Autonomous Robotic Cleaner (ARC)

University of Perpetual Help System-JONELTASto.Niño, City Of Biñan, Laguna

COLLEGE OF ENGINEERING & TECH-VOC.

Microprocessor System (Lab)

AUTONOMOUS ROBOTIC CLEANER

Alinsod, Raznell L.

Brillantes, Tobbie A.

Diaz, Hanna Mercy R.

Juson, Lloyd Rowell Y.

Nazario, Alfonso Jerald D.

Valdez, Nicodemus O.

Valmoria, Louie B.

E4Q-BSECE/BSEE

Engr. Kierven R. De Mesa

Instructor



TABLE OF CONTENTS

Chapter 1 – Introduction 2

Background of the Study 3

Objectives 3

Significance of the Project 4

Definition of Terms 4

Chapter II – Methodology 5

Principle 5

Measurement of Values 5

Materials 5

Component Description 6

Procedure 10

Circuit Diagram 11

Block Diagram 13

Chapter III – Conclusion and Recommendation 15

Findings 15

Conclusion 15

Recommendation 16

Limitations 16

References 16

Appendix A (Codes) 17

Appendix B (Assembly and Construction) 22

Autonomous Robotic Cleaner 1



CHAPTER 1

INTRODUCTION

The first Roomba was thirteen inches in diameter and roughly four inches high. The

Roomba used a large bumper mounted on the front of the unit to detect any walls or objects in its

path. The robot was equipped with infrared sensors on the top front center. It also used a virtual

wall that transmitted infrared to the unit so it does not attempt to clean other rooms and get lost.

The first prototype consisted of three settings. The settings consisted of setting a room size,

small, medium and large. Roomba’s first feature at the time was the ability to detect whether or

not there was enough power for it to clean the room size you chose.

However as technology has gotten more sophisticated so has the Roomba. The Roomba

can now detect room sizes without a user input. The first Roomba operated on internal nickel

metal hydride batteries that required being recharged regularly from a wall plug. The newest

generations of Roomba’s now have self-charging features. The Roomba takes about six to eight

hours to recharge itself. iRobot offers a fast recharging pack which can recharge in 3 hours at the

price of $60. The newer generations Roomba’s are virtually completely automated. The user has

to just place the Roomba on the floor and choose clean, spot, or max. The clean button will clean

a room. Spot clean will clean an area. Max will clean until the battery runs out. The Roomba also

now has an automatic scheduler accessory.




Background of the Study

The Autonomous Robotic Cleaner is an entry level mobile robot learning platform. It

contains three channel IR collision sensor and a dual motor driver. Any arduino compatible

platform can be used as the controller. The Arduino program transmits data every second to the

computer then waits for a character from the Computer, when a correct character is received,

then it tells the motors what to do.

In fact, most of us usually using a hand controlled vacuum for cleaning. From time to

time technology come up and need to upgrade for easier human task. In addition, most of the

people are working and they did not have enough time to clean. Moreover, most of vacuum

robots in the market are expensive and may be large in size. So it is difficult to clean anywhere

like under beds. Therefore, this project is built to be one of the advantages for human to clean the

floor within small period and more effective.

Objectives

1. To develop an integrating holonomic drive for high mobility in confined spaces.

2. To enhance the guidance of robotic pallets, and wireless sensor network for self-location

capability.

3. To design a versatile platform for teaching and learning robotics by providing an

Arduino-compatible controller, motor controller board.




Significance of the Project

Autonomous Cleaning Robot is developed to make cleaning process easier especially for

working people. This Autonomous Cleaning Robot is designed for specific area such as under

beds, as well as a specific room or carpet that has a specific obstacle in the center or corner. It is

designed to make cleaning process become easier rather than by using manual vacuum.

Definition of Terms

Holonomic - refers to the relationship between controllable and total degrees of freedom of a

robot. If the controllable degree of freedom is equal to total degrees of freedom, then the robot is

said to be Holonomic.

NiMH (Nickel Metal Hydride) - batteries are really neat. Older cell phone batteries were often

NiMH. You can recharge them as much as you want, they have good current output, and have

the highest energy capacity. I would recommend them for small size robots and for powering

circuits.

Proximity sensor- is a sensor able to detect the presence of nearby objects without any physical

contact.

Autonomous Robot - An autonomous robot acts as a stand-alone system, complete with its own

computer (called the controller).




CHAPTER II

METHODOLOGY

Principle

The cleaner robot operates on a 3.6V 600mAH NiMH Rechargeable Battery. The

operation of the robotic cleaner is going to be based on retrieving data from an array of inputs

that will tell the condition of the floor space around the vacuum. These inputs include sensors

andmotors. Each of these parts will be described in further detail further on later in the

documentation. The data from these inputs will be fed into the chip(s) which through its

software program will decide which direction the robot should move by sending the control

signals out to the drive motors.

Measurement of Values

The robot cleaner may include a distance sensor to sense a distance from the robot

cleaner to obstacles, such as furniture, office supplies, and walls, located within a region to be

cleaned, and left and right wheels to move the robot cleaner. The left and right wheels may be

configured to be rotated by a left wheel motor and a right wheel motor, respectively. As the left

wheel motor and the right wheel motor are rotated, the robot cleaner may perform indoor

cleaning while changing travel directions.

Materials

Caster for front wheel

Proximity Sensors

2x 3.6V 600mAH NiMH Rechargeable Battery

3-Ch IR Collision Sensor - 20 cm detection range




2- 6V DC motor

Gizduino v4.1

Pbot controller

Brush

Connecting Wires

Component Description

Sonar Sensors

A device that detects or measures a physical property and records, indicates, or otherwise

responds to it. There will be three sonar sensors. These are needed as a last resort obstacle

detection in which the infrared did not detect for some reason. Output also will be stored in a

separate space on the main chip.

Battery and Power Regulator

It carries one environmentally friendly nickel-metal hydride batteries (NiMH) batteries

on board. As soon as the battery's power dips below the 10% point, the unit will cease and will

automatically shut-off itself. User has to bring it to its charging station, charge for about two

hours.

Brush

As its brush spins, it reaches out from underneath it grabs particles from along walls and

into corners, as well as around furniture legs. The particles are swept into its cleaning path, to be

picked up by its rotating brushes.




Motor

This autonomous robotic vacuum contains three motors: one for each driven wheel and

one for the brush roll.

Gizduino v4.1

The gizDuino is a locally available Arduino clone. They are electronics prototyping

platforms based on flexible, easy-to-use hardware and software. They have the ability to control

interactive objects and environments, and has limitless potential to do so.

Connecting Wires

Connecting wire is a piece of wire used to attach two circuits or components together.


http://arduino.cc/

http://www.e-gizmo.com/KIT/Gizduino.html



Components Used in Circuit

Figure 1: Board layout of the P-BOT R2 Module showing the location of Gizduino Controller

Port, Battery input, Fast Charger Input, Motor Connector, Charger Input, ILLU switch.




LED INDICATORS

Table 1: Pin connections and descriptions

PIN I.D DescriptionsP5 Connections for Motor DriversP6 Battery Input and Charger Input (Fast Charger – approx. 1 hour)P8 gizDuino Controller Port

SW1 Power and charging Switch10 V Charger Charger Input (10V Charger Adaptor – approx.. 6 hours)

Table 2. LED indicators and Descriptions.

LED PIN I.D DescriptionsD1 COL3 Collision Sensor 3 (LOW-on state)D2 COL2 Collision Sensor 2 (LOW-on state)D3 COL1 Collision Sensor 1 (LOW-on state)D10 M1DIR Motor Driver 1 Direction (Forward/Reverse)D11 M1RUN Motor Driver 1 RunD12 M2RUN Motor Driver 2 RunD13 M2DIR Motor Driver 2 Direction (Forward/Reverse)D18 - Power IndicatorD21 CHARGING Charging Indicator

Procedure




1. First solder the wires to the motor leads.

2. Now mount the wheels to the motor shaft with the help of screw that you got with the

wheels.

3. After that mount the castor wheel on the bottom front and center (roughly) of the robot

using drill. The castor wheel usually comes with holes in it for easy mounting using small

nuts and bolts but if you don’t want to drill holes on the acrylic sheet (robot base) then

you can simply stick it with double sided tape.

4. Now place the two motors on the acrylic sheet with the help of double sided tape. It

would be better if you add some superglue or hotglue as the double sided tape sometimes

may not be able to handle the robot weight.

5. Place a motor in the box for the trash. The motor will be the collector of the trash with the

help of the brush.

6. Place gizduino and the pbot on the base.

7. Place the battery with the connector on the robot base.

8. Connecting the wires of the motor with the brush in the 5V and ground of the GizDuino

v4.1.

9. Input the codes in the arduino software. (See codes in Appendix A)

Circuit Diagram




Figure 2: Schematic Diagram of Motor Driver Circuit.

Figure 3: Schematic of three channel collision detector.




Figure 4: Power distribution and charger indicators.


ResetButtonMotor brush

Sensors

Battery& Power Regulator

LeftMotor

RightMotor

MOTOR:

CHIP:

Autonomous Robotic Cleaner

Control



Block Diagram

Figure 5. The initial block diagram for the Autonomous Robotic Cleaner




Block Diagram Explanation

The block diagram explains the system function of the autonomous robotic cleaner.

When the switch is shorted there is no power flowing in the circuit, when the switch is connected

or on then there is power which is being connected to the motor brush and the control itself. The

battery or power regulator supplies power or voltage to the sensor. The sensor when supplied

with voltage works and it serves as the eye of the robot itself. When the sensor detects an object

in front then it will be then delivered to the control unit or the microcontroller itself. The control

then will tell the motors whether it will stop or change direction. The control then goes back to

the sensor then after the sensor gets the data again it will be then delivered again to the control

then the process will be in cycle.




CHAPTER III

CONCLUSION AND RECOMMENDATION

Findings

By using the Autonomous Robotic Cleaner, Developers can clean narrow spaces that

vacuum cleaners cannot reach. There are different advantages of using Autonomous Robotic

Cleaner, lighter that the commercially manufactured vacuum cleaners, small and can reach

narrow spaces, low power consumption, easy to manufactured and automated operation.

The major disadvantage of the Autonomous Robotic Cleaner is that it is costly.

Conclusion

Developers tried to produce a smart robot cleaner that detects more objects with a goods

price and with ease of use. As what this project is, developers produced a small type of robot that

can go between spaces, catch the trash and put it in its bin that is located below its base, the robot

is small so the trash that the robot will able to collect is also small. The bigger the robot the

bigger trash it can collect. Autonomous Robotic Cleaner can locate and detect if ever there is an

obstacle or furniture that will block its path. The controller may determine whether the cleaning

robot is in a traveling-impossible stuck state by detecting a difference between the calculated

position or angle of the cleaning robot and the measured position or angle of the cleaning robot

for a predetermined time period. Developers conclude that any future development will make our

robot smarter, and this depends in future development of other algorithms that depends in the

form of obstacles.




Recommendation

With this project, developers recommend that the robot can only take small piece of

trashes so if there is a big piece of trash in your room the robot will not be able to collect it. Also

fully charge the robot so that when the robot can completely clean any room. Always check the

trash can if it is full, because the motor with the brush will stop its process if ever the trash bin is

full.

Limitations

There are certain limitations of the project. It cannot really detect litter. Once it collides

the robot will then change direction. It cannot get big litter/trash and the lowest height the robot

can reach is 8 inches. It sometimes stuck in the wall.

References

1. Rickey’s World. (2015). DC Motor Interfacing.

Retrieved from http://www.8051projects.net/wiki/DC_Motor_Interfacing

2. Sharp. (2006). GP2Y0A21YK0F (Distance Measuring Sensor Unit 10-80cm)

Retrieved from http://www.sharpsma.com/webfm_send/1489

3. LV-MaxSonar. (2015). High Performance Sonar Range Finder

Retrieved from http://maxbotix.com/documents/LV-MaxSonar-EZ_Datasheet.pdf

4. ALLDATASHEET.COM. (2016). DC-Motor Datasheet.

Retrieved from http://category.alldatasheet.com/index.jsp?semiconductor=DC-Motor

5. e-Gizmo Mechatronix Central. (2012). PBOT 2r0 Entry Level Mobile Robot Kit

Retrieved from http://www.e-gizmo.com/KIT/P-BOT.htm


http://www.e-gizmo.com/KIT/P-BOT.htm

http://www.8051projects.net/wiki/DC_Motor_Interfacing



APPENDIX A

(Codes)

int col1= 2;

int col2= 3;

int col3= 4;

int ls1 = 5;

int ls2 = 6;

int ls3 = 7;

int m2dir = 8;

int m2run = 9;

int m1dir = 11;

int m1run = 10;

// The setup() method runs once, when the sketch starts

void setup() {

pinMode(col1, INPUT);



pinMode(ls1, INPUT);



pinMode(m2dir, OUTPUT);

pinMode(m2run, OUTPUT);




pinMode(m1dir, OUTPUT);

pinMode(m1run, OUTPUT);

}

// the loop() method runs over and over again,

// as long as the Arduino has power

intcolsense = 0;

intstuckdetect;

void loop()

{

runBot(70,HIGH); // run robot

// read the status of colision sensors

colsense=0;

if(digitalRead(col1)==LOW) colsense=1;

if(digitalRead(col2)==LOW) colsense=colsense+2;

if(digitalRead(col3)==LOW) colsense=colsense+4;

// stuck detect timer

// if always sense, increment timer

if(colsense==0)

stuckdetect=0;

else

stuckdetect=stuckdetect+1;




// if there is no obstruction, continue moving forward

if(colsense==0) runBot(150,HIGH);

// Obstruction up front or stuckdetect for more than 2 secs

if((colsense==2) | stuckdetect>20)

{

//reverse for 500mS

runBot(150,LOW);

delay(500);

// change direction in random manner

if(random(1,1000)>500)

digitalWrite(m2dir,HIGH);

else

digitalWrite(m1dir,HIGH);

delay(500);

// move forward again

runBot(70 ,HIGH);

}

//Obstruction 1

if(colsense==1)

{

analogWrite(m2run, 150);




delay(100);

}

if(colsense==3)

{


delay(100);

}

if(colsense==4)

{


delay(100);

}

if(colsense==6)

{


delay(100);

}

}

voidrunBot(int speed, boolean direction )

{

digitalWrite(m2dir,direction);

digitalWrite(m1dir,direction);




analogWrite(m2run, speed);

analogWrite(m1run, speed);

}

void Stop(void)

{



}




APPENDIX B

(Assembly and Construction)











Engineering

Autonomous Robotic Cleaner (ARC)