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Robotic Floor Cleaner with

Obstacle Sensing

Udit Chauhan (05-EL-
Sumit Kaul (05-EL-279)
Components Used:
 AT89S52 micro-controller
 IR Sensor for sensing
 LM567
 Crystal Oscillator 11.059
 D.C. Motors ( D.C. 12 V )
 LCD 16 x 2
 Battery 12V
 Voltage Regulator ( IC
 Transistors
 Capacitor
 Diode
 Resistances
 LEDs
 One Free Rotation Wheel
 One Dusting Pad
IR Sensors

 The high-efficiency IRLED driven by pnp

transistor tbc369 with a modulating
frequency of about 20 khz (available from
IC LM567) emit infrared light.
 Whenever the IR beam is radiated by
IRLED is reflected by a nearby object
(obstacles), LM567 receives 20khz
reflected signal at its pin 3 on detection by
photo diode. As a result LM567 pulls its
output pin low.
LM567 – PLL tone decoder
 The LM567 and LM567C are general purpose tone
decoders designed to provide a saturated
transistor switch to ground when an input signal
is present within the passband.
 The circuit consists of an I and Q detector driven
by a voltage controlled oscillator which
determines the center frequency of the decoder.
 External components are used to independently
set center frequency, bandwidth and output
LM 567 - PLL tone decoder IC
JHD162A -LCD Unit
 The 1, 3, 5, 16 pins of lcd
controller is grounded.
 Pin no 7 (DB0) to pin no
14 are connected to P0
port of controller for
receiving data.
 In lcd first the input is
received at pin no 4 and
pin 6, after that the led is
ready to read data and
print it on the screen as
per the command given.
AT89C51 - Microcontroller
 The AT89C51 is a low-power, high-performance
CMOS 8-bit microcomputer with 4K bytes of Flash
programmable and erasable read only memory
 Fully Static Operation: 0 Hz to 24 MHz.
 128 x 8-bit Internal RAM.
 32 Programmable I/O Lines.
 Two 16-bit Timer/Counters.
 Programmable Serial Channel.
 Six Interrupt Sources.
DC Gear Motor

VOLT: 12-18V. DC
R.P.M: 75-100
 A relay consists of a coil that may be
energized by the low-voltage circuit and
one or more sets of switch contacts, which
may be connected to the high-voltage
 If a current is passed through the coil, the
resulting magnetic field attracts the metal
arm and acts as the Normally Open (N.O.)
switch contact and the common switch