Wednesday, November 7, 2012
Tuesday, November 6, 2012
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.
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:-
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