The design and application of a robotic vacuum cleaner

Min-Chie Chiu

2
Department of Automatic Control Engineering
Chungchou Institute of Technology 4
6, Lane 2, Sec. 3, Shanchiao Rd.
Yuanlin, Changhua 51003 6
Taiwan, R.O.C.
Long-Jyi Yeh 8
Y. C. Lin
Department of Mechanical Engineering 10
Tatung University
Taiwan, R.O.C 12
Abstract
Robots are widely used in modern industrial manufacturing, in households, in 14
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 and 16
interactive robotic vacuum cleaner is developed. By using a wireless transport protocol
(802.11b), the user can monitor the robots path and remotely manipulate its movements with 18
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 a 24
robot is shown on a pc monitor. Therefore, further path correction commands can be sent to
the robot by the remote-manipulating mode in the main server pc. Consequently, a prototype 26
robot has been manufactured and tested in the laboratory.
Keywords and phrases : Edge-searching, infrared rays, robotic vacuum cleaner. 28

E-mail: minchie.chiu@msa.hinet.net

Journal of Information & Optimization Sciences

Vol. ( ), No. , pp. 124
c Taru Publications
2 M. C. CHIU, L. J. YEH AND Y. C. LIN
1. Introduction
Robots have been used all over the world. Arole for a newgeneration 2
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 robots 6
[2], and robots for the blind [3], etc., have already been created. Currently,
various robotic vacuumcleaners have been presented; however, they have 8
focused on ground cleaning and lack an interactivity between the robot
and the user. One such robot, roomba, created by iRobot for ground 10
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 improve 14
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 can 18
also be recorded and shown on the monitoring system; additionally, by
manipulating the moving command, the robot can efciently clean up the 20
entire area.
To reach our proposed goal, the selection of an appropriate high 22
sensitivity sensor is essential. Versatile sensors such as a camera catch device
(CCD) [4, 5] used for path-guiding in an unknown environment have been 24
addressed. Moreover, a moveable ultrasonic detector [6] used in avoiding
obstacles is also discussed. Thus, a robotic vacuum cleaner equipped with 26
an ultrasonic sensor and a wireless network is proposed.
2. System design 28
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 (Microchip 32
PIC18F452) used for receiving a signal from a red ray instrument and
controlling DC motor through a DB300 driver (3MEN) and an angular 34
feedback module. In addition, the data can be transmitted by a wireless
series transport module and monitoring computer system. The systems 36
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 to 2
calculate and monitor data transmitted from a micro-controller can make
maps and submit commands. 4
Figure 1
System structure
6
2.2 Structure of robot
As indicated in Figure 2, the robot is 400 mm in diameter and 200 mm 8
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 set 10
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 robot
14
4 M. C. CHIU, L. J. YEH AND Y. C. LIN
2.2.1 Design of the robots base plate
As indicated in Figure 3, the whole base plate is a circle. It has the 2
advantage of uniform loading onto the rollers with a constant velocity.
A mechanism designed for collecting the dust is created by a 120-degree 4
collector and vacuum hole.
6
Figure 3
The design drawing of the robots base plate
2.2.2 Electric circuit of the micro-controller 8
As indicated in Table 1, PIC18F452, a micro-controller, has a working
frequency of 40MHz. Two kinds of reset functions (power-on reset and 10
brown-out reset), including a counter for power-up delay, a counter
for oscil-power-up delay, and a dog-guard counter, are built in. The 12
related memory with respect to the program, the data, and the EEPROM
have 32000, 1536, and 256 bytes. The programs memory is the Flash 14
ROM, which can be written repeatedly. Its related module includes an 18
interrupter, a 4 counter, a 2 CCP modulus (capture, compare, and pulse 16
width modulation), an AD (analog to digital) translator with ten bits and
eight channels, and a 34 I/O-point. Additionally, it communicates with an 18
USART and MSSP in a series port module as well as 8 bits in a parallel
port module. 20
DESIGN ROBOTIC VACUUM CLEANER 5
Table 1
Specication of PIC18F452
Features PIC18F452
Operating frequency DC-40MHz
Program 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 channels
RESETS (and Delays) POR, BOR, RESET instruction, Stack full,
Stack underow (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 counters 4
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-controller
10
6 M. C. CHIU, L. J. YEH AND Y. C. LIN
Figure 5
The controllers circuit
2
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 brake 6
with clockwise/counterclockwise and PWM speed control is used. In
order to avoid the vibration effect during running, a spring shown in 8
Figure 8 is added to the motors.
10
Figure 6
Photo of DC motor
DESIGN ROBOTIC VACUUM CLEANER 7
Figure 7
A view of the DC motors driver
2
Figure 8
Vibration isolator
4
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 motor 8
while the photo splitter disk is running. A60 pulse per cycle for the photo-
splitter disk is read. Resolution reaches 6 degrees per pulse. 10
Figure 9
Angle feedback module
12
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 interrupter
4
Figure 11
Circuit diagram of the photo interrupter
6
2.2.5 Infrared-ray-distance-detector
The appropriate selection of a distance detector regarded as the 8
robots vision is an important issue. In our studies, the infrared-ray-
distance-detector (SHARP GP2D12) shown in Figure 12 is used. 10
DESIGN ROBOTIC VACUUM CLEANER 9
Figure 12
Photo of GP2D12
2
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 GP2D12 6
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) Inuence with respect to color reection of the obstacle is low. 12
(4) During precision detecting, there will be interference by outside
infrared rays. 14
10 M. C. CHIU, L. J. YEH AND Y. C. LIN
Figure 14
The translation of analogue voltage to distance for GP2D12
2
2.2.6
Two kinds of MOXAs NPort W2150 wireless transport modules 4
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 mode 8
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 is 10
used here. By using IEEE802.11b transport protocol, the longest distance
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 of 2
the data record, one character will be added to ensure correctness during
data transmission; however, an error can occur. Therefore, the error will 4
be detected by the software.
6
Figure 16
An ad-hoc mode
2.2.7 Interface between user and the robot 8
This project is programmed by VISUAL BASIC (Version 6.0). By using
the pc interface, not only can the motion module be selected, but the path 10
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 the 12
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 PC
16
12 M. C. CHIU, L. J. YEH AND Y. C. LIN
3. Path control and sketch and record for an automatic sweeping robot
3.1 Theoretical kinetic derivation 2
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 the 4
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 then 6
be obtained as follows:
3 25.4 = 239.39 mm

= 240 mm (perimeter) 8
L = 240 60 = 4 mm/pulse, where L is the moving distance per pulse
= 2 sin
1
(2/310) = 0.74

, where is the angle per pulse 10

Figure 18
Viewpoint of each pulse
12
3.2 Right-side obstacle-avoiding during edge-searching
In an unknown environment, efcient 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 xed 18
distance of Rbetween 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 is 20
(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 at 24
the front of the robot, at RF or LF, is within 10 cmas shown in Figure 21 and
is detected, the robot will turn left 90 degrees and detect the distance R. 26
DESIGN ROBOTIC VACUUM CLEANER 13
Figure 19
Flow diagram of right-side obstacle avoiding
2
Figure 20
Moving along the wall
4
14 M. C. CHIU, L. J. YEH AND Y. C. LIN
Figure 21
Obstacle in front of the robot
2
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-searching 6
as shown in Figure 23.
8
Figure 23
Obstacle in front of the robot (case 2)
DESIGN ROBOTIC VACUUM CLEANER 15
3.5 Right side without obstacle
During the side-searching process, if the distance R at right-side 2
sensor is greater than 40 cm, the right-side obstacle-avoiding module will
start up, move forward for 30 cm, turn right 90 degrees, move forward for 4
20 cm, and keep edge-searching as shown in Figure 24.
6
Figure 24
Without an obstacle at the right side
3.6 Keeping aliment between carrier and wall 8
By using the data difference between the two sensors, the small angle
control for the right-side motor can be operated till the deviation is less 10
than 2. In that case, the aliment between the carrier and wall as shown in
Figure 25 is assumed to be reached. 12
Figure 25
Carrier Aligned with a Wall
14
16 M. C. CHIU, L. J. YEH AND Y. C. LIN
3.7 S-type vacuuming and obstacle avoidance
The S-type vacuuming module in conjunction with obstacle avoiding 2
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 path
8
DESIGN ROBOTIC VACUUM CLEANER 17
Figure 27
S-type vacuuming path
2
4. Experiment
4.1 Experiment of automatic vacuuming for a robot 4
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 the 6
ground vacuuming work along a S-type path.
8
(Contd. Figure 28)
18 M. C. CHIU, L. J. YEH AND Y. C. LIN
2
4
(Contd. Figure 28)
DESIGN ROBOTIC VACUUM CLEANER 19
2
4
(Contd. Figure 28)
20 M. C. CHIU, L. J. YEH AND Y. C. LIN
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 PCserver is 10 meters away fromthe robot. By 4
using the wireless transmission between the user and the robot, not only
can the location of robot be calculated, but a command can also be sent to 6
the robot. The path of the robot is therefore recorded and plotted in the
PC server. As indicated in Figure 29, the robots path is plotted during the 8
vacuuming process.
10
(Contd. Figure 29)
DESIGN ROBOTIC VACUUM CLEANER 21
2
4
(Contd. Figure 29)
22 M. C. CHIU, L. J. YEH AND Y. C. LIN
2
4
(Contd. Figure 29)
DESIGN ROBOTIC VACUUM CLEANER 23
Figure 29
Photos of the path record for a ground vacuuming robot
2
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 motors 10
can be controlled during edge-searching, obstacle-avoiding, and path-
searching. For the auto-vacuuming mode, two kinds of algorithms in 12
path-searching are developed in this paper one is the right-side edge-
searching and obstacle-avoiding, the other is the S-type vacuuming and 14
obstacle-avoiding. A prototype robot has been manufactured and tested.
In addition, the systemprogramfor plotting the robots path has been 16
developed. By calculating data submitted from a micro controller and an
error compensator, the immediate path of a running robot is shown on a 18
pc monitor.
6. Conclusion 20
In this paper, an interactive robot has been presented. The prelimi-
nary goals of our research (a vacuuming function, plotting and monitoring 22
a path, and manipulation and control from a pc server) have been
achieved. Some aspects of our research which can be improved for an 24
interactive robot are proposed below:
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 a 6
feedback system is recommended.
As suggested in the rst item (image guiding system), although the 8
robot is sometimes not in the vacuuming mode, the image guiding system
can be used as a monitoring systemwhich will provide a security function. 10
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Received December, 2007; Revised April, 2008 30