University of Perpetual Help System-JONELTA Sto.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
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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
University of Perpetual Help System-JONELTASto.Niño, City Of Biñan, Laguna
COLLEGE OF ENGINEERING & TECH-VOC.
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
University of Perpetual Help System-JONELTASto.Niño, City Of Biñan, Laguna
COLLEGE OF ENGINEERING & TECH-VOC.
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.
Autonomous Robotic Cleaner 2
University of Perpetual Help System-JONELTASto.Niño, City Of Biñan, Laguna
COLLEGE OF ENGINEERING & TECH-VOC.
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.
Autonomous Robotic Cleaner 3
University of Perpetual Help System-JONELTASto.Niño, City Of Biñan, Laguna
COLLEGE OF ENGINEERING & TECH-VOC.
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).
Autonomous Robotic Cleaner 4
University of Perpetual Help System-JONELTASto.Niño, City Of Biñan, Laguna
COLLEGE OF ENGINEERING & TECH-VOC.
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
Autonomous Robotic Cleaner 5
University of Perpetual Help System-JONELTASto.Niño, City Of Biñan, Laguna
COLLEGE OF ENGINEERING & TECH-VOC.
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.
Autonomous Robotic Cleaner 6
University of Perpetual Help System-JONELTASto.Niño, City Of Biñan, Laguna
COLLEGE OF ENGINEERING & TECH-VOC.
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.