prototype of mobile robot vacuum cleaner based on...

Prototype of Mobile Robot Vacuum Cleaner Based on Microcontroller

Jacquline Morlav S. Waworundeng 1*, Charlie Deeng2 and Gerald Richi Deeng3

1,2,3Computer Science Faculty, Universitas Manado, Indonesia; [email protected]

Abstract: Cleanness is important because it can affect the health of its inhabitants. Cleaning the

dust on the floor manually use broom or vacuum cleaner. Vacuum cleaner is tools that vacuuming

the dust with direct control of user. This research presents simple prototype of mobile robot

vacuum cleaner that can operate automatically by vacuuming the dust on flat floor surface.

Prototype is built with three ultrasonic sensors that can detect and avoid obstacles surround.

Prototyping Model is used as a basic method. Arduino IDE with C programming language are

used to create program code for microcontroller. Hardware build in microcontroller Arduino Uno

board, mini vacuum cleaner, ultrasonic sensor for sensing obstacles, voltage sensor, Lithium

Polymer (LiPo) battery as the power source, motor DC to spin wheels and perform robot

locomotion, LCD to display battery level, module timer to set operation time of robot, and Buzzer

alarm to notify when the battery power running low. The results of this research is a physical

prototype of mobile robot vacuum cleaner embed with simple locomotion algorithm, which detect

and avoid obstacle also to perform main function to absorb dust.

Keywords: mobile robot, vacuum cleaner, microcontroller, Arduino, ultrasonic sensor.

INTRODUCTION

The results of technology bring wide influence to the community to fulfill the needs of

everyday life. Computer technology especially in the field of hardware development show better

results to help human in doing works. Many researches in advanced robots field,

telecommunications, home security systems and computer systems use microcontrollers as the

main controller. Control system that can be made from microcontroller is an embedded system

that has a sense to make a robotic application that can perform tasks automatically.

Robot is a mechanical device that can perform physical tasks using human supervision and

control or using a program that has been defined. Robots are usually used for heavy-duty,

dangerous, repetitive and dirty jobs. Robot become more cost effective at their jobs and as the

human labor continues to become more expensive, more and more industrial jobs become

candidates for robotic automation (Craig, 2005). Most robots are used in industry, but along with

the development, the robot has begun to enter the field of entertainment and education, household

auxiliaries such as vacuum cleaners and lawn mowers.

Robot technology has reached out in terms of doing chore at home in example in

vacuuming the dust on the floor. Vacuum cleaner is a tools widely used to help human cleaning

the floor from the dust (Gantz, 2012). Technologies keep on improving to create vacuum cleaner

machine that become part of modern culture. For example Neato XV-11 comes with robotics

intelligence that assures the robot cleans the entire floor, carefully avoiding furniture, walls and

other objects (Neato, 2009).

This research is related with design and building prototype of mobile robot vacuum cleaner

based on microcontroller that can operate automatically. Prototype of mobile vacuum cleaner are

able perform locomotion, detect and avoid collision with the main function to vacuum dust on the

surface of flat floor. Hardware and software are used to build the prototype of mobile robot

vacuum cleaner. Main hardware components such as microcontroller Arduino Uno, ultrasonic

sensor, module timer, Liquid Crystal Display (LCD), buzzer, DC voltage sensor, motor DC are

being used and shortly explained.

mailto:[email protected]

1. Microcontroller

Microcontroller is essentially an inexpensive single-chip computer contains a Central

Processing Unit (CPU), Random Access Memory (RAM), Read Only Memory (ROM),

Input/Output (I/O) lines, serial and parallel ports, timers, and Analog to Digital (A/D) and

Digital-to-Analog (D/A) converters. The key feature however is the microcontroller’s

capability of uploading, storing, and running a program (Iovine, 2004). The prototype of

mobile robot vacuum cleaner build with microcontroller board Arduino Uno based on

ATmega328. Arduino is a tiny computer process inputs and outputs between the device and

external components connected to it (McRoberts, 2010). Arduino board can be programmed

using Arduino Integrated Development Environment (Arduino IDE). Arduino Uno is used to

process the input from sensors, which will produce an output to control the other

components.

2. Ultrasonic Sensor

Ultrasonic sensor used to sense the obstacles surround robot environment. The prototype of

robot is using Parallax Ping ultrasonic sensor. The Parallax Ping ultrasonic distance sensor

provides precise, non-contact distance measurements from about 2 cm (0.8 inches) to 3

meters (3.3 yards). It is very easy to connect to microcontrollers such as the BASIC Stamp

Propeller chip, or Arduino, requiring only one I/O pin (Parallax Inc, 2013).

3. Liquid Crystal Display (LCD)

LCD is a component that can be connected to microcontroller. LCD can be use to display

data text to the user or developer while designing or debugging (Cypress, 2015). In the

building of robot prototype, LCD is use to display the battery level status.

4. Actuators

Actuators are part as a driver of the instruction program. Actuators are usually

electromechanical devices that generate a propulsive force. Actuators are used in this

research is motor of direct current (motor DC) is a machine that functions convert the direct

current electric power into motion or mechanical energy, which in the form of kinetic energy

of rotation of the motor. Generally, control function of motor includes open loop, forward,

reverse direction and run enable (On Semiconductor, 2013).

5. Module Timer

Module Timer is use to set the operation time of the robot. Operation time of robot defines

how long the robot will active and perform task.

METHODS, DESIGN AND FUNCTIONAL ANALYSIS

Research method is based on prototyping paradigm (Pressman, 2015), with five stages

namely communication, quick plan, modeling quick design, construction of prototype, and

deployment delivery and feedback. The prototyping paradigm begins with communication, where

developers identify terms and requirements. Iteration prototyping is planned quickly and then

modeled. Quick design, focus on representation of software aspects that will be seen by end user.

Quick design leads to construction of prototype. Prototype then evaluated and provides feedback

for development. Iterations occur in the prototype to meet the needs of stakeholders, and to gain

an understanding of what needs to be done. The process model of Prototyping is shown in

Figure 1. Data collection in this research is based on literature study, by reviewing related

documents from books, journal and official documents. In case of building the program, C

programming language had been used with Arduino IDE. The hardware development

environment consists of main components.

Figure 1. Prototyping Paradigm

Hardware design of robot prototype related with components and its function as shown in

Figure 2 and explained as follow:

1. The user presses the power button to activate the timer module and a robotic vacuum

cleaner.

2. If the status of the power button, the robot vacuum cleaner will not be active.

3. Module timer is useful for the user set a timer that takes the robot in cleaning the room.

4. When the robot vacuum cleaner activated, the battery will provide power to each component

that requires power contained within the robot vacuum cleaner (ultrasonic sensors,

microcontrollers, actuators, LCD, buzzer, vacuum cleaner mini).

5. The Parallax PING ultrasonic sensor detects objects that exist around workspace of robot

then sent the information is sent to the microcontroller.

6. Microcontroller Arduino Uno R3 processed the information obtained from the ultrasonic

sensor in accordance with the program, then the microcontroller will send a command to run

the actuator.

7. Motor DC activated these the wheels, mini brooms and vacuum cleaner

8. Mini vacuum cleaner enabled suck the dirt or dust on the cleaning area.

9. LCD as a tool to display the power battery status and display dust bin status weather it’s full

or empty.

10. Buzzer sounds an alarm when the battery status is less than 5 volts and when the dust bin is

full.

11. Mini broom helping the cleaning process and also serves to collect dirt before absorb by the

vacuum.

12. Wheels driven by the actuators which controlled by microcontroller.

13. The robot vacuum cleaner operated by absorbing dirt or dust and did the navigation by

avoiding obstacle objects around the workspace.

Figure 2. Hardware Components of Mobile Robot Vacuum Cleaner

Prototype of mobile robot vacuum cleaner has some features as described below:

1. Equip with 3 ultrasonic sensors with a detection distance of at least 1 inch (2cm - 3m)

that can detect objects around it, and allowing the robot to detect if there are obstacles

and avoid crash.

2. Robot has a timer module related with operation time needed by the robot to do the

cleaning task. User can set the operation time within range 1 and up to 15 minutes

maximum.

3. The robot is equipped with mini broom cleaning tool that help to maximize the cleaning

process in the area that is passed.

4. Robot has a buzzer that sounding an alarm when the battery is almost empty and the dust

bin is full.

5. The battery level is also displayed on the LCD screen.

6. When the robot hit an object, then robot will calculate and detect the object and try to

avoid the obstacles and keep moving.

7. Robot will stop by three conditions. The first is when the time set by the user is reached.

Second when the user turn off the robot. Third when the power is empty.

Analysis and design deals with the question of how to build autonomous mobile robot

system using sensors, microcontroller, actuator and other additional electronic components which

can functioning as a mobile robot vacuum cleaner to absorb dust and has the ability to detect and

avoid obstacles. The answer explained with Unified Modeling Language (UML) using use case

diagram. Use case diagram is a diagram illustrates the functionality expected in system. Use case

diagram present interaction within processes and the actors with the system. Use case diagram of

mobile robot vacuum cleaner are shown in Figure 3. There are seven use cases. First use case On,

show the function to activated the robot. The actor is robot itself, precondition is off and post condition is On. Use case Supply Power related with the power distribution to other components

in the system. Use case Supply Power share the battery power to ultrasonic sensor,

microcontroller, actuator, and vacuum cleaner mini. Use case Detect Obstacle is connected to

ultrasonic sensors. Microcontroller defines all the controlled function setup in robot. Actuator

activated wheels in robot, to move around workspace and also to activate the mini broom.

Vacuum cleaner mini and mini broom will do the task to absorb dust.

Figure 3. Use Case Diagram Robot Vacuum Cleaner

The flowchart algorithm of robot vacuum cleaner is shown in Figure 4 and explained by 13 steps:

1. User activated the robot by turn on the power button. If the robot activated then continue

to step 2. When user turn off the power button, then Robot is deactivated.

2. User set input timer module to determine how long the robot will be operated. User can

choose operation time between 1 to 15 minutes.

3. All the robot components are activated.

4. Sensor_1 (front sensor), sensor_2 (right sensor), sensor_3 (left sensor) function to detect

obstacles with assumption there are no obstacles where value set to 0 and if there are

obstacles the value set to 1. Also there is an x variable as a function to determine the next

robot movement for the next obstacles with value 0 or 1.

5. Robot started to operate by do locomotion along the area of cleaning, to absorb the dust

or small particles. If there are obstacles then the robot will avoid it. The detect and avoid

is explained below:

- If robot sensor detect there are no obstacles then the state of sensor_1 = 0; state

sensor_2 = 0; and state of sensor_3 = 0, then continue to step 6.

- If sensor_1 detect obstacle with the state of sensor_1 = 1, sensor_2 = 0, sensor_3 = 0

and x = 0, then jump to step 7. The value of variable X change to 1 (X = 1)

- If robot detect obstacles with the state of sensor_1 = 1, sensor_2 = 0, sensor_3 = 0

and x = 1, then jump to step 8. Value of variable X change to 0 (X = 0)

- If robot sensor detect obstacles with the state of sensor_1 = 1, sensor_2 = 1 and

sensor_3 = 0, then jump to step 9.

- If robot sensor detect obstacles with the state of the sensor_1 = 1, sensor_2 = 0 and

sensor_3 = 1, then jump to step 10.

- If robot sensor detect obstacles with the state of sensor_1 = 1, sensor_2 = 1 and

sensor 3 = 1, then jump to step 11.

Figure 4. Flowchart Algorithm for Robot Vacuum Cleaner

1. Robot moving straight forward.

2. Variable X = 0, robot turn right.

3. Variable X = 1, robot turn left

4. Robot turn left.

5. Robot turn right.

6. Robot moving backwards and revert to step 5.

7. When robot activated and the battery less then 5 volt, then continue robot sound an alarm

from buzzer.

8. Robot will repeat the condition in step 5 while doing the cleaning until the time set by the

user in step 2 ended or user turn off the robot in step 1.

IMPLEMENTATION OF MOBILE ROBOT VACUUM CLEANER

Implementation of mobile robot consist of circuit schematic, pieces of program codes,

physical body of robot vacuum cleaner, and testing function. The circuit schematic is shown in

Figure 5 where all the components such as LCD, motor DC, ultrasonic sensor, battery, module

timer, and buzzer connected and controlled by microcontroller Arduino.

Figure 5. Circuit Schematic

Below shows the intialization of program code. Initalization is related to LCD, buzzer,

motor DC, sensors.

//INITIALIZATION

#include <LiquidCrystal_I2C.h>

#include <Wire.h>

// Set the LCD address to 0x27 for a 16 chars and 2 line display

LiquidCrystal_I2C lcd(0x27, 16, 2);

//LiquidCrystal lcd(16, 2);

//buzzer

int buzzer =13;

//sensor tegangan

int val11;

float val2;

//Variabel belok

int x = 0;

//Variabel Motor

int enable1 = 7;

int rpm1 = 6;

int enable2 = 4;

int rpm2 = 5;

//Variabel sensor

const int ping = 10;

#define trig1 9

#define echo1 8

#define trig2 11

#define echo2 12

long durasi, cm;

long durasi1, distance1;

long durasi2, distance2;

Below shows one of the ultrasonic sensor function. //Fungsi Sensor

void sensor() {

// put your main code here, to run repeatedly:

pinMode(ping, OUTPUT);

digitalWrite(ping, LOW);

delayMicroseconds(2);

digitalWrite(ping, HIGH);


digitalWrite(ping, LOW);

pinMode(ping, INPUT);

durasi = pulseIn(ping, HIGH);

cm = microsecondsToCm(durasi);

Serial.print("Sensor 1 = ");

Serial.print(cm);

Serial.print("cm, ");

Serial.println();

delay(10);

}

long microsecondsToCm(long microseconds)

{

return microseconds / 29 / 2;

}

void sensor1(){

digitalWrite(trig1, LOW);


digitalWrite(trig1, HIGH);


digitalWrite(trig1, LOW);

durasi1 = pulseIn(echo1, HIGH);

distance1 = (durasi1 / 2) / 29;

Serial.print("Sensor 2 = ");

Serial.print(distance1);

Serial.println(" cm");

delay(10);

Below show the pieces of program code to control the motor DC in functional robot movement // Fungsi Motor Gerak

void maju1()

{

digitalWrite(enable1, HIGH);

analogWrite(rpm1, 130);

}

void maju2()

{

digitalWrite(enable2, HIGH);


}

void mundur1()

{

digitalWrite(enable1, LOW);


}

void mundur2()

{

digitalWrite(enable2, LOW);


}

void berhenti1()

{

analogWrite(rpm1,0);

}

void berhenti2()

{

analogWrite(rpm2,0);

}

Figure 6 show the prototype of mobile robot vacuum cleaner from front side view, left side view,

backside view, right side view, upper side view.

Front side view

Left side view

Back side view

Right side view

Upper side view

Figure 6. Physical Body of Mobile Robot Vacuum Cleaner

Table 1. Testing Function of Components

Testing Power Button

Functions User Triggered Expectations Result of Test

Power On User push the power

on button

Robot activated and

all components ready

to operate

Success

Power Off User push the power

on button

Robot Deactivated Success

Testing Module Timer

Functions User Triggered Expectations Result of Test

Left button of Module

Timer

User push the left

button on module

timer

User can input timer Success

Middle button of

Module Timer

User push the middle

button on module

timer

User can input timer Success

Right button of

Module Timer

User push the middle

button on module

timer

User can set the

operation time of

robot

Success

Testing Function Buzzer

Functions Action Triggered Expectations Result of Test

Sounding Alarm

Buzzer

Low battery Buzzer Sound Success

Testing Function Robot Locomotion


Spin wheels forward Three sensor

(Sensor_1, Sensor_2,

Sensor_3) detect no

obstacles

Robot moves forward Success

Spin wheels to the

right

Sensor_1 detect

obstacle, Sensor_2 and

Sensor_3 detect no

obstacles with

assumption X = 0

Robot moves to the

left

Success

Spin wheels to the left Sensor_1 and sensor_2

detect obstacles,

sensor_3 detect no

obstacles with

assumption X = 1

Robot moves to the

right

Success

Spin wheels to the

right

Sensor_1 and

Sensor_3 detect

obstacles, sensor 2

detect no obstacle

Robot moves to the

right

Success

Spin wheels to the left Sensor 1 and Sensor_2

detect obstacles,

Sensor_3 detect no

obstacles

Robot moves to the

left

Success

Spin wheels

backward

Sensor 1, Sensor_2,

Sensor_3 detect

obstacles

Robot moves

backward

Success

Stop robot movement Send command from

microcontroller

Robot stop moving Success

Avoid obstacles Put an object as

obstacles

Robot moves and

avoid obstacles

Success

Testing Function LCD


Display dust bin

status

Dust bin full or dust

bin empty

LCD display the dust

bin status whether its

full or empty by %

Success

Display battery level

status

Battery is full or

empty

LCD display battery

status in Volt scale

Success

Testing function is base on Black box method to test the mains function that has been

programmed. Table 1 shows the results of testing function of power button, module timer, buzzer,

robot locomotion, and LCD. While doing the testing, there are some errors that cause the

malfunction of the prototype. Problem such as wires not well connected, mall operation from

user, and robot deviation movement of robot need to concern and to come up with solutions, so

that the robot can performs its function.

CONCLUSIONS

By design and results can be concluded that the prototype of Mobile Robot Vacuum

Cleaner is able to fulfilled the aim of functioning as a dust cleaner. There are some features that

can perform by the robot. The operation time of robot is between 1 – 15 minutes, and the time is

determined or input manually by user. Robot uses 3 ultrasonic sensors, with 3 detection directions

which forward, left and right to detect and try to avoid obstacles Robot can notify user if the

battery level is less than 5V with sounding alarm. Robot also can display the battery level through

LCD. Robot will deactivated when one of three conditions is fulfilled. First condition is when

operation time is being reached, second if user push the off button and third if robot run out of

battery. In the research conclude that the major function of robot to vacuum dust and avoid

obstacles surround the workspace is achieved.

REFERENCES

Craig, J. (2005) Introduction to Robotics Mechanics and Control, third edition. Upper Saddle

River, New Jearsy: Pearson Prentice Hall.

Gantz, C. (2012) The Vacuum Cleaner: A History. Jefferson, North Carolina: McFarland &

Company, Inc. Retrieved from https://books.google.co.id/books?id=QSNfCrpcSCAC&

printsec=copyright#v=onepage&q&f=false

Neato Robotics. Neato XV-11 Robotics All-Floor Vacuum System. Mountain View, California:

Neato Robotics, Inc. Retrieved form http://www.robotpark.com/image/data/PRO

/91353/neato-xv-11-datasheet.pdf

Iovine, J. (2004). PIC Robotics – A Beginner’s Guide to Robotics Projects Using the PIC Micro.

New York: McGraw Hill.

McRoberts, M. (2010). Beginning Arduino. New York: Springer.

Ping Parallax. (2013). PING))), Ultrasonic Distance Sensor (#28015). Rocklin, California: Ping

Parallax, Inc. Retrieved from https://www.parallax.com/sites/default/files/downloads

/28015-PING-Sensor-Product-Guide-v2.0.pdf

Cypress Semiconductor Corporation. (2015) Character LCD. San Jose, California: Cypress

Perform. Retrieved from http://www.cypress.com/file/220301/download

On Semiconductor. (2013). Brushless DC Motor Controller. Denver, Colorado: Semiconductor

Components Industries. Retrieved from https://www.onsemi.com/pub/Collateral/

MC33033-D.PDF

Pressman, R. (2015). Software Engineering: A Practitioner’s Approach, 8th edition. New York:

McGraw-Hill.

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