It is suggest to add 20 to 40 percent extra capacity whenever possible, so if your project requires 5A continuously, you should select a pack rated at 5AH * 1.4 = 7AH. Remember to always check the rated peak discharge rate as motors that are starting up consume significantly more current (around stall current) when starting than when in operation. Since most of the circuits enclosed operate on 5V, it is necessary to provide a regulated 5v D.C. voltage. This can be achieved with the help of a linear voltage regulator IC 7805 which is a voltage regulator integrated circuit. It is a member of 78xx series of fixed linear voltage regulator ICs. The voltage source in a circuit may have fluctuations and would not give the fixed voltage output. The voltage regulator IC maintains the output voltage at a constant value. The xx in 78xx indicates the fixed output voltage it is designed to provide. 7805 provides +5V regulated power supply. Capacitors of suitable values can be connected at input and output pins depending upon the respective voltage levels.

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3. MECHANICS
The chassis of the robot plays an important role in determining the performance of the robot, the chassis must be designed in such a way that it is light in weight, should have good rigidity as well. We selected aluminium for this purpose since it is light in weight and has a good rigidity, Aluminium is remarkable for the metal's low density and for its ability to resist corrosion due to the phenomenon of passivation. It is easy to work with Aluminium since it is easier to cut and drill holes. The frame of our project is done using aluminium where we used Langles of 1.5inch X 1.5inch of size as shown in figure The photograph of the chassis done by us is as shown below:
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4. BIBLIOGRAPHY
Websites:
www.societyofrobots.com www.robotshop.com www.8051projects.info www.nskelectronics.com

en.wikipedia.org
www.8051projects.net www.engineersgarage.com www.alldatasheetsforu.com

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