Final Year Project Report The Waiter Robot With Wireless Ordering System B.S. Electronic Engineering, Batch 2007 Internal Adviser External Adviser Engr. Muhammad Rafay Khan Mr. Abrash Parwez Lecturer Master’s Student Electronic Engineering Deppt. Engg Management SSUET, KARACHI Stanford University Submitted by Malik Usama Waheed 2007-EE- 128 Ahsan Parwez 2007-EE-134 Saghir Ahmed 2007-EE-139 Huzaifa Saifuddin 2007-EE-158 Muhammad Dawood Qamer 2007-EE-159 Sajid Gul Amber Khan 2007-EE- 168 Sir Syed University Of Engineering & Technology
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Final Year Project Report
The Waiter Robot With Wireless Ordering System
B.S. Electronic Engineering, Batch 2007
Internal Adviser External AdviserEngr. Muhammad Rafay Khan Mr. Abrash ParwezLecturer Master’s StudentElectronic Engineering Deppt. Engg ManagementSSUET, KARACHI Stanford University
Submitted byMalik Usama Waheed 2007-EE-128Ahsan Parwez 2007-EE-134Saghir Ahmed 2007-EE-139Huzaifa Saifuddin 2007-EE-158Muhammad Dawood Qamer 2007-EE-159Sajid Gul Amber Khan 2007-EE-168
DEPARTMENT OF ELECTRONIC ENGINEERINGSir Syed University Of Engineering & Technology
University Road, Karachi-75300
January, 2011
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PREFACE
The creation of intelligent robots is surely one of the most exciting and challenging
goals of Artificial Intelligence. A robot is, first of all, nothing but an inanimate
machine with motors and sensors. In order to bring life to it, the machine needs to be
programmed so as to make active use of its hardware components. This turns a
machine into an autonomous robot. Since about the mid-nineties of the past century,
robot programming has made impressive progress. State-of-the-art robots are able to
orient themselves and move around freely in indoor environments or negotiate
difficult outdoor terrains, they can use stereo vision to recognize objects, and they are
capable of simple object manipulation with the help of artificial extremities. At a time
where robots perform these tasks more and more reliably, we are ready to pursue the
next big step, which is to turn autonomous machines into reasoning robots. A
reasoning robot exhibits higher cognitive capabilities like following complex and
long-term strategies, making rational decisions on a high level, drawing logical
conclusions from sensor information acquired over time, devising suitable plans, and
reacting sensibly in unexpected situations. All of these capabilities are characteristics
of human-like intelligence and ultimately distinguish truly intelligent robots from
mere autonomous machines.
Our interest in robots leaned more toward the popular concept of robots as humanlike
friends and servants. We did not have the funds to build a computer-controlled robot
that is why we used microcontrollers.
To increase the effectiveness and efficiencies of restaurants we have worked on
Digitized Menu cards that will be installed on tables, that will eliminate any Queuing
at the counter. Our theme is to create an organized environment that will facilitate all
group ages.
This thesis provides an in-depth look into “THE WAITER ROBOT WITH
WIRELESS ORDRING SYSTEM“, providing complete knowledge of the project that
describes the devices used in the formation and those associated with it. The text also
elaborates the terminologies and factors related to the project.
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Chapter 1: This chapter gives introduction about the types of service robots and the
scope of robotics in different fields.
Chapter 2: This chapter further gives background of the robotics and describe the
types in more detail.
Chapter 3: Provides indept knowledge about the RF module and wireless
Communication.
Chapter 4: This chapter describes the design phase and entire methodology of our
project.
Chapter 5: This chapter describes the hardware design of entire project.
Chapter 6: Chapter includes description of components used in the project and how
they were used.
Chapter 7: Gives details about the softwares and their development process.
Chapter 8: This chapter contains the flowcharts and the schematics of the project.
Chapter 9: Conclusion and Future Enhancements are listed in this chapter.
Appendices: Appendix A contains time and cost analysis and Appendix B contains
datasheets of major components.
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ACKNOWLEDGEMENTS
First and foremost we are thankful to Almighty Allah, through His guidance we have
reach this point in our lives.
We are grateful to our parents who provided us with all the resources and luxuries,
and supported us in every possible way during the duration of this project.
We are deeply indebted to Mr. Muhammad Rafay Khan (Lecturer, Electronics Dept),
our internal advisor, who offered his valuable time whenever we needed. His full
encouragement and even more cooperation was always with us, during the completion
of this project. Finally yet importantly, we acknowledge the efforts of our teachers
who have been our source of inspiration throughout the university years and have
shared their knowledge and skills with us.
We are also deeply indebted to Mr. Abrash Pervaiz, our external advisor, who
provided his valuable knowledge about the PIC micro-controller and its interfacing
and programming. We are also grateful to Mr. Sohail Memon who provided his
expertise about the mechanical design of robot.
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SIR SYED UNIVERSITY OF ENGINEERING & TECHNOLOGYUniversity Road, Karachi-75300, Pakistan
for a new Concurrency Runtime in Visual Studio 2010 and Intel has launched
parallelism support in Parallel Studio as an add-on for Visual Studio.
The Visual Studio 2010 code editor now highlights references; whenever a symbol is
selected, all other usages of the symbol are highlighted.It also offers a Quick Search
feature to incrementally search across all symbols in C++, C# and VB.NET projects.
Quick Search supports substring matches and camelCase searches. The Call
Hierarchy feature allows the developer to see all the methods that are called from a
current method as well as the methods that call the current one.IntelliSense in Visual
Studio supports a consume-first mode which developers can opt into. In this mode,
IntelliSense will not auto-complete identifiers; this allows the developer to use
undefined identifiers (like variable or method names) and define those later. Visual
Studio 2010 can also help in this by automatically defining them, if it can infer their
types from usage. [23]
7.2.2.1 SOFTWARE SCREENSHOTS:
The GUI was developed entirely in Visual Studio 2010. Following are the important
features and commands that were used in the development of the software.
Form1 is by default the main form in the project, we have renamed it to “Main Order
Form” using the properties panel. Labels are added to define the details of the
placement of textboxes. From 1 to 9 textboxes are the queues of the table orders, there
are three tables, so the textboxes are programmed to display “Table 1” , “Table 2” ,
“Table 3”. The textboxes on the left corner are unused and were used during the
development of the software, therefore don’t be concerned about them they can be
removed.
In the Main Order Form three buttons are added “View Database” to view the
database or history of the orders that were received. “Close Program” is used to
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shutdown the software. “Show Order Details” button is used to view the detail of the
orders, when this button is clicked it will open up a new form and display the details
of the orders in the 1st textbox of the “Main Order Form”.
Two more features are required by the software and both are added into the “Main
Order Form”, they are Serail Port and Timer_Tick function. Serial Port is added to
receive the data from the serial port of the computer and display it on the textbox
fields in the main order form, serial port settings include, selecting the COM port of
the computer and setting the baud rate to 2400.
Timer_Tick function repeatdly checks the status and updates the textboxes.
The following is a screenshot of the “Main Order Form” at the start of the program.
When data is received through the serial port the “Main Order Form” is updated.
Following is the screenshot taken after it was updated.
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“Order Details” form is the Form2 in the Visual Studio 2010, it is renamed to “Order
Details” and it shows the details of each and every table order, in this form we can
view the selections that were made by the customer at the tables.
In this form three buttons are added to add functionality to it, Close button closes the
form, “Database” button will insert the new entry into the database, “Transmit” button
will transmit the command to the Robot, it will send the Table number to the robot.
This form also displays the names of the items that are being offered by us.
Following is the screenshot of the “Order Details” form without any orders displayed
on it.
Following is the screenshot showing the details of selections made by the customers.
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“Database” form is the Form3 in Visual Studio 2010, we have edited it and its
purpose is to show the history/database of the orders that have been served by the
Robot.
Database form is connected to a database maintained in SQL Management Server
2008, it has been linked. This form will show entire history of the previous orders.
“Binding Navigator” is used on the top of the form to navigate back and forward in
the database.
Following is the screenshot of Database form without any data.
Following is the screenshot of Database form showing the history and database of
previous orders.
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SQL Management Server 2008 is used to create a table, this table stores the database
and entire history of the orders, and this table is binded with our software, and is
accessible using the “Database” form in our software. [24]
7.3 CONCLUSION:
In this chapter we have discussed 4 softwares which we used including ( PIC
Simulator ,Visual Studio 2010, SQL management server 2008 and Windows
Operating System) . we gave the brief introduction to these softwares and also have
briefly discussed those areas of the software, which we used and how we used.
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FLOW CHARTS AND CIRCUITS
8.1 POWER SUPPLY:
Rechargeable 12v, 9v batteries were the power
supply use for the project. This gives the running time of approximately two hours.
They are capable of providing 7 ampere of current per hour each. The rechargeable
batteries provide clean, reliable power and allowed reuse of the batteries when
depleted. The selection between different types of batteries was made based on size
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and power requirements. Power supply provides biasing to the different components
of the system and activates the sensors, motors.
8.2 MOTOR DRIVING:
Motor is a device that converts electrical energy into mechanical energy. Its principle
is because when a current carrying conductor is placed in a magnetic field, it
experiences a mechanical force whose direction is given by Fleming’s Left Hand Rule
and magnitude by F = B I L
In this circuit we use two relays to operate the Dc gear motor and use two transistor as
a switch. In this circuit motors are grounded through the relay, when the controller
send the logic to the transistor base the emitter and collector become short and 12 volt
through the battery is appear around the motor. When we controller send the logic to
both transistor the motor will move forward direction, to turn the robot we one motor
operates while other is off.
8.3 PIC18 GENERAL CIRCUIT:
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PIC18 is the main component of our project and it is central to all the processing and
data collection and handling of the system by using PIC18 we have given life to this
system and all the decisions made by the robot are also handle by this chip. to
initialize the PIC chip we have to provide 5V at pin number 11, 32 and 1 with 4.7k
ohms resistor, also place a crystal of 4.00MHz at pin numbers 13 and 14 and pin
numbers 12 and 31 should be grounded.
8.4 MAIN ROBOT CIRCUIT:
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This circuit is the main circuit of the robot, this circuit also connected with two
motors, ultra sonic sensor circuit, U-shape sensor circuit and RF receiver. This circuit
drives the motor and according the programming and U-shape sensor count the
rotation of the wheel and gives the rotation values to the controller. During the robot
in the motion any obstacle come in its path send the signal to the controller and
controller stop the motor. When the controller receive the signal through the RF
receiver it goes to its destination table to deliver the order, when it receive the the
signal it come back to is position. The u-shape sensor is used for counting the rotation
of the wheels we use LM324 with U-shape sensor because u-shape gives continuous
output and it use as a level trigger.
8.5 TABLE CIRCUIT:
this is the circuit of table, in this circuit we attach 7 push buttons, 5 push buttons is
use to insert the values of the order and 1 button is use to send the order to the counter
and one button is use to reset the order if u
enter the wrong values, one LCM is
connected to the controller which shows
orders.
8.6 PIC16 GENERAL CIRCUIT:
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This is the initializing circuit of PIC16f84, to initializing the circuit we provided 5V at pin numbers 4 and 14. The pin number 5 should be grounded and 4.00MHz crystal at pin numbers 15 and 16.
8.7 ULTRA SONIC CIRCUIT:
We use ultrasonic sensor to detect any obstacle which come in the path of robot
ultrasonic sensor transmit the sound waves when sound waves hit any obstacle reflect
back and the receiver receive catch it, the range of ultra sonic sensor is about 21 meter
but we set its range about 1 feet by the help of PIC 16F848
8.8 LEDS FLASHING CIRCUIT:
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This circuit is use for LEDS flashing we use 12 LEDS and glow them first to last
again and again through the programming.
8.9 COUNTER CIRCUIT:
The counter circuit has both RF receiver and transmitter, this circuit receives
data from tables and send it to the computer through max232 and serial port, and
displayed on the GUI.
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From the GUI we send the transmit table number command to the robot through the
RF transmitter.
8.10 FLOW CHART OF THE SYSTEM:
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8.10.1 DESCRIPTION OF THE PROCESS:
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The operation or the process of our entire project can be divided into three parts.
Part 1 (Placing an Order by Customer)
The Customer will take a seat at one of three tables, menu card will be printed on the
custom designed modules, selections are made using 5 pushbuttons on the module,
and last 2 pushbuttons are for “Reset” and “Send” respectively.
Liquid Crystal Display will display the selections made by the customer, when he has
made his selections he can press the “Send” button to transmit the order wirelessly to
the Counter.
Selections can be reset by using the “Reset” button.
Part 2 (Receiving and Displaying at the Counter)
All the data transmitted from the module at the tables is received by a RF receiver at
the Counter, the receiver is directly connected to the MAX232 IC that converts the
logic of data and sends it to serial port of the computer, the software is designed in
such a way that it displays exact information about the order that was placed by the
customer from the tables.
The GUI will display the Table number, and all the selections made by the customer,
this way the order is placed.
Part 3 (Transmitting to the Waiter Robot)
All the details of the orders are displayed on the GUI and are saved into the database
for later viewing.
The items that are ordered are placed onto the tray of the robot and then Robot is
given command to serve to the customers, using the GUI.
Data is sent through the serial port of the computer to the MAX232 module that
converts the logic and sends information to the RF transmitter. A RF receiver is
installed in the Robot for reception of commands from the Counter. “Recall”
command button can be used to call the robot back to the starting position, which is
the Counter. The process will be repeated again for the next order.
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CONCLUSION AND FUTURE ENHANCEMENT
9.1 PROJECT REVIEW:
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The objective was to create a prototype of a fully functional environment with
wireless transmission of orders and a semi-intelligent robot that will serve the meals
to the customers. As the world advances and introduces new methods of automation,
even in the daily aspects of life, like eating-out at restaurants with friends and family.
We are glad to introduce first time in our university this kind of a prototype, it will
attract many people towards the engineering side because of small wonders that can
be made.
We can say that our main component was the PIC18 that was used on each and every
part of the project, tables, counter, and the robot itself.
Mechanical design was also put in consideration as the prototype needs a proper
shape and figure to look pleasant and designed for the task at hand.
9.2 FUTURE ENHANCEMENTS AND CONSIDERATIONS:
During our research we have come across many models available doing the same job
as waiters, cleaners, chefs, etcetera, each with entirely different criteria. Our robot is
based on driving the robot on the fixed defined paths and only with intelligence of
detecting objects or obstacles in front of it. Many features can be added to assist the
robot and the operators for better management of task and functionality of the robot.
9.2.1 ADDING CAMERAS (SENSE OF SIGHT)
Many models we came across used cameras mounted typically on what is suppose to
be the head of the robot. The camera would take real time images or real time video
and store it or transmit it wirelessly to the control terminals and screens installed in
control room or the counter.
This feature not only gives sight to the robot, it also gives real time update on location
of the robot on the terminals of operators and staff. With the use of complex
programming the images from the cameras can be processed and identified by the
robot as living or as a object. This technique is usually very advance and best left to
big companies manufacturing and specializing in such hardware.
9.2.2 MULTI-PURPOSE SINGLE ROBOT
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A robot of this style can be upgraded in the sense that it can be made to perform
multiple jobs, such as a waiter, a cleaner a guide and even an entertainer.
During our research we came one interesting model that would dance to the music to
entertain the customers while it was idle (had no new order).
Cleaner robots have been around for quite a long time now, they are mounted with
brushes on their bases to clean away dust and other particles. With the help of
complex programming the robot can keep track of the amount of work it has done.
Multipurpose robots are most suitable for economic viable companies.
9.2.3 GPS NAVIGATIONAL AID ROBOT
GPS system can also be implemented to know the exact coordinates of the robot at all
times and make the robot enable to know its own location and improve the A.I. level
of the robot.
9.2.4 ABILITY TO RESPOND TO VERBAL COMMANDS (SENSE OF HEARING)
Many robot models and systems are equipped to recognize the human sound and
voice and are able to understand the language and some key words.
Sense of hearing is very useful and the ability of the robot to answer to commands is
also a key to improving the A.I. of the robot.
9.2.5 MEDICAL ROBOTS
Many robots are designed to be used in field and prescribe medicine to the patients.
Other robots are operated by a doctor who is in other country or remote location.
Basic designs are the same, medical robots are usually equipped with LCD screens to
show the status and other information.
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REFERENCES
CHAPTER 1
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[1] David R. Shircliff. Build a remote controlled robot.