Design of low cost cleaning robot using obstacle avoiding system without microchip SHAO YURUI
Trilobite by Electrolux First commercial cleaning robot 2001 1899 2013… 2002 Drawing of an Roomba by iRobot Neato electrical floor cleaner The standard of Dyson 360eye cleaning machine Xiaomi….. Joined the market Images adapted from Wikipedia and Leiohone https://www.leiphone.com/news/201605/Sk3uvM8OedJr4btL.html https://ainerds.com/the-evolution-of-the-robovac-why-the-robot-vacuum-of-today-is-different/
S$313.06 S$397.32 S$312.28 S$675.88 Images adapted from Ezbuy https://ezbuy.sg/category?keywords=cleaning%20robot&sortCondition=3&ezspm=1.10000000.2.0.0
Operation system Icon adapted from Clker http://www.clker.com/clipart-generic-microchip.html
Objective To create an obstacle avoiding system without any microchip nor sensors, that is able to cover an area not free of obstacles, as efficiently as normal commercial design.
Material and Design Obstacle avoiding system without any microchip nor sensors
Material and Design A extremely simple circuit design with only two switches. The switch controls the wheel of the opposite side
Material and Design A extremely simple circuit design with only two switches. The switch controls the wheel of the opposite side
Material and Design A extremely simple circuit design with only two switches. The switch controls the wheel of the opposite side
Illustration of cleaning robot
Circuit Design The switch will change the direction of the current when closed Close Switch
Material and Design A extremely simple circuit design with only two switches. The switch controls the wheel of the opposite side
Material and Design A extremely simple circuit design with only two switches. The switch controls the wheel of the opposite side
Angle Adjustment to Wall
May result in Normal commercial robot : area not cover by the use of random cleaning path cleaning robot Bed Closet
Illustration of cleaning path phase 1 Bed Closet
Illustration of cleaning path phase 2 Bed Closet
Experiment: comparing efficiency Fixed distance travelled Compare surface covered Most efficient cleaning path?
266 S$ Icon adapted from Q10 https://www.qoo10.sg/item/GRUNN-GRUNN-ROBOT-VACUUM-CLEANER-I1/
Two-person hostel room
1.03m 0.6m 3m 1.94m Normal Design 59.9% 2.3m
1.03m 0.6m 3m 1.94m Normal Design 59.9% 2.3m
1.03m 0.6m 3m 1.94m Normal Design L=14894.211 A=2775088 C=1112405 P=59.9% 2.3m
1.03m 0.6m 3m 1.94m Normal Design L=14894.211 A=2775088 C=1112405 P=59.9% 2.3m
1.03m 0.6m 3m 1.94m Normal Design A=1641*1247+649*1065+547*334- 181*549-303*151 =2775088 2.3m
1.03m 0.6m 3m 1.94m Normal Design L=14894.211 A=2775088 C=1112405 P=59.9% 2.3m
Calculation C=183*238+514*753+145*312+359*1221+922*215+118*273 =1144619 P=1-(1144619/ 2775088) =0.599146 =59.9%
1.03m 0.6m 3m 1.94m Low-cost Design 68.5% 2.3m
Experimental results 1.03m 3m 0.6m 0.6m 1.94m 1.94m Normal Design Low-cost Design 59.9% 68.5% 2.3m 2.3m
Experimental results: 4-person room 230cm 230cm 133cm 133cm 229cm 293cm 229cm 293cm 106cm 231cm 66.3% 71.3% Normal Design Low-cost Design
Experiment: comparing efficiency Icon adapted from lazada https://www.lazada.sg/products/ecovacs-deebot-m81-pro-vacuum-cleaning-robo
Normal Design 90.6%
Low-cost Design 91.9%
Experimental results 90.6% 91.9% Normal Design Low-cost Design
Experimental results Nomral commercial Low Cost 90.6 Room 3 91.9 66.3 Room 2 71.3 59.9 Room 1 68.5
Experimental results Estimated cost of operation system 266 S$ 40-50 S$ 529 S$ Cost of Low cost obstacle avoiding system without microchip 2 S$
Future Work Solution : Magnetic Switch Gap 1 : Unable to go back to charging station Solution : find average HDB width Gap 2: Angle of turning
AUTOMATION can be achieved even WITHOUT MICROCHIP .
Thank You SHAO YURUI
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