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Robotic Floor Cleaner with Obstacle Sensing Technique

By: Udit Chauhan (05-EL285) Sumit Kaul (05-EL-279)

Components Used:
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AT89S52 micro-controller IR Sensor for sensing LM567 Crystal Oscillator 11.059 MHz D.C. Motors ( D.C. 12 V ) LCD 16 x 2 Battery 12V Voltage Regulator ( IC 7805) 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 delay.

LM 567 - PLL tone decoder IC

JHD162A -LCD Unit
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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

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The AT89C51 is a low-power, high-performance CMOS 8-bit microcomputer with 4K bytes of Flash programmable and erasable read only memory (PEROM). 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 circuit. 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 contact.