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The design and application of a robotic vacuum cleaner
Min-Chie Chiu 2
Department of Automatic Control Engineering
Chungchou Institute of Technology4
6, Lane 2, Sec. 3, Shanchiao Rd.
Yuanlin, Changhua 510036
Taiwan, R.O.C.
Long-Jyi Yeh8
Y. C. Lin
Department of Mechanical Engineering10
Tatung University
Taiwan, R.O.C12
Abstract
Robots are widely used in modern industrial manufacturing, in households, in14
entertainment, and in the security sector. To facilitate targeted functions, interactivity in
conjunction with high quality sensors play essential roles. In this paper, an intelligent and16
interactive robotic vacuum cleaner is developed. By using a wireless transport protocol
(802.11b), theuser canmonitor the robots path andremotelymanipulate itsmovements with18
a pc interface. Research has developed two kinds of functions an auto-vacuum-cleaning
mode and a remote-manipulating mode. For the auto-vacuum-cleaning mode, two path-20
searching algorithms are developed one is the right-side edge-searching and obstacle-
avoiding algorithm, the other is the S-type sweeping and obstacle-avoiding algorithm.22
Additionally, a system program for plotting the robots path is developed. By calculating
data submitted from a micro controller and an error compensator, the immediate path of a24
robot is shown on a pc monitor. Therefore, further path correction commands can be sent to
the robot by theremote-manipulatingmode in the main serverpc. Consequently, a prototype26
robot has been manufactured and tested in the laboratory.
Keywords and phrases : Edge-searching, infrared rays, robotic vacuum cleaner.28
E-mail: [email protected]
Journal of Information & Optimization Sciences
Vol. ( ), No. , pp. 124
c Taru Publications
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2 M. C. CHIU, L. J. YEH AND Y. C. LIN
1. Introduction
Robots have been used all over the world. A role for a new generation2
of robots is eagerly awaited. In order to improve society in general, new
types of robots are being introduced.4
As new trends in the modern world evolve, robots begin to make
their presence felt. Robotic vacuum cleaners [1], ladder-climbing robots6
[2], and robots for the blind [3], etc., have already been created. Currently,
various robotic vacuum cleaners have been presented; however, they have8
focused on ground cleaning and lack an interactivity between the robot
and the user. One such robot, roomba, created by iRobot for ground10
cleaning, cleans by expanding the vacuuming area with a screw path,
recodes the path coordinates, and then sweeps the non-cleaned area.12
Soon, though, the robots path is blocked and a new vacuuming area is
required, hence an interactive user becomes crucial. In order to improve14
interactivity between robot and user, an intelligent robot in conjunction
with a wireless internet has been developed.16
By using a wireless series transport model (802.11b), not only can
the vacuuming function be performed automatically, but the path can18
also be recorded and shown on the monitoring system; additionally, by
manipulating the moving command, the robot can efficiently clean up the20
entire area.
To reach our proposed goal, the selection of an appropriate high22
sensitivity sensor is essential. Versatile sensors such as a camera catch device
(CCD) [4, 5] used for path-guiding in an unknown environment have been24
addressed. Moreover, a moveable ultrasonic detector [6] used in avoidingobstacles is also discussed. Thus, a robotic vacuum cleaner equipped with26
an ultrasonic sensor and a wireless network is proposed.
2. System design28
2.1 Structure of the system
As indicated in Figure 1, two components in the system are recog-30
nized. one is the robot carrier and the other is the interface between the
robot and the user. The heart of the robot is a micro controller (Microchip32
PIC18F452) used for receiving a signal from a red ray instrument and
controlling DC motor through a DB300 driver (3MEN) and an angular34
feedback module. In addition, the data can be transmitted by a wireless
series transport module and monitoring computer system. The systems36
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DESIGN ROBOTIC VACUUM CLEANER 3
electric power is provided by 2 sets of Pb-made batteries (12V 5Ah,
YUASA) and one set of transformers. A pc-interface that is used to2
calculate and monitor data transmitted from a micro-controller can make
maps and submit commands.4
Figure 1
System structure6
2.2 Structure of robot
As indicated in Figure 2, the robot is 400 mm in diameter and 200 mm8
in height and weighs 1 0.5 kg. Several components two sets of 12-
voltage Pb-type batteries, two sets of DC motors and its drivers, one set10
of omni-rollers, one set of electric boards, and six sets of red radio sensor
and aluminum boards are included.12
Figure 2
Photo of the intelligent robot14
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Table 1
Specification of PIC18F452
Features PIC18F452
Operating frequency DC-40MHzProgram memory (Bytes) 32K
Program memory (Instructions) 16384
Data memory (Bytes) 1536
Data EEPROM memory (Bytes) 256
Interrupt sources 18
I/O Ports Ports A, B, C, D, E
Timers 4
Capture/Compare/PWM Modules 2
Serial communications MSSP addressable USART
Parallel communications PSP
10-bit Analog-to-Digital module 8 input channelsRESETS (and Delays) POR, BOR, RESET instruction, Stack full,
Stack underflow (PWRT, OST)
Programmable low voltage detect Yes
Programmable Brown-out reset Yes
2
As indicated in Figures 4 and 5, an AD inverter with six channels
(RA0RA3, RA5 and RE0), two PWN(RC1, RC2) outputs, two counters4
with pulse input (RA4, RC0), a motors start and stop, a clockwise/
counterclockwise rotation(RD0RD3), and a RS232 connector for receiv-6
ing and submitting purposes (RC6, RC7) are included in the controllers
circuit.8
Figure 4
Photo of micro-controller10
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6 M. C. CHIU, L. J. YEH AND Y. C. LIN
Figure 5
The controllers circuit2
2.2.3 Power resource
As indicated in Figure 6, a DC motor (Japan servo-DME44S50G54A)4
with 12V 9.2 W66.6 rpm and a torque of 0.96 N.m is used. In conjunction
with the driver (3MEN-DB300) shown in Figure 7, the electronic brake6
with clockwise/counterclockwise and PWM speed control is used. Inorder to avoid the vibration effect during running, a spring shown in8
Figure 8 is added to the motors.
10
Figure 6
Photo of DC motor
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DESIGN ROBOTIC VACUUM CLEANER 7
Figure 7
A view of the DC motors driver2
Figure 8
Vibration isolator4
2.2.4 Angle feedback module
As shown in Figure 9, the angular feedback module has been estab-6
lished by a photo interrupter and a 7414 Schmitt trigger inverter. A high
and low signal will feedback to adjust the speed and position of the motor8
while the photo splitter disk is running. A 60 pulse per cycle for the photo-
splitter disk is read. Resolution reaches 6 degrees per pulse.10
Figure 9
Angle feedback module12
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8 M. C. CHIU, L. J. YEH AND Y. C. LIN
As shown in Figures 10 and 11, the 7414 inverter is used to depress
circuit noise.2
Figure 10
Photo of the photo interrupter4
Figure 11
Circuit diagram of the photo interrupter6
2.2.5 Infrared-ray-distance-detector
The appropriate selection of a distance detector regarded as the8
robots vision is an important issue. In our studies, the infrared-ray-
distance-detector (SHARP GP2D12) shown in Figure 12 is used.10
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DESIGN ROBOTIC VACUUM CLEANER 9
Figure 12
Photo of GP2D122
The electric circuit diagram of GP2D12 is depicted in Figure 13.
4
Figure 13
Electric circuit diagram of GP2D12
In addition, the translation of analogue voltage to distance for GP2D126
is shown in Figure 14. As indicated in Figure 14, the available detecting
distance is 10cm80cm. The output is an analogue voltage. The charac-8
teristics of the infrared-ray-distance-detector include the following:
(1) Compact size.10
(2) Only 5 volts is required.
(3) Influence with respect to color reflection of the obstacle is low.12
(4) During precision detecting, there will be interference by outside
infrared rays.14
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Figure 14
The translation of analogue voltage to distance for GP2D122
2.2.6
Two kinds of MOXAs NPort W2150 wireless transport modules4
shown in Figure 15 are considered.
6
Figure 15
A NPort W2150
One is the infrastructure which can connect to the host by a wireless mode8
AP (access point). The other is the Ad-hoc mode shown in Figure 16.
The latter having a higher speed, is connected with two W2150s and is10
used here. By using IEEE802.11b transport protocol, the longest distance
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DESIGN ROBOTIC VACUUM CLEANER 11
reached is 100 meters. Accordingly, the RS232 is composed of a one start
bit, 8 data bits, one end bit, and a baud rate of 9600 bps. At the beginning of2
the data record, one character will be added to ensure correctness during
data transmission; however, an error can occur. Therefore, the error will4
be detected by the software.
6
Figure 16
An ad-hoc mode
2.2.7 Interface between user and the robot8
This project is programmed by VISUALB ASIC(Version 6.0). By using
the pc interface, not only can the motion module be selected, but the path10
of the robot and related information can also be observed on the monitor
as shown in Figure 17. Moreover, the robot can be manipulated by the12
command submitted to the PC. The maximal allowable range of x and y
is 6m6m, where 15 twips represent one pixel.14
Figure 17
Interface of the PC16
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3. Path control and sketch and record for an automatic sweeping robot
3.1 Theoretical kinetic derivation2
The diameter of the robots wheel is 3 inches. The total pulse in a
photo splitter disk is 60. As shown in Figure 18, the distance between the4
wheels is 310 mm. The angle per pulse is small enough to be treated as an
isosceles triangle. Using an anti-triangular function, the angle can then6
be obtained as follows:
3 25.4 =239.39mm =240 mm (perimeter)8
L= 240 60 = 4 mm/pulse, where L is the moving distance per pulse
= 2 sin1(2/310) =0.74 , where is the angle per pulse10
Figure 18
Viewpoint of each pulse12
3.2 Right-side obstacle-avoiding during edge-searching
In an unknown environment, efficient edge-searching, obstacle-14
avoiding and vacuuming during the robotic operation is an essential issue.
A path-searching diagram is presented and shown in Figure 19.16
3.3 Edge-searching principle
When the robot is moving along a wall as shown in Figure 20, a fixed18
distance of R between the wall and the infrared rays is set. At that moment,
the speed of the left wheel is 50% and the speed of the right wheel is20
(50+ (R R) 1.2) %. By using the speed ratio of 1.2, edge-searching
can be determined.22
3.4 Obstacle-avoiding in front of the robot
Two kinds of obstacle-avoiding modules are used. If the obstacle at24
the front of the robot, at RF or LF, is within 10 cm as shown in Figure21 and
is detected, the robot will turn left 90 degrees and detect the distance R .26
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DESIGN ROBOTIC VACUUM CLEANER 13
Figure 19
Flow diagram of right-side obstacle avoiding2
Figure 20
Moving along the wall4
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14 M. C. CHIU, L. J. YEH AND Y. C. LIN
Figure 21
Obstacle in front of the robot2
Figure 22
Obstacle in front of the robot (case 1)4
If R is greater than 40 cm, the robot will move forward 20 cm and turn
right as shown in Figure 22; otherwise, the robot will keep edge-searching6
as shown in Figure 23.
8
Figure 23
Obstacle in front of the robot (case 2)
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3.7 S-type vacuuming and obstacle avoidance
The S-type vacuuming module in conjunction with obstacle avoiding2
is used during the robots running process. When an obstacle is met, the
x coordinates will be recorded and continue to move in a S-type pattern.4
The path-searching diagram is shown in Figure 26. Additionally, the path
layout is shown in Figure 27.6
Figure 26
Diagram of S-type vacuuming path8
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DESIGN ROBOTIC VACUUM CLEANER 17
Figure 27
S-type vacuuming path2
4. Experiment
4.1 Experiment of automatic vacuuming for a robot4
In the experimental process, the obstacles are located at both the right
side and the middle region. As indicated in Figure 28, the robot started the6
ground vacuuming work along a S-type path.
8
(Contd. Figure 28)
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2
4
(Contd. Figure 28)
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2
4
(Contd. Figure 28)
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Figure 28
Photos of the vacuuming process of the automatic robot along a
S-type path (S1 to S22)
2
4.2 Path recording for a vacuuming robot
In our experiment, the PC server is 10 meters away from the robot. By4
using the wireless transmission between the user and the robot, not onlycan the location of robot be calculated, but a command can also be sent to6the robot. The path of the robot is therefore recorded and plotted in thePC server. As indicated in Figure 29, the robots path is plotted during the8vacuuming process.
10
(Contd. Figure 29)
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DESIGN ROBOTIC VACUUM CLEANER 21
2
4
(Contd. Figure 29)
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2
4
(Contd. Figure 29)
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DESIGN ROBOTIC VACUUM CLEANER 23
Figure 29
Photos of the path record for a ground vacuuming robot2
5. Results and discussions
By using the wireless transmission module in a series port (802.11b),4
the user can monitor the robots path and remotely manipulate the
movements of the robot with a pc interface.6
In order to move forward in an unknown environment during the
robots operation, signals submitted from three kinds of infrared-ray-8
distance-detectors at the right, the left, and the front sides are essential. By
calculating the data with a PIC18F452 micro controller, two DC motors10
can be controlled during edge-searching, obstacle-avoiding, and path-
searching. For the auto-vacuuming mode, two kinds of algorithms in12
path-searching are developed in this paper one is the right-side edge-
searching and obstacle-avoiding, the other is the S-type vacuuming and14obstacle-avoiding. A prototype robot has been manufactured and tested.
In addition, the system program for plotting the robots path has been16
developed. By calculating data submitted from a micro controller and an
error compensator, the immediate path of a running robot is shown on a18
pc monitor.
6. Conclusion20
In this paper, an interactive robot has been presented. The prelimi-
nary goals of our research (a vacuuming function, plotting and monitoring22
a path, and manipulation and control from a pc server) have been
achieved. Some aspects of our research which can be improved for an24
interactive robot are proposed below:
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24 M. C. CHIU, L. J. YEH AND Y. C. LIN
(1) If there is an infrared light already in the environment, the infrared-
ray-distance-detector can be interfered with and errors might occur.2
To deal with this problem, an image guiding system in the robot is
suggested.4
(2) A rotating angle calculated by the angle feedback system is used in
this research. To increase its accuracy, an electrical compass with a6
feedback system is recommended.
As suggested in the first item (image guiding system), although the8
robot is sometimes not in the vacuuming mode, the image guiding system
can be used as a monitoring system which will provide a security function.10
References
[1] J. W. Lee, S. U. Choi, C. H. Lee, Y. J. Lee and K. S. Lee, A study12for AGV steering control and identification using vision system,Industrial Electronics, Vol. 3 (2001), pp. 12-16; pp. 15751578.14
[2] M. D. Mohsen and M. M. Majid, Stair Climber Smart Mobile Robot(MSRox), Tarbiat Modares, University of Iran, Iran Autonomous16Robots, Vol. 20 (2006), pp. 314.
[3] H. Mori, S. Kotani and N. Kiyohiro, A robotic travel aid HITOMI,18Proceedings of the IEEE/RJS/GI, International Conference on IntelligentRobot and Systems, Vol. 13 (1999), pp. 17161723.20
[4] Y. X. Chen,Design and Implementation of Car-Like Mobile Robot withIntelligent Parking Capability, Department of Electrical Engineering,22NCKU, ROC, 2002.
[5] Y. Ando and S. Yuta, Following a wall by an autonomous mobile24robot with a sonar-ring,IEEE International Conference on Robotics andAutomation, Vol. 4 (1995), pp. 25992606.26
[6] A. Louchene and N. E. Bouguechal, Indoor mobile robot local pathplanner with trajectory tracking, Journal of Intelligent and Robotic28Systems, Vol. 37 (2003), pp. 163175.
Received December, 2007; Revised April, 200830
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