stairs cleaning robot
DESCRIPTION
Stairs Cleaning Robot. Connie Lisu Ahmad Naqeeb Yahya. Problem Statement. Many complaints arise because stairs can take many more hours to dry than do typical carpeted floors. - PowerPoint PPT PresentationTRANSCRIPT
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.
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.
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.