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TABLE OF CONTENTS

S.NO. Particulars

Page No.

CHAPTER 1 INTRODUCTION

1.1 Project Overview

1.2 Project Objective

1.3 Problem Statement

1.4 Scope of project

CHAPTER 2 LITERATURE REVIEW

2.1 First review from internet: Autonomous Vacuum Robot

2.2 Second review from newspaper: Vroom... it's the Cruise-missile vacuum cleaner

2.3 Third review from journal: Architecture for a Synthetic Vacuum Cleaner

CHAPTER 3. PROBLEM DEFENITION

CHAPTER 4. PROJECT ANALYSIS & DESIGN

4.1 Block Diagram

4.2 Block Diagram Explanation

4.3 Circuit Diagram

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4.4 Circuit Diagram Explanation

12

4.5 Component Overview

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CHAPTER 5. SOLAR TRACKING SYSTEM

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Introduction

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5.1problem Definition

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5.2motivation

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5.4 Methedology

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5.5 Block Diagram

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5.6 Block Diagram Description

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5.6.1 Microcontroller

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5.6.2 Sensor

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5.6.3 Servo Motor

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5.6.4 Solar Panel

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5.6.5 Charge Control

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5.6.6 Battery

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5.6.7 Load Control

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5.6.8 Load

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5.6.9 Lcd Display

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5.7 Background

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5.8 Need Of Sun Tracking

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5.9 Objective Of The Work

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5.10 Solar Energy

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5.11 Tracking Techniques

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5.12 Relevance Of Solar Trackers

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5.13 Equivalent Circuit Of Solar Cell

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5.14 Active Solar Trackers

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5.15 Types Of Solar Trackers

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5.16 Single Axis Solar Trackers

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5.17 Dual Axis Trackers

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6. CONCLUSION

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7. FUTURE SCOPE

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8. REFERENCES

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ABSTRACT
The house cleaning robot uses a microcontroller to detect obstacles and manipulates its direction
as per the inputs from infrared sensors mounted in front, right and left of the robot or the
digital signal processor.

The heart of the system is a microcontroller PIC 16F877A . It is programmed to accept inputs
to sense obstacles around it and control the robot to avoid any collisions. There are 4 IR
sensors used in this project- one at the front, and the remaining on the left, right and back of the
robot to detect obstacles, if any. In case of an obstacle ,or a potential collision, the
microcontroller controls the wheels of the robo by a motor driver IC- L293D to avoid collision.
The vacuum cleaner mounted on the robot performs the cleaning process.
The robot works in 2 modes : Auto mode and Manual mode.
Auto mode:- In this mode, the PIC microcontroller is programmed in such a way that it takes the
decision and changes the path of the robot as per the sensor inputs to avoid the obstacles. A timer
is used to set the time limit for the cleaning process.
Manual mode:In manual mode, we use a DSP- AP7003 to control the robot manually.
This DSP converts speech commands to digital format and these values are stored in its
memory. This is done pre-hand by the user. When cleaning is to be done, the user just deliver the
speech commands which has been already stored in the DSP. After comparing the two speech
commands , the corresponding output of DSP drives the PIC microcontroller and moves the
robot accordingly.

LIST OF FIGURES
Figure No.

Page No.

Figure 1 BLOCK DIAGRAM

Figure 2 CIRCUIT DIAGRAM

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Figure 3 Voice Recognition Circuit

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Figure 4 PIC Microcontroller 16F877A

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Figure 5 LM7805 Voltage Regulator IC

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Figure 6 Speech Recognition IC AP7003

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Figure 7 Pinout Diagram of L293d

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Figure 8 IR sensor TSOP1738

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Figure 9 Geared Motor

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Figure 10 Block Diagram Of Solar Tracking System

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Figure 11 Circuit Diagram of Solar Tracker

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Figure 12 PCB Design

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Figure 13 Single Axis Solar Tracker

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Figure 14 DUAL AXIS TRACKERS

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