Video of my FYP

Week 14 : The D – day

This week is the presentation week of my robot after all had been done, the sweat of my eye brows, the cost and money spend I have managed to finish it, Alhamdulillah... I will do the preparation for the VIVA by preparing the slide show and also think the way to demonstrate it.

I think this is the opportunity for me to thanks for  my Final Year Project Advisor Madam Zaridah from Electronic Engineering Department University of Kuala Lumpur British Malaysian Institute for her support and advise in making my project.

If we ask all the Final Year Student, all of the wanted to score in this subject and so do mine...I wanted to do  well in the presentation or VIVA , and also produce a good report to submit to my project advisor , I’m proud of being UniKL BMI Electronic Engineering student.

THANK YOU

Week 13 : The Born of what so called Vacuum Cleaner Robot ( VCR)

My robot is finally finish and been completed in this week, and  below is the picture of it:

This robot will also clean the carpet and mattress, unfortunately I have found something very useful for my robot in doing it’s job:

Above is the Carpet and Mattress Roller which we can use it to grab or pick the hair, dust and even a small and light-weight rubbish by rolling it on them. I decided to attached it to my robot , thus the robot will drag it anywhere it goes and wandering or casting on the surface of the floor and any other mattress.

Week 12 : The Casing and Appearances Design of the Vacuum Cleaner Robot

The plan for this week is to design the casing of the robot and also it appearances. I found that casing is important to protect the circuit and it’s component inside against water, weather, dust, or anything that could harm the robot. Besides, it also make the Vacuum Cleaner Robot looks beautiful like a fine art work of electronic engineering student.

I design the casing that attached to the frame of the robot using a hasp :

I put the 2 Blue LED and 1 Red LED in my own style! On the casing of the robot , I hope it will look fantastic :

There were 2 Blue LED parallel with 2 DC motor just to show the robot is communicate if it want to start moving and turning left and right. The LED indicator for the vacuum when it’s operating is also there in that pinky face.

Week 11 : Continue from previous week 10 :The Frame/ body and Hard ware Design of the Vacuum Cleaner Robot

This week I continue on focusing on hardware of the robot. I decided to trim the frame of the robot using the electric grinder to make it a little bit small, I believe it also will make the robot become a little lighter and can move more smoothly.

From underneath view of Vacuum Cleaner Robot:

From right view of the Vacuum Cleaner Robot :

Week 10 : Continue from previous week 9 :The Frame/ body and Hard ware Design of the Vacuum Cleaner Robot

The Circuit had been placed on the robot :

The switch to ON and OFF the robot and the Vacuum Cleaner which the right is for robot and the left is for Vacuum :

All the assembly is done :

Week 9 : The Frame/ body and Hard ware Design of the Vacuum Cleaner Robot

This week is the assembly  between the circuit , body and the vacuum of the Vacuum Cleaner Robot. For the frame of the robot been made using Perspex and it will be cutting so there’s a space for the wheels.

The Vacuum had been modify to be attached to the frame (Perspex)  of the robot:

The robot caster (front roller) and DC motor also been attached to frame (Perspex) :

Week 8 : Put the Vacuum onto the robot for its application

I need to find the suitable vacuum. It may be small but can perform best, thus the size doesn’t matter. Finally I found this cute little vacuum is suitable to propose for my robot and they would be nice together hopefully.

It powered by 2 double A battery, been connected to DC motor that have a turbine. Under this cute vacuum is the small brush. When I tested this vacuum, It can suck away small dust, small rubbish, hair and many more light-weight particle lying on the floor or any other mattress.

Week 7 : The PCB Drill and Soldering Week

What I do in this week is drill the PCB board in order to make hole to place the pin or terminal of the component and soldering the component on the PCB board that finely etched. The component had been place on the PCB board and soldered their terminal under the board. Below is the picture taken of the finished soldered circuit.

The sensitive component such as Voltage regulator, crystal, capacitor and same alike must be soldered carefully to prevent over heating that can damage the component. Soldering must be in a good shape to avoid a loose component , this will ensure the lifetime of the robot.

Week 6 : The Layout and Etching

The layout had been drew using Pad to pad software for design the circuit  and print out on the plastic sheet size A4. Then, that plastic will be iron  on PCB board so that the ink will be melt onto it surface.

The circuit then will be etching using etchant which is an acid, then unwanted part will be varnish away and leave only the wanted one.

PCB board after etching :

Week 5 : Obtaining the required electronic component

There a list of the component that I need to buy there which shown below:

                                i.            ATMEGA328P   x 1

                              ii.            Motor Controller IC L293D x 1

                            iii.            Direct Current Motor x 2

                            iv.            Tyres of the robot x 2

                              v.            Robot Caster (will be put in front) x 1

                            vi.            Crystal 16MHz x 1

                          vii.            Capacitor 1µF x 4 (buy extra)

                        viii.            Polarise capacitor 1µF  x 4 (buy extra)

                            ix.            Resistor 10k x 4 (buy extra)

                              x.            Infrared Sensor x 3

                            xi.            Reset Button x 4 (buy extra)

                          xii.            Button x 4 (buy extra)

                        xiii.            9V battery casing

I have done some research of the very important component like ATMEGA328P, IC L293, DC motor, Tyres and Robot caster before I go buying it in the electronic store or market. That the first thing to do because I want to avoid any mistaken happen in the future. Below is the example component or part that I found it best to fit my project :

Direct Current Motor:

This Motor is very suitable for the movement of the robot and it’s more suitable for my project. It’s cheaper than the servo motor, besides servo motor I think it’s applicable in building a robotic arm. By using this, my robot movement will be more smooth because it have a double gearbox.

ATMEGA328P:

Parameter Value:

    Flash : 32 Kbytes , Pin Count: 32 , Max. Operating Frequency: 20 MHz , CPU: 8-bit AVR , number of Touch Channels: 16 , Hardware QTouch Acquisition: No , Max I/O Pins: 23 , Ext Interrupts: 24 , USB Speed: No , USB Interface: No 

Week 3 and 4 : The Programming for the movement of robot

 I have to write the program for my robot and burn into the ATM328P which also known as the Arduino. 

Below is my program for the robot using C language:

#include <math.h>

int backLight = 13;

#include <math.h>

int analogPin0 = 0;     // potentiometer wiper (middle terminal) connected to analog pin 2

int analogPin1 = 1;     // potentiometer wiper (middle terminal) connected to analog pin 3

int analogPin2 = 2;     // potentiometer wiper (middle terminal) connected to analog pin 4

int hba =  2;

int hbb =  6;

int hb0 =  9;

int hb1 =  10;

int hb2 =  11;

int hb3 =  12;

float val;

int val0;

int val1;

int val2;

void setup()

{

  pinMode(backLight, OUTPUT);

delay(1000);         

}

void loop()

  {

digitalWrite(hba, LOW);

digitalWrite(hbb, LOW); 

digitalWrite(hb0, LOW);

                digitalWrite(hb1, HIGH);

                digitalWrite(hb2, LOW); 

digitalWrite(hb3, HIGH);

                delay(100);

  }

                   else if (val1<=250 && val>=32)

          {

   digitalWrite(hba, HIGH);

   digitalWrite(hbb, HIGH); 

   digitalWrite(hb0, LOW);

   digitalWrite(hb1, HIGH);

   digitalWrite(hb2, LOW); 

   digitalWrite(hb3, HIGH);

   delay(100);

 }

  else if (val1>250 && val<32)

           {

                      if (val0<val2)

                       {

      digitalWrite(hba, LOW);

                     digitalWrite(hbb, LOW);

            digitalWrite(hb0, LOW);

            digitalWrite(hb1, LOW);

            digitalWrite(hb2, LOW); 

            digitalWrite(hb3, HIGH);

            delay(500);

        }

     else if (val2<val0)

       {

        digitalWrite(hba, LOW);

        digitalWrite(hbb, LOW);

        digitalWrite(hb0, LOW);

        digitalWrite(hb1, HIGH);

        digitalWrite(hb2, LOW); 

        digitalWrite(hb3, LOW);

        delay(500); 

        }

   }

   else if (val1>250 && val>=32)

   {

     if (val0<val2)

       {

        digitalWrite(hba, HIGH);

        digitalWrite(hbb, HIGH);

        digitalWrite(hb0, LOW);

        digitalWrite(hb1, LOW);

        digitalWrite(hb2, LOW); 

        digitalWrite(hb3, HIGH);

        delay(500);

        }

     else if (val2<val0)

       {

        digitalWrite(hba, HIGH);

        digitalWrite(hbb, HIGH);

        digitalWrite(hb0, LOW);

        digitalWrite(hb1, HIGH);

        digitalWrite(hb2, LOW); 

        digitalWrite(hb3, LOW);

        delay(500); 

        }

   }

}

Week 2 : The important week of all

         I’ve drawn the circuit using the software called Prosteus, the circuit is drawn in the computer using the electronic component which imported in library file of that software, such as ATMEGA328P, resistor, capacitor , crystal , button and so on. I’ve shown the component that I used in designing my project below:

          After the electronic component had been selected, then the circuit will be drawn, by connecting them. Back in semester 5, I’ve taken subject called Microcontroller which also using the same simulation software. Besides, I’ve done an assignment to build a washing machine system and from that I’ve obtain an idea to use the same concept but applied in different way in order to create Vacuum Cleaner Robot.

FYP 2 Week 1 : From Idea to realisation

This week is the first week of the new beginning in the semester 2 2012 and it’s also the beginning of my Final Year Project 2. There’s an additional information and important finding for my project and I hope my progress in creating a Vacuum Cleaner Robot won’t face any problem, insyaAllah...

Redraw my Block diagram:-

The function of my robot is to help people in cleaning their floor or any other mattress in their home by using a vacuum cleaner, Thus they just leave the robot alone to wonder or casting inside their house and they will save a lot of time and energy. Back then I’ve decided to use microcontroller PIC 16f877A to control the function and movement of my project, but now I decided to use microcontroller ATMEGA328P. The block diagram had been shown below...

It’s using the 3 infrared sensor, which is Infrared sensor 1, Infrared sensor 2, and Infrared sensor 3. Then, they will be fed into the ATMEGA328P microcontroller to control the movement of the robot which will moving forward, left, and right.

The position of the sensor will be put in front of the robot:-

Flow chart

Block Diagram of robot function

METHODOLOGY

This project is divided into two parts. First is the hardware design and second is the software design. This project activity must be done step by step. It begins with searching and collecting information from scientific perspective. The review is about mechanical structure design, body, tyre, and motor, electronic circuit design, sensors and actuator, also software programming implementation. The project was begun by finding the concept and idea related to this title.

The robot depending on how it will be programmed should implement all the behaviours like moving, picking fetching and so on successfully next proceed research on electrical part and mechanical design. A survey concerning prices, availability, and choices had been done on the components that will be used.

The circuitry, data sheet and others information were gathered, seeking for the most appropriate selection of components. Then, research on mechanical design where how does base, and others mechanical part look alike. Just after completing the design of mechanical and electronic parts, it proceeds to build and construct the Printed Circuit Board for the electronic circuit followed by developing the software in C programming. Trouble shoot will always be done as long as there is an error in final testing to get the final product.

By using proteus as simulation software, I design the circuit diagram to run the program in PIC by refer to our own block diagram.  In our block diagram, there have two inputs such as sensor A and sensor B. Both input are using infrared sensor that is detect the obstacle only 7 cm of length.  The PIC that we used is PIC16F877A as a CPU that connecting at switching circuit (L293B) to drive the Outputs.

My robot would look like this~

LITERATURE REVIEW

This chapter explain about the function of the main component that being uses to build the vacuum cleaner robot .This project also exposed on research to build the cleaner system that can vacuum the carpet and can clean the floor.The unwanted particle that lay on the floor will be brushed away the suck through a hole then filtered. Therefore, this method is very familiar for most of engineering student in this country where I believe it will bring a lot of challenge and creativity and I like to modify something that can become useful. This project is divided by two part which is vacuuming and cleaning system and controlling the movement of robot.

The literature review can give some rough ideas to help on developing the project successfully and be able to achieve the objectives that have been outlined. Before any development can take place, a research must be carried out on all the possible components that will be used in the autonomous robot. The internet is the place where detailed explanations on a few reference and terminologies of similar projects previously created by others can be found and there is no other place to easily get the data sheets of the components used. Besides of the internet resources, the thesis room in FKE also provides some thesis reference from the previous final year project student. Other than that, the autonomous robot competitions themselves are also another good source of information. The information is very useful and helpful to this project, especially only the issues such as microcontroller, mobile platform design, circuit layout and sensor placement. Below are some of the important theories that related to this project, such as IR reflection law that lead to line detection of the robot, LCD functions, basic idea of line following and maze solving theory, PMW, H-bridge used in motor driver and so forth. These theories should be fully understood before starting the project.

Vacuum Cleaner Robot

The objective of this project is to create the robot that do people work which is to clean and vacuum carpet and floor automatically without people to control its movement. The dust that lies must be vanished away and the same also goes for the rubbish in order to have a better house living style. Besides, that dust contains microbe and bacteria which is not good for health and can cause disease such as asthma, thus the “ prevention is better than a cure”.

I named this project a vacuum cleaner robot, because this robot will suck away the dust and rubbish that lies on the floor of the house.  . For this final year project, I plan to use Robot Forward and Reverse Motor Base with Infrared Sensors and it will combining with the custom home made vacuum which I will mounted on it.

The operation of the robot:

Can detect a wall (right and left)

Can detect an obstacle in front of the robot ( can avoid collision with the table’s stand and other furniture) .

Introduction

The student of UniKL-BMI should complete all the criteria or assessment before they were gets their Bachelor and to complete their study. To fulfill the requirement student should complete task given including to design and build the final year project as known as FYP. As an electronic engineering student, I must create or design one project related what course has been taken by me. This project is a good way in order to produce quality students for the future jobs market. As student, we should know on how to design the project which has a good prospect on the future. We need to design, construct and testing the project by follow the given criteria to us.