S TAIRS C LEANING R OBOT Connie Lisu Ahmad Naqeeb Yahya.

STAIRS CLEANING ROBOTConnie Lisu

Ahmad Naqeeb Yahya

PROBLEM STATEMENT Many complaints arise because stairs can take many

more hours to dry than do typical carpeted floors.

It's rare that the stairs receive the same treatment. Weeks, even months, can go by without stairs receiving a proper vacuuming.

Solid load builds up in stairs which can be extreme at times.

Designs for structured obstacles.

GOALS AND OBJECTIVES

Primary Objective Robot movement:

Sideways, Descent Not tip over

Secondary Objective Installing vacuum cleaner components

Roller brushes, suction cup, absorbent bag, filter

Kakudou, T. (2011) . Study on Mobile Mechanism for a Stair Cleaning Robot , Design of Translational Locomotion Mechanism . Department of Intelligent Mechanical Systems, Okayama University, Okayama 700-8530, Japan.

SYSTEM ARCHITECTURE I

SYSTEM ARCHITECTURE II

HIGHLIGHTS OF TECHNOLOGIES AND INNOVATIVE IDEAS

Rover 5 Motor Driver Board ROB-11593 H-Bridges Four motor outputs; four encoder inputs

Vex Bumper Switches SPST switch; 3-wire cable Signal behavior: Maintains digital HIGH signal

Arduino Uno R3 Atmega328 microcontroller 16Mhz clock speed, 14 I/O pins

Scissor Lift Vex Gear Kit (12-, 36-, 60-, and 84-tooth gears) Vex Metal and Hardware Kit (bars, shafts, bearings and

etc)

SYSTEM DETAILS I

Rover 5 Motor Driver Board Four pins are

connected to Arduino Uno for motor directions and voltage control (PWM)

6 x 1.5V NiMH as voltage source

One pin for current measurement

SYSTEM DETAILS I unsigned long start;

int time_to_go;

void loop (){

  analogWrite (MOTORA, 200);  analogWrite (MOTORB, 200);

analogWrite (MOTORC, 200);  analogWrite (MOTORD, 200);   start = millis ();    // check current drain  while (millis () - start < time_to_go)    {    if (analogRead (0) > 325)  // > 1.46 amps      break;        }        switch (phase++ & 3)    {    case 0:       digitalWrite (DIRECTIONA, 1);       digitalWrite (DIRECTIONB, 1);       time_to_go = TIME_FORWARDS;      break;        

 case 1:       digitalWrite (DIRECTIONC, 0);       digitalWrite (DIRECTIOND, 0);       time_to_go = TIME_BACKWARDS;      break;          } // end of switch      analogWrite (MOTORA, 0);  analogWrite (MOTORB, 0);

analogWrite (MOTORC, 0);  analogWrite (MOTORD, 0);   delay (500);  }  // end of loop

SYSTEM DETAILS II

Arduino Uno + Vex Bumper Switches: 9V battery Force on bumper

switch changes the switch state

Bump on either switch will reverse the current direction of the motors

SYSTEM DETAILS II #include <AFMotor.h>

AF_DCMotor motor1(1,MOTOR12_64KHZ);AF_DCMotor motor2(2,MOTOR12_64KHZ);

int sleft = 52; //left bumper switchint sright = 53; //right bumper switchint lval; //left switch stateint rval; //right switch state

void setup(){  Serial.begin(9600);  Serial.println("Here we go!");    pinMode(sleft,INPUT);  pinMode(sright,INPUT);  motor1.setSpeed(255);  motor2.setSpeed(255);  digitalWrite(sleft,LOW);  digitalWrite(sright,LOW);}

void loop(){  lval = digitalRead(sleft);  rval = digitalRead(sright);  while (lval == LOW,rval == LOW)  {    motor1.run(FORWARD);   motor2.run(FORWARD);  } 

 if (lval == LOW,rval == HIGH)  {    motor1.run(BACKWARD);    motor2.run(BACKWARD);    delay(1500);    motor1.run(BACKWARD);    motor2.run(FORWARD);    delay(750);  }  if (lval == HIGH,rval == LOW)  {    motor1.run(BACKWARD);    motor2.run(BACKWARD);    delay(1500);    motor2.run(BACKWARD);    motor1.run(FORWARD);    delay(750);  }  if (lval == HIGH,rval == HIGH)  {    Serial.print("WTF!!!");    delay(3000);    motor1.run(BACKWARD);    motor2.run(BACKWARD);    delay(1500);    motor1.run(BACKWARD);    motor2.run(FORWARD);    delay(2250);  }}

SYSTEM DETAILS III

Scissor Lift Metal framework that is able to move like several

interconnected pairs of scissors in order to lift a platform.

This method will help the robot to move down the stairs.

SYSTEM DETAILS III

Kits Vex Gear Kit

12-, 36-, 60-, and 84-tooth gears Vex Metal and Hardware Kit

Steel chassis, plates, bars, and gussets Collars, shafts, bearings, and standoffs Spacers, screws, nuts, and washers.

USER INTERFACE

LATEST ACCOMPLISHMENTS

SUGGESTIONS FOR FUTURE DEVELOPMENT

Improving the scissor lift design so that the robot senses when the it touches the ground of the lower stairs.

Allowing the robot to detect and stop automatically on flat surfaces.

Improving the vacuum port design especially the roller brush so that it fits the stair treads.