IJSRD - International Journal for Scientific Research & Development| Vol.

4, Issue 02, 2016 | ISSN (online): 2321-0613

Autonomous Surface Cleaning Robot Embedded with AT89S52
Nish Radadiya1 Mittika Hirani2 Dolly Suba3 Ekta Tank4 Dipak Vaniya5
1,2,3,4,5
Department of Electronics and Communication Engineering
1,2,3,4,5
S Dr. Subhash Technical Campus, Junagdh-362001, Gujrat, India
Abstract— Households of today are becoming smarter and
more automated. Due to hard and fast technology recently
people becomes so busy, they have no more time for cleaning
their floor. Here we have an idea for construct a robot, which
can be used for cleaning purpose. The robotic movement
controlled by stepper motor. Here micro controller is used to
drive a stepper motor to control movement of robot.
Autonomous intelligent robots are robot that can performed
desired tasks in unstructured environments without
continuous human guidance. the goals were present a
conceptual solution that provides the user with automated
vacuum cleaning and moping of floor.it has an infrared sensor
is used to sense.
Key words: Robot, DC Motor, Surface Cleaner, Obstacle
Detection

Fig.1 is the Block Diagram, Represents the Basic
Working String of Our Robot. The LDR Sensor That Used
To Detect the Obstacle in Path. This Instruction Sends to The
Microcontroller. Microcontroller Sends Command To The
Motors To Move The Left Direction. At Every Object The
Robot Moves In Left Direction And Avoids Striking With It.
When Stairs Are Downwards And Can’t Detect By The
Obstacle Sensor At That Time Anti-Falling System Is Used.
The Cliff Sensor Is Used To Avoid Falling From Downward
Stairs. There are 3 LDR used to detect the obstacle and .it
places at 3 sides, front, left and right as shown in fig.1. If two
sensor is cut at one time the robot will off and stop working.it
states that the cleaning is completed. There are two modes to
select the cleaning direction in room.

I. INTRODUCTION

In fig.2, whenever, an Obstacle Senor Got an Obstacle In
Between Its Way the IR Rays Reflects in a Certain Angle. As
They Are Placed Side By Each. Have Used Two DC Motors
To Give Motion To The Robot. The Construction Of The
Robot Circuit Is Easy And Small. There Are 3 LDR
Connected With Microcontroller.4 Motors Are Used To Run
The Wheel. And Vacuum Cleaner Is Connected Parallel With
The Wheels. When Any 1 LDR Is Cut By Detection Of
Obstacle It Automatically Turn To Other Direction. But
When Two LDR Is Cut At One Time, The Robot Is Turn Off
.And Accept That Room Is This project model work is based
on microcontroller AT89S52 and coding is done in ‘C’
programming.

II. CIRCUIT DIAGRAM
Now a day’s Robotics is part of today’s communication &
communication is part of advancement of technology, so we
decided to work on ROBOTICS field, and design something
which will make human life today’s aspect. This project deals
the maximum area. This robot uses LDR sensor to detect the
obstacle in between the path and then avoid them to complete
its objective. In such a way the robot is able to detect
obstacles of provided space and able to avoid obstacles
coming in between the path of Command to the Motors to
Move the Left Direction. At Every Object The Robot Moves
In Left Direction And Avoids Striking With It. When Stairs
Are Downwards And Can’t Detect By The Obstacle Sensor
At That Time Anti-Falling System Is Used. The Cliff Sensor
Is Used To Avoid Falling From Downward Stairs. There are
3 LDR used to detect the ROBOT with the help
microcontroller board and complete its journey.
With a wheeled autonomous ROBOT. It is the part
of Automation; Robot has sufficient intelligence to cover.

Fig. 1: Block Diagram

Fig. 2: Circuit diagram
we have three different coding for front left and right
direction moment of robot and use 3 LDR for obstacle
detection and IR sensor for anti-falling edge detection. This
robot is very easy to upgrade as per the requirement of the
user. It can be perform different task by using different
techniques. In future these types of robots will be used to
reduce labour work. I.e. cleaning, mopping etc...

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Autonomous Surface Cleaning Robot Embedded with AT89S52
(IJSRD/Vol. 4/Issue 02/2016/153)

Fig. 3: Working Model
III. FUTURE SCOPE
This project model work is based on microcontroller
AT89S52 and coding is done in ‘C’ programming. we have
three different coding for front left and right direction
moment of robot and use 3 LDR for obstacle detection and IR
sensor for anti-falling edge detection. This robot is very easy
to upgrade as per the requirement of the user. It can be
perform different task by using different techniques. In future
these types of robots will be used to reduce labour work. I.e.
cleaning, mopping etc...
IV. CONCLUSION
After the experience of this working model of
“AUTONOMOUS SURAFCE CLEANING ROBOT” we are
perfectly able to clean the surface easily. This robot is
reducing labour work and improve the quality of cleaning.
For the purpose of concept of clean India Our project will be
useful in future.
ACKNOWLEDGMENT
We am also thankful to Director, Head of Department of
Electronics and Communication Engineering for cooperation
and support to complete this work. I would also like to
express my thanks to DSTC, JUNAGADH providing
necessary facilities. I would also convey my thanks to HOD,
staff members and lab technicians of Department of
Electronics and Communication Engineering for their
continues support.
REFERENCES
[1] Joseph L. Jones “Autonomous Floor Cleaning Robot”
(Us 8656550 B2):
Link: Https://Www.Google.Com/Patents/Us6594844
[2] Robot Having An Obstacle Detection Unit And Method
Of Controlling The Same (Us 7,602,133 B2):
Link: http://www.google.co.in/patents/US7602133
[3] Joseph L. Jones “Robot Obstacle Detection System” (Us
6,594,844
B2):
Link:
Https://Www.Google.Com/Patents/Us6594844
[4] Tadashi Matsudo “Vacuum Cleaner And Method Of
Determining Type Of Floor Surface Being Cleaned
Thereby”
(5,144,715):
Link:
Https://Www.Google.Com/Patents/Us5144715

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