A Brief Description
How does it work?
Detailed Pin Diagram
Group Members Information
In this project we designed a probe or rover that can crawl through the room. The goal is to mount a suitable vacuum cleaner on it so that the device collects all the dusts and other tiny raw materials from the floor on its way. This kind of system is specially useful where there is an insufficience in cleaners or room services and inhabitants are unable to clean the room by themselves. In this case all they have to do is to power-up the device and put it on the floor. The device will do the rest.
One Sonar Sensor
One Servo Motor
Two DC Motors, along with:
A motor driver (L293D)
Structural Components, such as:
2 5V Power Supplies
Vacuum cleaner prototype(hand made)
The primary engineering part of this system is the rover that carries the vacuum cleaner throughout the room. This rover uses arduino uno as processing unit and runs on wheels. It uses a sonar sensor to sense the surrounding obstacles and make decisions. The servo motor is used to rotate the sonar sensor so that it can 'look-around'. The data from the sonar sensor is processed and direction of the next move of the motor is decided. Thus it avoids collision while traversing. This rover runs on a 5v rechargeable battery, the lifeline of which is dependent on the type of battery used. The vacuum cleaner to be mounted on this rover can be a commercial one, which will work independently with its own mechanisms and power source.
Fig.1 Block Diagram
2.Sonar Sensor is rotated with servo motor
3.sonar sensor gives obstacle distance situated around
4.If there is close obstacle in the Right or Left go to (5), Else go to (7)
5.If no obstacle at Right turn Right, go to (2)
6.If no close obstacle at Left turn Left, go to (2)
7.If no close obstacle at straight go to straight for some time, then stop, turn Left and go to (2)
8.Go backwards for some time, then stop and go to (2)
Fig.2 Pin Diagram
The biggest problem we had to encounter was related to power. We used two DC motors and since motors consume a lot of current, it became apparent that we would have to provide separate power to these motors. To do that we first used relay. But relay, being mechanical component, also takes a lot of current. They cannot be triggered with the current they get from arduino output pins, which put us back to square one. So, we turned to an electronic switch: MOSFET. After burning a few N-MOSFETs while trying to accomplish switching, we got the idea of using motor driver IC.
We first tried to use an external motor driver module as we knew that we would have to face problems regarding current while working with motors. It worked fine, except one thing: we could not start both motors simultaneously. Every time one motor would start around one second earlier than the other because of the driver module's propagation delay. But, having these motors mounted to wheel-rotors, we needed them to start simultaneously.
We also faced another problem regarding motors. As stated earlier, these motors are mounted to wheel-rotors. They did not always seem to get equal current. As a result, sometimes one motor ran faster than the other, making the rover deviate from its straight pathway.
Section B1: Group 4
Fazle Rabbi Rahat (1205018)
Abdullah Al Zishan (1205040)
Ahnaf Hossain Rafi (1205042)
Shaikh Islam (1205046)
Ahmed Sayeed Wasif (1205056)
Md. Shariful Islam Bhuyan, Assistant Professor
Md. Iftekharul Islam Sakib, Lecturer
Ishtiyaque Ahmad, Lecturer
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