Contents

What is A Robot?.......................................................................................................................... 2
Vacuum Cleaner Robot ............................................................................................................... 3
Historical Development of Robots ............................................................................................ 4
Advantages and Disadvantages of Robots and Automation: ............................................... 6
Project Scope ................................................................................................................................. 7
Design Characteristics ................................................................................................................. 7
Conclusion .................................................................................................................................... 8
Robots in the Last 50 Year......................................................................................................... 10
The first robots........................................................................................................................ 11
What Exactly Is an Arduino?.................................................................................................... 30
The Arduino IDE ........................................................................................................................ 34
Motor Driving IC L239D ........................................................................................................... 35
DC Motor..................................................................................................................................... 36
IR Sensor ...................................................................................................................................... 37
Ultrasonic Sensor ....................................................................................................................... 38
What is A Robot?

Robot is defined in oxford dictionary as “A robot is a machine—especially one

programmable by a computer— capable of carrying out a complex series of actions

automatically.” A robot can be in various forms and shapes. It can be humanoid

resembling humans; or just a simple

machine which can perform

repeatable tasks without getting tired

or clumsy.

The main attribute of a modern robot

is that it can be controlled externally

or the control mechanism can be

embedded within the robot itself.

Modern robots are mainly designed

to replace humans in environments

where humans may be at risk or

simply cannot accomplish the given

task successfully due to limitations.

Robots have played the most

significant role in the modern manufacturing. Industrial robots are the main working

parts in most of the factories which perform the most complex operations with ease.

Had it not been for the sophistication in the modern robots, we would not have seen the

modern technological developments as we do now.

Robots are not only limited to industrial applications. Robots are used in medical

applications such as patient assist robots or medical operating robots. Robots are also

utilized in military applications; all the modern drones are different sophisticated

shapes of robots. Automatic tanks, missile defense systems all are advanced robotic

systems.

Robots can be autonomous or semi-autonomous and can be controlled and utilized in

numerous ways which make them perfect for the modern civilization. Modern robots

are expected to get better with time and replace humans in different fields as their

technology gets better. A

prime example can be

futuristic self-driving

cars which are being

tested and might well be

the future of auto-mobile

industry.

Vacuum Cleaner Robot

Vacuum cleaners are one of the most utilized electrical equipment today. It is

used in homes, offices, hotels, cars, air planes and every place where humans tend to

live or spend time. Vacuum cleaners can be found in various shapes and sizes in today’s

market thanks to the development in technology. Normal vacuum cleaners needed a

relatively large space and made unpleasant noise while they were being used. These

characteristics were disadvantageous and engineers tried to find a way to cope with
these problems. This paved the way for the vacuum cleaner to become more advanced

as time passed.

A robotic vacuum cleaner, often called a robovac or roboVac, is an autonomous

robotic vacuum cleaner which has intelligent programming and a limited vacuum floor

cleaning system. This robot can navigate its way through different obstacles and can

obtain satisfactory results. This robot is much smaller than the conventional vacuum

cleaner and makes little to no noise. The disadvantage is that It needs a lot more time to

cover a large area and is a little expensive.

Historical Development of Robots

Although true robots are a creation of the second half of the 20th Century, the

idea of the robot has stirred the human imagination for a much longer period of time.

There have been examples mentioned in Greek history, Chinese history, Jewish history,

and many more cultures which relate to the modern day robots. The Renaissance

brought new interest in the structures and mechanisms of the human body, and in the

late 15th and early 16th centuries, the famed artist-inventor Leonardo da Vinci made

sketches of many mechanisms based on principles he found in nature. One such

drawing showed a mechanical knight that could move its head and jaw, sit up, and

wave its arms.

At the dawn of the 20th century, an explosion of new scientific theories and inventions

led to the creation of a literature that sought to explore the implications of robots and a

variety of possible futures. The word robot is first found in the 1921 play Rossum’s
Universal Robots by the Czech playwright Karel Čapek, however his brother Josef

Čapek who was the word's true inventor.

The development of the digital computer as well as sophisticated electronics and

control systems during the 1940s gave engineers the practical means to start building

real robots. The first real impact of robots, however, came when engineer-entrepreneur

Joseph Engel Berger and inventor George Devol created Unimate, the first industrial

robot, which went to work in a General Motors plant in 1961. Unimate was essentially a

big arm that could be fitted with various kinds of grasping devices and tools. Precisely

positioned, the robot could work tirelessly at jobs that were either dangerous or

unpleasant for human workers (such as casting and handling red-hot car parts) or were

tedious but required consistent precision (such as riveting or painting). Industrial robots

increased productivity and helped factories remain competitive. The Japanese in

particular embraced robots in the 1970s. Although some people feared that the

industrial robot would lead to a massive loss of jobs for human workers, this first wave

of robots did not cause much disruption.

By the 1980s, robots were even learning to walk like people and other animals. By the

end of the century, thanks to the work of robotics researchers and engineer-managers,

mobile robots had become planetary rovers that could drive around Mars looking for

interesting rocks and formations.

Advantages and Disadvantages of Robots and Automation:

There are contrasting points of views about the impact of robots and automation

on human societies. Some researchers think that automation and robots have affected

our lives adversely since it has taken lots of human jobs and caused imbalance. Others

think that automation of the manufacturing industry has had more positive effects than

we thought at first. There are jobs that only human beings can perform such as: talking

to customers, answering emails, social media comments, branding and marketing, and

selling products. Robots don’t take jobs away. They merely change the jobs that exist.

Robots need people for monitoring and supervision.

Robots can be utilized in dangerous situations where human intervention could cause

causalities. Robots can be programmed to defuse bombs, inspect nuclear reactors, go to

space and transmit data, work in highly contaminated and extreme environments, lift

extremely heavy equipment. Other usages of robots might be for works that require

high speed and precision. Robots can do repetitive tasks with high accuracy and

precision without any interruptions.

So we see that the advantages of robots easily outweigh the disadvantages. Some of the

scientists have predicted that in the future humans might lose control over these ever

evolving machines, but at the moment this is just a theory and is highly unlikely to

happen. To sum up, we can say that robots give us safety, speed, consistency,

perfection, productivity and numerous other advantages.

Project Scope

Applicable Fields: This vacuum cleaner robot that is going to be built has

numerous applications. The older vacuum cleaners take a lot of space and make a lot of

noise which can be very annoying. My goal in this project is to create an efficient and

functional robot which can accomplish the given task successfully. This robot can be

utilized for small offices, rooms, cafes, and spaces where constant cleaning is needed.

Upgradability: This project can be upgraded in numerous ways. The design must be

tested in different ways in order to determine the best possible design. After the best

possible design is accomplished, there is also the possibility to mass produce this useful

robot which can be daily usable equipment in homes and offices. A simple design is

demonstrated in the figure below.

Design Characteristics

The basic design includes a strong chassis which can withstand the weight of the

DC vacuum cleaner and the battery which are going to be placed on top of the chassis.

Other characteristics include 4 efficient driver wheels, simple and effective wiring,

insulation of the circuit.

Perhaps the most challenging part of the design will be the placement of the vacuum

cleaner itself since it needs to be as near as possible to the ground it is going to clean.

This vacuum cleaner will be tested in various positions in order to find the most
efficient position for cleaning the intended floor. Sensors will be placed in front of the

chassis and on the sides so that the robot can navigate itself around different obstacles.

Conclusion

This project is based on the principal of robotics. The basic definition and

historical development of robots are given in this chapter. This robot is intended to be a

functional and portable vacuum cleaner which has an automatic navigation system and

works without human intervention. A simplistic design is also given which shows a

round chassis for the intended robot. I hope to accomplish all the goals I have set for

myself in this project.

Chapter 2
Robots in the Last 50 Year

People have tried developing and creating machines similar to themselves for
around 2 centuries. The first robot or humanlike machine was a soldier who could play
trumpet which was made in Germany in 1810 and was showed at different exhibitions
around the world.

After a couple of centuries and countless technological advancements, currently, robots

have infiltrated our daily lives working as humanoid or humanlike testing mechanisms
and machines, especially in the medical and combat field. Robot makers and inventors
are becoming more and more motivated and are developing a new upsurge of
humanoids that are developed to replace humans in different places where human
intervention can be problematic.

Other types of useful robots are also appearing in the market every day, one of which is
the automatic or robotic vacuum cleaner. We will talk about automatic vacuum cleaners
and their varieties in the latter part of this chapter. First, we will see a pictorial
representation of the development of robots in the past few decades.

The following is a short history demonstrating the advancement of robotics and its
evolution. Although the history of robots has been shortened in this chapter, I hope the
main idea, which is the evolution of robots with time, is understood.
The first robots

Figure 2.1

The first recognized robot made in early 19th century (1810): An aged Bavarian examines
what is considered to be the first robot in history, a soldier with a programmed shout
that can blow a trumpet, made in 1810 by Friedrich Kauffman of Dresden, Germany,
seen April 30, 1950. (AP Photo)
 Figure 2.2

A human-like robot made by Westinghouse named Elektro, smoking at the 1939

World's Fair in New York. Elektro had the ability to count on its mechanical fingers,
could smoke cigarettes, and also sweep the floor. The 1939 World's Fair introduced the
people of America and the world to a technological image of the forthcoming times. (AP
Photo)
 Figure 2.3

A movable robot built by Hughes equipped with tentacle-like arms named "Mobot
Mark II," was built by Aircraft Company of Culver City, Calif., close to Colleen Adams
as it exhibits its almost human actions on Dec. 13, 1960. This robot was designed to
perform tasks that were dangerous for humans. The arms were six feet long and were
double-jointed at shoulder, elbow and wrist, and television camera "eyes" transmitted
images of the robot's performance to a human operator at a remote control console.
 Figure 2.5

Marvin Glass, the toy designer of Chicago, issuing an order to the "Robot Commando
Soldier" in a preview of Christmas toy designs in New York, March 10, 1961. The robot
had different abilities such as shooting rockets and was voice-controlled via a
microphone which was attached to it. Glass said that he was trying to develop a concept
of toys that a child could actually interact and participate with and this would allow the
enthusiasm of the child to grow. (AP Photo)
 Figure 2.6

Robert Calloway, famously known as the “sheet metal man” can be seen standing in the
center of 16 mechanical robots in Peoria, Ill., which were made by him for an
advertising firm in Florida, Nov. 11, 1961. The robots were 6 feet tall and weighed fifty
pounds. They had a built-in tape recorder and moved their heads and arms when
delivering a message. The sheet metal robots cost around two-hundred dollars at that
time which was pretty expensive. (AP Photo)
 Figure 2.7

The five- foot robot which was developed by a toy research firm and named “Goro” can
be seen surrounded by school children in Tokyo, Japan on Feb 29, 1964. Goro could
walk in all directions; bowed to people he met; winked at the girls and talked via a
radio in the hand of his maker. (AP Photo)
 Figure 2.8

A nine-piece musical band of miniature robots entertaining children at an exhibition

held in a Tokyo department store in Japan on August 23, 1966. The robot band included
two drummers, a trumpet and clarinet players, who played the instruments by remote
control. The children visiting the exhibit were fascinated by the robots while on summer
vacation from school. (AP Photo / Mitsunori Chigita)
 Figure 2.9

A young girl holding her hands over her ears as she looks away from Sam Struggle
Gear during a visit to a Cincinnati store, Oct. 27, 1977. The robot, which could play loud
recordings from Star Wars movies, talked, blew a siren and sounded a horn, was the
basic model of a highly technical device that had several applications. (AP Photo / Brian
Horton)
 Figure 2.10

A humanoid robot named “Robbie” being introduced by the Reverend Ronald John
MacKenzie Nottingham, England to some local children on Aug. 24, 1973. The robot
“Robbie” was used as an aid in reaching and teaching children on their Sunday classes.
This is a case of robots being used for educational purpose. (AP Photo)
 Figure 2.11

A humanoid Robot named “iAroki” who had the ability to take out the garbage and
walk the family dog. This robot was made by Ben Skora of Palos Hills, Illinois, Feb 2,
1977. iAroki could be programmed to do daily basic repetitive tasks efficiently. As the
programming got easier, various new and advanced robots started to appear which can
be seen in the upcoming pages. (AP Photo / Charles Kelly)
 Figure 2.12

This is a robot which was made in Japan in 1981and was first seen in a demonstration in
a department store in Tokyo (Aug, 1981). This robot was built with a camera placed into
its middle which can be seen in the photo. Development of this mechanical cameraman
robot cost almost $21000. (AP Photo / Sadayuki Mikami)
 Figure 2.13

The electronic robot show in this image was utilized to measure human strength. This
robot was built in Seoul, South Korea in the early 1990’s. A young man can be seen
using his right arm in order to measure his strength. This was one of the popular robots
of that time (July 19, 1991). (AP Photo / Yun Jai-Hyung)
 Figure 2.14

Hadaly 2 was a visual recognition robot made in the late 1990’s by a Japanese university
project team. This team has been working on humanoid robots for over 30 years. This
interface experiment between the Hadaly 2 and the monkey was held Nov. 1, 1997 at
Waseda University, Tokyo. This was the first ever interface experiment between robot
and a monkey. The experiment showed Hadaly 2 following the light movement of the
light held by the monkey named “Choromatsu”. The humanoid robot could recognize
light just light just like human beings through computer conduction. (AP Photo /
Katsumi Kasahara)
 Figure 2.15

On March 19, 2002, Sony unveiled a group of humanoid robots named SDR-4C in an
unveiling at a Tokyo hotel. These were meant to be sold as toys in the market. The
silver colored robots were 58 centimeters tall and had round eyes. Their capabilities
included remembering people’s names, dancing disco steps, and even singing in
harmony. These were pretty expensive toys back then considering that they cost as
much as a luxury car. (AP Photo/Katsumi Kasahara)
 Figure 2.16

The robot shown in the picture is water strider which sued water tension for its
buoyancy. This robot was made in a university in Pittsburgh, USA in September, 2004.
The picture only shows a basic prototype, but researches at that time thought that this
robot could be utilized for numerous purposes. With a well-placed chemical sensor, the
robot could detect toxin and contamination in water supplies. With an HD camera, the
robot could be utilized for monitoring or as an explorer. This robot was very
lightweight weighing about a gram. The materials utilized in creating the robot cost
about $10.
 Figure 2.17

This robot jockey is named Kamel. The picture was taken at a test run conducted in
Sharjah, Qatar on April 19, 2005. The Swiss developers of the robot and Qatari officials
were present during this test run. Qatar had long term plans to replace child jockeys
with robots. (AP Photo / Kamran Jebreili)
 Figure 2.18

This humanoid robot baby was designed to teach people, especially fathers, infant care.
These babies were programmed to cry if they were not treated with proper care. These
were named “Real Care Babies” and were exhibited in the largest robot convention in
Tokyo Nov.28 2007. (AP Photo / David Guttenfelder)
 Figure 2.19

The “Hybrid Assistive Limbs” short for HAL were exhibited during a press conference
on October 7, 2008 in Tokyo, Japan. These advanced assistance robots were made by
Cyberdyne, a company based in Tsukuba, outside Tokyo. This robot was a pioneer at
the time and had the ability to read brain signals, and help people who had mobility
problems. These robots were available for rent and cost $2200 for both and $1500 for
one leg. (AP Photo / Katsumi Kasahara)
 Figure 2.20

Medical education technologies incorporated (METI) is the world’s leading supplier of

humanoid robot simulators. These robots have the ability to simulate symptoms of
different diseases and help humans, especially doctors, prepare to combat the disease in
a better way. The life size humanoid robot shown in this picture was utilized to
simulate a patient infected with HINI virus. This robot was programmed and made to
sweat, moan, cry, and convulse just like an infected human being. If the robot was not
treated properly, the symptoms would get worse and eventually the robot would die. .
(AP Photo / Koji Sasahara)
What Exactly Is an Arduino?

Wikipedia states “Arduino is a single-board microcontroller designed to make

the process of using electronics in multidisciplinary projects more accessible. The

hardware consists of a simple open-source hardware board designed around an 8-bit

Atmel AVR microcontroller, though a new model has been designed around a 32-bit

Atmel ARM. The software consists of a standard programming language compiler and

a boot loader that executes on the microcontroller.”

To put the above definition in layman’s terms, an Arduino is a tiny computer that you

can program to process inputs and outputs between the device and external

components you connect to it. The Arduino is what is known as a physical or

embedded computing platform. For example, a simple use of an Arduino would be to

turn a light on for a set period of time, let’s say for 30 seconds, after a button has been

pressed. In this example, the Arduino would have a lamp connected to it as well as a

button. The Arduino would sit patiently waiting for the button to be pressed.

When the button is pressed, the Arduino would turn the lamp on and start counting.

Once it had counted for 30 seconds, it would turn the lamp off, and then continue to

wait for another button press. This setup control could be used to control a lamp in a

cupboard, for example. This concept could be extended so that the device detects when

the cupboard door has been opened or some other event has occurred, and

automatically turns the lamp on, turning it off after a set period. We could go even

further and connect a passive infrared (PIR) sensor to detect movement and to turn the
lamp on when it has been triggered. These are some simple examples of how you could

use an Arduino.

The Arduino can be used to develop stand-alone interactive objects or it can be

connected to a computer, a network, or even the Internet to retrieve and send data to

and from the Arduino, and then act on that data. For example, it could be used to send a

set of data received from sensors to a website to be displayed in the form of a graph.

The Arduino can be connected to LEDs, dot-matrix displays, buttons, switches, motors,

temperature sensors, pressure sensors, distance sensors, GPS receivers, Ethernet or Wi-

Fi modules, or just about anything that outputs data or can be controlled. A look

around the Internet will bring up a wealth of projects in which an Arduino has been

used to read data from or control an amazing array of devices.

The Arduino board is made up of an Atmel AVR microprocessor, a crystal or oscillator

(a crude clock that sends time pulses at a specified frequency to enable it to operate at

the correct speed) and a 5V voltage regulator. (Some Arduinos may use a switching

regulator, and some, like the Due, are not 5 volt). Depending on what type of Arduino

you have, it may also have a USB socket to enable it to be connected to a PC or Mac to

upload or retrieve data. The board exposes the microcontroller’s I/O (input/output) pins

to enable you to connect those pins to other circuits or to sensors, etc.

To program the Arduino (make it do what we want it to), we also use the Arduino IDE,

which is a piece of free software that enables us to program in the language that the

Arduino understands. In the case of the Arduino, the language is based on C/C++ and

can even be extended through C++ libraries. The IDE enables us to write a computer

program, which is a set of step-by-step instructions that you then upload to the

Arduino. Our Arduino will then carry out those instructions and interact with whatever

we have connected to it. In the Arduino world, programs are known as “sketches”.
The Arduino hardware and software are both Open Source, which means that the code,

schematics, design, etc., are all open for anyone to take freely and do with what they

like. Hence, there are many clone boards and other Arduino-based boards available to

purchase or to make from a schematic. Indeed, there is nothing stopping us from

purchasing the appropriate components and making your own Arduino on a

breadboard or on our own homemade PCB (printed circuit board). The only caveat that

the Arduino team makes to this is that you cannot use the word Arduino, as this is

reserved for the official board. Hence, the clone boards all have names such as

Freeduino, Roboduino, etc.

The Arduino can also be extended with the use of “shields”, which are circuit boards

containing other devices (for example, GPS receivers, LCD displays, Ethernet modules,

etc.) that we can simply connect to the top of your Arduino to get extra functionality.

Shields also extend the pins (the places on our Arduino where we can output or input

data to the top of their own circuit board, so we still have access to all of them. We don’t

have to use a shield if we don’t want to, as we can make the exact same circuitry using a

breadboard, some Stripboard or Veroboard (boards made up of strips of copper in a

grid for home-soldered projects), or by making our own PCB.

As the designs are open source, a clone board, such as the Freeduino, can be 100 percent

compatible with Arduino and therefore any software, hardware, shields, etc. Some

clones are compatible in most respects but may have intentional differences to support

special features. Also, the Due (which is genuine Arduino) does have some issues such

as its 3 volt operation, which may not work with all shields.

There are many different variants of the Arduino available. The most common one is

Uno (used in this project), released in 2010 (currently on Revision 3) and this is the
board being used in the vast majority of Arduino projects across the Internet. We can

also get the Due Leonardo, Duemilanove, Mega 2560, Mega ADK, Fio, Arduino

Ethernet, Mini, Nano, Lilypad, and Bluetooth Arduinos. The latest additions to the

product line are the Arduino Leonardo and the Arduino Due, which is the Arduino

team’s first incursion into using ARM processors instead of AVR architecture

processors The Due has a 32-bit processor instead of the usual 8-bit processor in the

other Arduino variants, runs at 84MHz, and has 512KB of flash memory.

Probably the most versatile Arduino, and hence the reason it is so popular, is the Uno

(prior to the Uno, the Duemilanove was the most popular). This is because they use a

standard 28 pin chip attached to an IC (integrated circuit) socket. The beauty of this

system is that if we make something neat with an Arduino and then want to turn it into

something permanent, instead of using a relatively expensive Arduino board, we can

simply use the Arduino to develop our device and program the chip, then pop the chip

out of the board and place it into our own circuit board in our custom device. We would

then have made a custom-embedded device, which is really useful. Then for a small

amount of money, we can replace the AVR chip in our Arduino with a new one. The

chip must be pre-programmed with the Arduino Bootloader (software programmed

onto the chip to enable it to be used with the Arduino IDE), but we can either purchase

an AVR Programmer to burn the bootloader ourselves or we can buy a chip ready

programmed, and most of the Arduino parts suppliers will provide these.

The newer Arduino Uno has the advantage over the previous Arduino, the

Duemilanove, in that it has a programmable USB chip on board which enables us to

flash the chip in such a way that when we plug the device into our PC it will show up

as any USB device we like, such as a keyboard, mouse, or joystick. This enables us to

use the Arduino as an interface for creating our own USB devices. This is, however, an

advanced feature and not for the faint hearted.

If we do a search on the Internet for Arduino, we will be amazed at the huge amount of

websites dedicated to the Arduino or in which someone has used an Arduino to create a

cool project. The Arduino is an amazing device and will enable us to create anything,

from interactive works of art to robots. With a little enthusiasm about learning how to

program an Arduino and make it interact with other components as well as a bit of

imagination, we can build anything we can think of.

The Arduino IDE

The Arduino IDE (Integrated Development Environment) is what we will use to

write the code for your Arduino, verify it, and upload it to our board. The current IDE

version 1.8.9 was released in 2018. Previously, the Beta version numbers ran from 0001

to 0023 and version 1.0 was the first release candidate of the software. In version 1.0, the

file extensions for the sketches changed from .pde to .ino to avoid conflicts with the

Processing software (Processing is a project that the original IDE was based on). There

were also some major changes to the Arduino language. If we want to port older

Arduino code to the new IDE, we should read up on the Arduino website in the

reference section about how the commands work if we get any errors with the older

code.

When you open up the Arduino IDE, it will look very similar to the Windows version in

the image below (Figure x). If you are using OSX or Linux, there may be some slight

differences, but the IDE is pretty much the same no matter what OS you use.
Motor Driving IC L239D

A very easy and safe is to use popular L293D chip. It is a 16- pin chip. The pin

configuration of a L293D along with the behaviors of motor for different input

conditions is given in fig. 4. The L293D is designed to provide bidirectional drive

currents of up to 600-mA at voltages from 4.5 V to 36 V. When an enable input is high,

the associated drivers are enabled. Also their outputs are active and in phase with their

inputs. When the enable input is low, those drivers are disabled, and their outputs are

off and in the high-impedance state.

With the proper data inputs, each pair of drivers forms a full-H (or bridge) reversible

drive suitable for solenoid or motor applications.

DC Motor

Almost every mechanical movement that we see around us is accomplished by

an electric motor. Electric machines are means of converting conventional energy.

Motors take electrical energy and produce mechanical energy. Electric motor is used to

power hundreds of devices we use in everyday life. An example of motor used in day

to day life is automobiles, food blenders and so is vacuum cleaner.

IR Sensor

The sensor consists of two eyes. One eye sends the infrared light and the other

eye sees the reflection of that infrared light and measures the distance which is then

sent to the Arduino through analog input to perform further operations based on the

distance. There are three wires coming from the sensor .i.e. Red, Black and White or it

can be Red, Brown and Yellow. Red is connected to 5V of Arduino, black or brown to

ground of Arduino, white or yellow to analog input pin of Arduino.

Ultrasonic Sensor

This sensor is a high performance ultrasonic range finder. It is compact and

measures an amazingly wide range from 2cm to 4m. This range is perfect for any

robotic application, or any other projects requiring accurate ranging information. This

sensor can be connected directly to the digital I/O lines of our microcontroller and

distance can be measured in time required for travelling of sound signal using simple

formula as below. Distance = (Echo pulse width high time * Sound Velocity (340M/S)/2)

or Distance in cm = (Echo pulse width high time (in us)*0.017) The module works on

5VDC input and also gives an output signal directly for detection of any obstacle up to

4M.Power up the sensor by 5VDC using pins VCC” and “GND”. First of all a 10us

trigger input has to be given to the pin named “Trig” on the sensor.

This starts one cycle of range conversion and sends 8 bursts of sound waves from the

transmitter. As soon as the signals are transmitted the “Echo” pin goes to high level and

remains in high level until the same sound waves are received by the receiver. If the

received sound waves are same as what the same sensor transmitted then the Echo pin

goes to low level. If no object is detected within 5M after 30ms the Echo signal will

automatically go to low level