Bioinspired Robot1 - Copy

8/8/2019 Bioinspired Robot1 - Copy

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PRESENTED BY,PRESENTED BY,

AJITH P. VISWANATH AJITH P. VISWANATH



INSPIRATIONINSPIRATION::

Bio inspiration from a cockroach:

We designed the robot by observing the insect behavior of cockroach; thebasic function of cockroach is scavenger duty in kitchen at night.

Our designed robot works on the intelligence of cockroach.



OVERVIEW:OVERVIEW:OUR APPROACH

BLOCK DIAGRAM

IMPLEMENTATION

DC MOTOR

PATH DESCRIPTION

PROBLEMS FACED

FUTURE APPLICATIONS

SNAPSHOTS



OUR OUR APPROACH APPROACH::

The robot performs its cleaning tasks when we go to bed at night and it cleans itsenvironment randomly like a cockroach searches for its food.

If we switch ON any light it follows back to its home just by identifying the wall

nearest to it and follow the wall till it reaches a hole, similarly intelligence is appliedin our robot.

The robot does not use any HI-FI systems, complex algorithm and internalnavigation system but the bio inspired intelligence of cockroach and the task iscompleted at minimum cost.



BLOCK DIAGRAM:

SENSOR SENSOR CIRCUITRY CIRCUITRY

(LDR)(LDR) MOTOR MOTOR

DRIVER DRIVER CIRCUITCIRCUIT

LL293293DDMICROCONTROLLER MICROCONTROLLER

((AT 89C51AT 89C51))

DCDCMOTOR MOTOR

M1M1

DCDCMOTOR MOTOR

M2M2

VACUUM VACUUMCLEANER CLEANER



IMPLEMENTATION:IMPLEMENTATION:

CIRCUIT DIAGRAMCIRCUIT DIAGRAM

COMPONENTS AND ITS FEATURESCOMPONENTS AND ITS FEATURES

LDR SENSOR CIRCUIT USING LM324 V ACCUM CLEANER & RELAY CIRCUIT AT89C51L293D Motor DriverDC MOTOR

MECHANICAL STRUCTUREMECHANICAL STRUCTURE

CONSTRUCTIONAL DETAILS

PATH DESCRIPTIONPATH DESCRIPTION



COMPONENTSCOMPONENTS AND AND ITSITS FEATURESFEATURES::

LDR LDR SENSOR SENSOR CIRCUITCIRCUIT USINGUSING LMLM324324

This circuit is a dark sensor that is based on LM324 IC as main control.This circuit is a simple design for sensing the light at the night.

Operation of the circuit is under light OFF condition the resistance of the LDR is high, keeping pin 2 low.

When light falls onto the LDR the resistance drops to a couple hundred

ohms. LM324 acts as a comparator produces two possible output states.



DCDC MOTORSMOTORS::

DC Motor translates electrical pulses into mechanical movement.

In the DC motor we have only + and leads, connecting them to DC sourcemoves the motor in one direction by reversing the polarity the motor will move inthe opposite direction.

The maximum speed of a DC motor is indicated in rpm. The no load rpm can befrom a few 1000s to tens of 1000s.



PATHPATH DESCRIPTIONDESCRIPTION::The path traced by the robot during the light OFF condition is a sequence of squares that are decremented by a step of one after completion of an entiresquare path.

Depending on the size of the room the number of squares can be increased sothat it performs the cleaning function.

In any case of light ON or completion of the entire square path, the robotmoves to a home location as described by the program.

The path description for both the cases are illustrated as shown below.



Round Count =1



Round Count =2



Round Count =3



Round Count =4



PROBLEMS FACEDPROBLEMS FACED::

Implementation of the path proposed for the motion of the robot was a greatchallenge which included various square paths.

Determination of home location for the robot and the algorithm to return to thesame.

Building the mechanical structure and incorporating into it the requiredspecifications for its normal operation.

Non-availability of portable vacuum cleaner at limited cost.

Initially using stepper motor, the challenges we faced were

Circuit complexity Subject to damage while making mechanical structureSequence of operation were not specifiedLimited availability of high torque stepper motorsHigh cost



DRAWBACKSDRAWBACKS::

The robot does not move to the nearest home location during the light ONcondition.

Suppose the light is switched ON for a few seconds and then switched OFF, therobot will first move to the home location then only its performs the cleaning

task.

In case of any obstacles along the path, the robot stays stuck in that position.



FUTURE APPLICATIONS:FUTURE APPLICATIONS:

V acuum cleaner circuit can be replaced by night vision camera which performssurveillance operation.

Obstacle detection circuits, temperature sensor circuits can be implemented intothe above robot.

Systems for position identification and control of the mobile robot can beimplemented.

The intelligent cleaner robot can be attached to a charger at its starting position,its task is to start from its charging position and clean the environment and return

back to its position.



SNAPSHOTS:SNAPSHOTS:

Bioinspired Robot1 - Copy

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