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RoboVac
Raymond PerezJetmir PalushiJuan GamarraJoseph SeborowskiDiego Molina
Objectives
Better CleaningMore PowerAlgorithmDesignDirt SensorsMapping
Outshining Competition
Objectives
Initiate Prototyping Phase Research cheap/effective parts
(i.e. sensors,motors,casing…) Purchase components Commence troubleshooting (testing phases) Progress well within project plan
Project Plan
Task Name Start End
Project Plan 1/9/07 1/11/07
Parts List 1/25/07 2/8/07
Ordering Parts 1/25/07 2/22/07
Define Objectives 1/11/07 1/17/07
Refine Final Design 1/11/07 2/11/07
Validate Prototyping 2/9/07 2/13/07
Manufacturability 1/11/07 2/12/07
Prototype Building 2/15/07 3/4/07
Detailed Tasks
Choosing appropriate parts Microprocessor Motors Casing Battery Omni-directional components Recycling of “Roomba” parts
Manufacturability
• Building Process• Quick Assembly
Casing
Major problem so farPlastic Injection MoldingFirst Cut Prototype and Proto-mold both turned
us down
Casing Continued
Austro Mold - $800Metal – lighter metals, AlPlastic Bin – fits specific dimensionsCNC
Casing Alternatives
Mapping
Path optimization Eliminate cleaned areas Radial Closed Loop Path Visited path marked as obstacle Memory optimization Complex geometry path prevention
Sensors and Electrical Components
Bumper SwitchesObstacles (e.g. wall, couches)
Light SensorsDetect Dirt
Proximity Infrared SensorsStair detection
Voltage RegulatorsSwitch DC/DC voltage regulator
Resistors, Capacitors, Transistors and LED
Microcontroller
Low Supply-Voltage 1.8-3.6V
Ultra low-Power ConsumptionStandby mode
12 Bit A/D converterMemory
60Kb Flash2Kb RAM
Programming
IAR Embedded Workbench IDE
High level programming (C, C++)
Omni-Directional Platform
Cost of PrototypingWeight of Bearing
Refining Design
Changes incurred Casing revisions due to size limitations Choosing the “brain” Altering blower intake Location of motors Omni-directional obstacles
Refining Design
• New Blowers– Previous option was no longer available– Next best thing was found at Digi-key– Modification needed to fit system
• E-bay parts chosen– High Prices for low quantity orders – Wheel Tire set– Brushes
Progress
Prototyping Parts received Parts still pending Returns
Pending Deliverables Robot body Final Cost Analysis Programming
Financial Breakdown
Obstacles
Case moldingMaintaining price range $Controlling directional movementObtaining market nicheStaying within timeline