universiti teknologi malaysia 2009/2010 √ 12 april
Contents
1. line following sensor Figure 3 4 Front View watering hose water inlet line following sensor Figure 3 6 Side View Figure 3 3 shows the overall mechanical design of the WaterBot where the mechanical component connection and board location are shown All component location has been specific to make sure the robot follow the project objective where the location of IR sensor for the line following ts placed behind of the castor wheel to make sure the robot able to detect the path for the line following process Figure 3 4 Figure 3 5 and Figure 3 6 shows the WaterBot designs from front view top view and side view The water tank is put at the center of the robot so that it can give balance to the robot due to its heavy weight Meanwhile the battery is put at the back of the lower part of the robot so it can also gives balance to the robot due to the weight of the water tank All the circuits are place at the lower part of the robot 33 to make sure that it will be protected the pipe The pot sensor is place a bit lower than the pipe because that is the suitable area to detect the patterns that will be stamp at each pot 3 22 Power Window Motor This project will use two DC power window motors that are use for the wheel movement The first motor is position at the right side of the robot and the other one is position at the left side of the robot Figure 3 7 DC Power Window Motor The DC power window m2. there are four comparators built in the chip 4 pair of IR sensors that are used TITITIT Figure 3 19 Four pairs of IR sensors As indicated before four pairs of IR sensors are used to be the eyes for the WaterBot to detect the line following Where these four pairs integrated with relevant circuit is used for sensorl sensor2 sensor3 and sensor 4 to detect the line following The output from LM324 is connected to PIC18F452 where these pins where initialized as following port RDO for sensorl RDI for sensor2 RD2 for sensor3 and RD4 for sensor 4 input Figure 3 20 shown below the arrangement of IR sensors LM324 preset 10kQ and the indicator on the circuit board Figure 3 20 IR Sensor Circuit 44 3 3 4 ID pot dectection The ID pot dectection is using an basic IR sensor Infra red IR sensor use the concept of reflection of light to function It consists of two devices which called as receiver Rx and transmitter Tx Transmitter transmits the IR packet to an object while receiver receives the packet sent after the light reflected from the object E 25 4 mm Tx RX ka IR LEDS OBJECT 15 mm j EMMITED IR Figure 3 21 IR Sensor Arrangement and Operation Figure 3 21 the position of both transmitter and receiver diode and the way of the IR sensor operate From the figure detection or reflected packets ranges up to 15 mm from the object However the ranges of transmit and receive dep
3. 1 PROJECT INTRODUCTION 1 0 Introduction Nowadays robot has been widely used in various fields like industries academic research and development agriculture and others This chapter defines the robot the project on a watering plant robot The main objective of this project is to build an autonomous watering plant robot that has the capability to move using line following detect different pots using IR sensor and water plants that are in pots according to a certain amount of water This is where WaterBot is created for the purpose of this project WaterBot is a short form for plant watering robot 16 1 1 Robots The word robot can refer to both physical robots and virtual software agents but the latter are usually referred to as bots There is no consensus on which machines qualify as robots but there is general agreement among experts and the public that robots tend to do some or all of the following move around operate a mechanical limb sense and manipulate their environment and exhibit intelligent behavior especially behavior which mimics humans or other animals Stories of artificial helpers and companions and attempts to create them have a long history but fully autonomous machines only appeared in the 20th century The first digitally operated and programmable robot the Unimate was installed in 1961 to lift hot pieces of metal from a die casting machine and stack them Today commercial and industrial robots are in wides
4. lt PIR BBS fam s E I gu G New Project I J Code Explorer 23 Open Project ShfteCHikO E vk 9 Recent Projects gt w E Functions 24 Edt Project Shift Ctrl E global includes Save Project As C Add To Project Remove From Project RB Close Project PEN Project Setup Project Summary Device P18F452 v Clock 010 000000 MHz Build Type O Release lt 21D Messages P Find E OConvettor Line Column Message No Message Text Unit 0 100 Success Release Build 00 101 Used ROM 730 2 Used RAM 21 1 00 102 Free ROM 32037 98 Free RAM 1490 99 9 27 Insert F bhn2 hazwanlprgram psmiwaterbot c id start fm 3 Windows Explo fff 3 Microsoft Offic Gy PSM 2 Compatibili Gi FYP1 SEMINAR p 136 FARAHHAYA E mikroc for PIC 18 untitled Paint ELI 3 497 1034 Figure 3 29 Micro C Step I Figure 3 29 show the first step to write the programming by using Micro C That step is click project and new project to begin write programming If the user click file and new file the user still able to write the program but after the user build the project by click project and build the Hex file will not appear and user will not able to burn the program to the PIC Hex file is the most important file for the user to burn the program into PIC 52 Seb E ot HS enabled T deed wa LVP deat E Figure 3 30 Micro C Step 2 Second step after build new project a
5. the robot was facing the bucket or not For instance if only the left bumper switch was depressed then the robot knew it was too far to the right and corrected for this by backing up and turning left slightly repeating until both bumper switches were triggered indicating the robot was centered facing the bucket and ready to dispense its water 25 2 3 Splatbot Figure 2 4 Design of Splatbot Specifications of this robot e Weight 600 grams e Actuators output devices 2x Solarbotics GM3 2x HXT900 servos 2x GWS mini BB servos 1x windscreen wiper water pump e Control method fully autonomous e CPU Picaxe 28x1 e Power source 6x AA NiMH 7 2V e Programming language picbasic e Sensors input devices Maxbotix EZ1 homemade IR obstacle detectors e Target environment Outdoors nocturnal indoors SplatBot has a meccano chassis and wheels Two motors got from a toy dinosaur similar to solarbotics GM3 are mounted in the center of the chassis with a polymorph bracket These motors are driven by giant servo Kits visible behind the center wheel that convert them to continuous rotation servos for easier speed direction control 26 Figure 2 5 Pump for Splatbot The bottle is a 300mL soft drink bottle This seems to be a good size for the robot The pump is just a cheap windscreen wiper water pump from a local autoparts shop This cost about 10 US The tube above the meccano is a breather tube The tube within
6. 2 1 CCPR1L 120 CCPR2L 120 void stop void motorkiril 0 motorkiri2 0 motorkanan1 0 motorkanan2 0 CCPR1L 0 CCPR2L 0 delay ms 5000 void turnleftsket void motorkiril 0 motorkiri2 0 motorkanan1 0 motorkanan2 1 CCPRIL 60 ccprll tuk pwm kanan CCPR2L 0 FUNCTION TURNLEFTBYK void turnleftbyk void motorkiril 0 motorkiri2 0 motorkanan1 0 motorkanan2 1 CCPR1L 80 ccpr1l tuk pwm kanan CCPR2L 0 67 void turnrightsket void motorkiril 1 motorkiri2 0 motorkanan1 0 motorkanan2 0 CCPRIL 0 CCPR2L 60 void turnrightbyk void motorkiril 1 motorkiri2 0 motorkanan1 0 motorkanan2 0 CCPRIL 0 CCPR2L 80 void cariarah void motorkiril 1 motorkiri2 0 motorkanan1 0 motorkanan2 0 CCPRIL 0 CCPR2L 70 void pumpair void pump 1 delay ms 5000 akn pusing ke kanan FUNCTION IDPOKOK void idpokok void if id1 1 amp amp id2 0 pump 1 else if id1 0 amp amp id2 1 pump 1 else pump 0 FUNCTION TURN90 void turn90 void motorkiril 0 motorkiri2 0 motorkanan1 0 motorkanan2 1 CCPRIL 80 ccprll tuk pwm kanan CCPR2L 0 if sensor4 1 amp amp sensor3 1 amp amp sensor2 1 amp amp s
7. 2005 DC Motor Speed Control Using Microcontroller P16F877A Degree s thesis Bachelor of Electrical Engineering Instrument Control Universiti Tekonologi Malaysia Dr Johari Halim Shah Osman 2009 Robotics 4th edition Faculty of Electrical Engineering Univesiti Teknologi Malaysia Thomas L F 2008 Electronic Device 8th Edition New Jersey Prentice Hall MicroElectronika C Compiler for Microchip PIC Microcontrollers Micro C user s manual International IOR Rectifier IRFZ48N Datasheet IROIA User Manual Microchip PIC16F87XA Data Sheet 64 APPENDIX A WaterBot A Watering Robot Plant Program Using Micro C Programmer ERE a A SE GE sk sk sk SE SES sk sese a a oe aj ok aj o o oe k k k o oe oe oe o oe o k kk k k k k k k k k SEE GE k k E sk ee aj k K K k K K K KKK KKK K K K K K K Name Muhammad Hazwan Zulfadhli Bin Mohd Zulkifli Electric Mechatronics Engineering ja WaterBot A watering robot plant Description Test configuration MCU PIC18F452 Oscillator HS 20 0000 MHz Ext Modules SW mikroC v8 2 LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLDLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLEL kkk ak define sensor PORTD FO define sensor2 PORTD FI define sensor3 PORTD F2 define sensor4 PORTD F3 define motorkiril PORTD F4 define motorkiri2 PORTD F5 define motorkananl PORTD F6 define motorkanan2 PORTD F7 define idl PORTA FI define id2 PORTA F2
8. N AND RECOMMENDATION 5 1 Conclusion There were three objectives in this project that need to be achieved The first objective was to build a mobile robot that would move autonomously using line following and IR sensor This first objective was successfully achieved without any problems The second objective was to build a IR sensor that could differentiate each pot for different type of watering Due to some technical problems the IR module sensor that was build could not be use with the PIC that was used So to overcome this problem the identification of different pots was done in the programming itself The robot itself with the help of the different signs that was put at the line following of each nearby pot will be able the robot to identify the different pot that it encountered The last objective was to build a robot that could water the palnts in pots This objective was also successfully achieved The robot did and can water the plants with the use of the water pump that was implemented with the robot Controlling the pump by using a relay was the simplest way to make sure that this robot could water the plants In conclusion due to some technical problems the second objective couldn t be achieved successfully but it managed to be solved in other way so that the robot 62 could also differentiate the pots Eventhough the main objective that is to build a robot that can water plants in pots are totally achieved It is a robot that c
9. S AN7 10 V55 Vo 11 O o 30 I RD7 PSP7 Vss gt 12 a 29 4 RD6 PSP6 OSCA CLKI 13 28 RDS PSP5 OSC2 CLKOIRA6 H 14 27 RD4 PSP4 RCOT10SOITICKI 15 26 RCTIRXIDT RCI TIOSUCCP2 16 25 J ROSITXICK RC2ICCP1 ae 17 24 E lt RCSISDO RC3SCK SCL e 18 23 lt gt RCAISDIISDA RDOIPSPO 19 22H RDYPSP3 lt Sensor IR4 RD1 PSP1 20 21 I lt gt RD2 PSP2 Figure 3 15 The Usage of PIC18F452 Port Microcontroller utilized to be the brain of the WaterBot and it is programmed to execute an outputs for two DC motors when receive signals from the IR sensors that is connected at pin RDO RD1 RD2 and RD3 PortD pins RD4 RD5 RD6 and RD7 were assigned for power window motor controller output Beside that the analog inputs from sensors as the line detection for the line following program The microcontroller processes the inputs and instructs the motors simultaneously to control the WaterBot Figure 3 15 shows microcontroller I O port that been used and Figure 3 16 shows the microcontroller I O circuit 41 Figure 3 16 Microcontroller I O Circuit 3 3 3 IR Sensor Infra Red IR is the light source used as a sensor in this project to sense the line following The implement of sensor is when the user set the operation mode to autonomous Detection signal from sensors will generate as input to PIC Mi
10. UNIVERSITI TEKNOLOGI MALAYSIA DECLARATION OF THESIS UNDERGRADUATE PROJECT PAPER AND COPYRIGHT Author s full name MUHAMMAD HAZWAN ZULFADHLI BIN MOHD ZULKIFLI Date of birth 02 MARCH 1988 Title WATERBOT A WATERING PLANT ROBOT Academic Session 2009 2010 declare that this thesis is classified as CONFIDENTIAL Contains confidential information under the Official Secret Act 1972 d RESTRICTED Contains restricted information as specified by the organisation where research was done OPEN ACCESS agree that my thesis to be published as online open access full text acknowledged that Universiti Teknologi Malaysia reserves the right as follows The thesis is the property of Universiti Teknologi Malaysia The Library of Universiti Teknologi Malaysia has the right to make copies for the purpose of research only The Library has the right to make copies of the thesis for academic exchange Certified by SIGNATURE SIGNATURE OF SUPERVISOR 880302 56 5081 PROF MADYA DR ROSBI BIN MAMAT NEW IC NO PASSPORT NO NAME OF SUPERVISOR Date 12 APRIL 2010 Date 12 APRIL 2010 NOTES i If the thesis is CONFIDENTIAL or RESTRICTED please attach with the letter from the organisation with period and reasons for confidentiality or restriction I declare that I have read this work and in my opinion this work is adequate in terms of scope and quality for the purpose of awarding a Bachelor
11. aged guided and inspired me throughout my journey of education ACKNOWLEGEMENT Assalamualaikum and great thank to God finally I finish my project on building and designing a watering plant robot named as WaterBot First and foremost I would like to express my appreciation and deep respect to my supervisor Prof Madya Dr Rosbi Bin Mamat for the guidance and encouraged he give throughout the progress in completing this project With his full support this project finally accomplished as expected from the objective Special thanks to my friends that share their idea and advice in completing my project Their support and encouragement in my project have helped me in various aspects Without their help this project would very difficult to complete and it will take a long time to finish Finally thank to my dear family that support me in various field such as fund idea and moral in completing the project I hope that this project able to be a step for an advance watering robot plant in the future because nowadays human uses technology to ease their life ABSTRACT In this modern era humans are busy chasing success and materials as to have a comfort and fabulous lifestyles They used to spend too much of their time in working hours and their daily and healthy routines Some materialistic parents even neglected their spouse or children More and more people nowadays also neglected the environment they live in and do not bother ab
12. ake the circuit parts for movement and body First prototype of the whole system of Waterbot Enhancing the first prototype of Waterbot Testing and do some correction and improvement to the Waterbot testing of the Waterbot Preparing for the demonstration and presentation Figure 3 1 Methodology Flowchart 30 3 2 Mechanical Part In the mechanical design there are two parts that had to be figured out properly Firstly was the motor The motor is the important and vital for the movement of the robot The robot that will be design maybe heavy due to the amount of water carried to supply in the watering process So a high torque motor will be used to overcome the weight problem that will be encountered during the fabrication of the robot Disadvantages of previous project that had been research most of the project was not very fast in speed By improving this a motor that has average speed will be implemented in the design A power window motor is the suitable motor that will be use in this project It also meets the specification of the project that has a high tork and moderate speed The second important part is the pump for watering plants After doing some research and findings a DC water pump will be chosen to be implemented for this design This is because using a DC water pump is easier to control than using an AC water pump 3 2 1 Mechanical Design There is software that can have capability to people design thei
13. avigate around common obstacles found at a normal home until it reaches a thirsty plant Once confirming the plant is on the list of to be watered plants the robot dispenses a certain amount of water into the plants pot After watering one plant it finds other thirsty plants remembering which ones still need watering After watering all the plants the robot returns to its home base and waits until it is time to water plants again Watering Robot will follow a predetermined path that will bring it in close proximity to plants Using its magnetic sensor array it will detect the nearby plant line up with the plant water it and continue on to the next plant A unique number will be assigned to each plant This number will be represented with a panel of magnets The magnets will assist the robot in lining up with the plant and confirming each plants identity A small database in the robots memory will contain the schedule and identity of the pots to be watered and if practical the approximate amount to water each pot 23 A small electrical water pump windshield wiper fluid pump will deliver water from the on robot reservoir to the pot A tube will direct the water from the pump to inside the pot Once the robot exhausts its water supply it will return to its home base and wait refilling 2 2 Robots From Challenge 2006 Figure 2 2 Red the Robot The aim was to build a robot capable of acquiring transporting and watering a pla
14. crocontroller Microcontroller will execute the movement instruction of the WaterBot These IR sensor are needed to build an autonomous robot that able to move itself without need any external aid from human Figure 3 17 below shows the schematic diagram of designed IR sensor circuit 42 Ny D3 LED O Output As Input To PIC Figure 3 17 Schematic Diagram of IR Sensor Circuit When the IR receiver receives infrared it will generate voltage at its pin The generated voltage is in the range from OV to 5V depends on the intensity of infrared it received The voltage will drop to zero if there is no infrared received Error will occur when the microcontroller is unable to recognize value other than OV and SV This is due to if the infrared reflected is less the receiver would probably produce a 2V or3V and microcontroller is unable to deal with these analog values e S e OUT fms 14 0UT4 i INT 2 1 AN 13 INA LI 1 IN1 p O imin I I vec 4 11 GND 1 I N2 4 amp 10 INA IN2 6 2 3 9 1N3 I i oum 7 m OUTS L Figure 3 18 Schematic Diagram of LM324 43 Thus a comparator of LM324 is needed to solve this error By using this LM324 the output voltage from IR receiver will be compared with an input voltage through a variable resistor and the corresponding digital output will be feed to the microcontroller Figure 3 18 above shows the schematic diagram of LM324 where
15. d output of the LM7805 D2 is a green LED small as power indicator 38 SW1 SLIDE SWITCH OWER CONNECTOR A amp ADAPTOR SOCKET Vout 5 Figure 3 11 Schematic Diagram for Voltage Regulator Circuit Tor tw OUTPUT O COMMON NFUT The corron leemir ai in dectricad entari wit fius mnunkng hesa Figure 3 12 Voltage Regulator Two voltage regulator will be design for this robot because to prevent current drop between the PIC Microcontroller circuit and the IR sensor circuit The circuit is shown in Figure 3 13 Figure 3 13 Voltage Regulator of WaterBot 39 RESET CONN DILIO om To PIC Programmer PIC18F452 Figure 3 14 Schematic Diagram of Basic Circuit for Microcontroller PIC Microcontroller also reguire a clock to work where it provide signal clock to PIC Microcontroller and normally crystals clock oscillators or RC circuit been apply In this project 20MHz crystal was used for PIC18F452 and two 56pF capacitors which are parallel connected to filter out external noise from interfering with the crystal frequency Some PICs have a build in 8MHz RC clock and it reguires no external components 40 MCLRWPP D 1 RAQANO 2 RAIJAN lt 3 38 RBSPGM RA2 AN2 VREF 4 37 I RB4 RA3 AN3 VREF 7 5 36 Ul RB3 CCP2 RAS AN4 SSILVDIN lt 7 REORDIANS 8 S RBO NTO REIMRIAN6 9 N X Von RE2 C
16. define pump PORTB F1 void forward void void stop void void turnrightsket void void turnrightbyk void void turnleftsket void void turnleftbyk void void turn90 void void cariarah void void pumpair void void idpokok void void main ADCON1 0x0F 65 trisa 0b00001111 trisd 0500001111 trisc 0500000000 trisb 0b11111000 PR2 255 CCP1CON 0b00111100 CCP2CON 0b00111100 PORTD 0x00 T2CON 0b00000101 while 1 j if sensor4 0 amp amp sensor3 1 amp amp sensor2 1 amp amp sensor1 0 forward else if sensor4 1 amp amp sensor3 1 amp amp sensor2 20 amp amp sensor1 0 turnleftsket else if sensor4 0 amp amp sensor3 0 amp amp sensor2 1 amp amp sensor1 1 turnrightsket else if sensor4 1 amp amp sensor3 0 amp amp sensor2 0 amp amp sensor1 0 turnleftbyk else if sensor4 0 amp amp sensor3 0 amp amp sensor2 0 amp amp sensor1 1 turnrightbyk else if sensor4 0 amp amp sensor3 0 amp amp sensor2 0 amp amp sensor1 0 cariarah else if sensor4 1 amp amp sensor3 1 amp amp sensor2 1 amp amp sensor1 1 stop turn90 j 66 EEE MOTOR DRIVE FUNCTION FE FUNCTION FOR WARD A Tam NS JSL Oon s void forward void motorkiril 1 motorkiri2 0 motorkanan1 0 motorkanan
17. end on type of diode used Many manufacturers now provide a wide range of IR diodes for batter performance In normal condition where no packets receive the pin goes high logic 1 but after receiving IR packet the pins grounded logic 0 This concept represents the digital logic and easily adapted for this project IR sensors used as obstacle detection sensors It gives ability to the robot to avoid any potential collision As stated in early section an IR sensor module will be used for this purpose This Medium Range Infrared sensor offers simple user friendly and fast obstacle detection using infrared it is non contact detection The implementations of modulated IR signal immune the sensor to the interferences caused by the normal light of a light bulb or the sun light The sensing distance can be adjusted manually 45 The product features include 5V powered low current consumption less than 10mA 3 pin interface which are signal GND and 5V Small LED as indicator for detection status Obstacle detection up to 10cm Adjustable sensing range 2cm 10cm Small size makes it easy to assembly Single bit output Compatible with all types of microcontrollers Dimension 2 6cm x 2cm The sensor uses special sensor to modulate IR signal emitted from 2 IR transmitters and detects the modulated IR signal reflected back from a nearby object This sensor has a built in IR LED driver to modulate the IR signa
18. ensor1 1 pump 0 delay_ms 5000 pump 1 else cariarah
19. he motor in this robot 35 Power Window 12 Voltage Power Window Source Motor Controller _ Motor PIC microcontroller P18F452 Pump Comparator controller 5 Voltage LM 324 Pump Regulator Figure 3 9 The Circuit Attachment Figure 3 9 show the circuit attach to the WaterBot All circuit will be attach to the main board The main board consist voltage regulator and microcontroller PIC18F452 3 3 1 Electronic Design On the circuit and electronics parts the first stage of the design is to understand the requirements of the project and the limitation of various constraints such as the level of technology microcontroller reliability and the complexity of programming and interfacing First intensive studies was conducted to learn and observe the others circuit and devices used by previous year projects and research projects conducted worldwide From those technical studies of the circuit schematic layout and components used was recorded of the suitable and most reliable circuits From there components and peripheral interfacing method are modified and applied at the electronics stage 36 3 3 2 PIC Microcontroller and Voltage Regulator In this project PIC18F452 Microcontroller will serve as the brain of the WaterBot and controls all actions where it was placed on the main controller circuit The microcontroller is chosen because it provides more inpu
20. ht and use for the WaterBot Last scope is the programming part This part is very important for the WaterBot because it will act as its brain The software will also determine the quantity of water to be pour for each pot only by using the concept of relay In certain period of time certain quantity of water will be poured The line following will also be done in the software part to navigate its way of movement 1 6 Project Outline This thesis consists of five chapters Chapter one explains the introductory of the project including the objective and scope of this project Also mention the problem statement and general project proposed Chapter two describes literature review more about previous study on topics that related to the project It will cover both universities research and implementations by other companies or organizations that suitable to relate on autonomous spy robot Chapter three will cover the methodology of the project The main to topic of this chapter will describe the three most important subjects and there are hardware designing electronic and circuit designing and programming using suitable microcontroller software Chapter four illustrates the result and discussion on the project after the project complete and finally chapter five will summarized the project in all field 20 17 Summary Robots are used in modern life to make our life more comfortable and easier for us to live in WaterBot is the robot
21. indow Motor Controller From the Figure 3 24 the contoller has four 12 SRD relays where two relays will control one power window motor These relays are responsible to control the direction of the motor The use of a MOSFET for the PWM control of each one will be connected to Pin CCP1 and CCP2 at PIC microcontroller Meanwhile the NPN BJT 2N222 is use as switch to control the relay with the PIC Microcontroller Figure 3 25 Schematic circuit for one power window motor 3 3 6 Pump Controller The pump controller uses one SRD 5V relay to act as a switch betwween the PIC Microcontroller and the water pump The circuit is consists a 2N222 BJT 12V and 5V voltage source and a LED diod as a indicator that the pump is ON Figure 3 26 shows the board and Figure 3 27 shows its schematic PUMP Figure 3 27 Schematic Circuit for Pump Controller 49 50 3 4 Programming Part 3 4 1 Micro C programming Programming part is the final state in completing robot project where the programming is the mind of the robot to it makes decision when it faced some situation The programming is build by user to make sure the robot follow all the instruction and the all sensor able to use when the programming insert All program written will be burnt into PIC microcontroller because the PIC as the brain from robot and the programming as its mind Without programming the robot will not able to move and all sensors will not function because the data send by
22. is detected on IRO1A B are2IR transmitters the output IR signal is modulated at 38Khz C isIR sensor This sensor modulates IR signal emitted from 2 IR transmitters and detects the modulated IR signal reflected back from a nearby object D isa 1K Ohm preset for user to adjust the sensing range The sensing range is 2cm 10cm Performance of the sensor will vary with the reflectivity of the object and the ambient lighting E isa hole to solder and connect the power supply to IRO1A User may supply 4V 6V to IROIA the typical voltage is 5V F isa hole to solder and connect Ground to IRO1A User may connect the GND of IROIA to the Ground OV of the control board G isa hole to solder and connect the output signal from IRO1A User may connect the signal pin s from IROIA to an I O pin of microcontroller which set to INPUT mode The output signal of IRO1A is LOW or OV when an object detected 3 3 5 Power Window Motor Controller Power window motor controller is the device that use to control DC power window motor speed by using PWM Pulse Width Modulator and to control the DC power window motor direction In this project the power window motor driver use is design and fabricate specially for the robot because the power window motor couldn t use ordinary motor driver such as L293D due to its limited source of voltage supply 48 SRD 12V Relay em en tnm 2N222 E NPN BJT MOSFET Figure 3 24 Power W
23. is 5 Volt and the second way is by turn on the voltage from voltage regulator board where the regulator will give the output 5 Volt 55 PICKit 2 Programmer File Device Fam Tools View Help Device Configuration Device Not Present Configuration User IDs 00 00 00 00 Checksum 0000 OSCCAL 0000 BandGap 0000 potene gem J Menen LLL VDD PICkit 2 n Program Memory nabled Hex Only Source None Empty Erased EEPROM Data Pick 2 Figure 3 34 PICKIT2 Programmer Figure 3 34 shows the main window for the PICKIT2 programmer where it is the software that interfaces between the programming in Hex file into PIC This software easy to use because the user only have to select the file of the programming in Hex file and then click write button on the software to burn the programming into PIC To check whether the PIC in good condition or not the PIC series will be display on the PIC type form 56 3 4 Conclusion The mechanical part electronic part and programming part are the most important combination in designing a robot Mechanical part represents the body of the robot that should be design and fabricate This part is vital because it atcs as the backbone of the robot Without it the robot doesn t have the suitable body to move or perform its task Electronic part is second stage in designing the robot The electronic circuit is build and design based on the mechanical structure that has been impleme
24. kok memerlukan air sebagai asas kehidupan mereka Tanpa air yang mencukupi pokok boleh menjadi layu tidak sihat dan akhirnya mati Disinilah perlunya sebuah robot yang menyiram pokok supaya dapat mengantikan tugas manusia Bidang pertanian di Malaysia masih kurang menggunakan robot sebagai salah satu teknologi yang boleh meringankan beban manusia Jika digunakan dalam bidang pertanian ia hanya melibatkan konsep penggunaan sistem sahaja dan bukannya robot Tidak seperti di Jepun robot diciptakan khas untuk menyiram memetik hasil buah malah menanam benih pokok Penggunaan teknologi robotik di Malaysia dalam bidang pertanian masih dikatakan belum cukup meluas Ini mungkin faktor modal merupakan punca utama Seperti mana yang kita ketahui pembinaan kos robot serta penyelenggaraannya mungkin memakan kos dan dianggapkan tidak kos efektif jika penggunaan teknologi tersebut dalam skala yang kecil Maka untuk projek ini skop yang hanya difokuskan adalah untuk membina sebuah robot yang boleh menyiram pokok serta mengenalpasti pokok mana yang perlu disiram dengan menggunaankan kuantiti yang tertentu Penyiram air hanyalah pada pokok yang diletakkan dalam pasu CHAPTER 1 0 TABLE OF CONTENT CONTENT TITLE DECLARATION DEDICATION ACKNOWLEGEMENT ABSTRACT ABSTRAK TABLE OF CONTENT LIST OF FIGURES LIST OF TABLE 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 PROJECT INTRODUCTION Introduction Robot Line Following Robot Problem Statement Objecti
25. l at 38 KHz to match the built in detector The modulated IR signal immunes the sensor from the interferences caused by the normal light of a light bulb or the sun light The module will output a HIGH if no object is detected and a LOW if an object is detected Name Function Pa Connects to Vee 4V to 6V Ground Connects to Ground Output Connects to an I O pin of microcontroller which set to INPUT mode signal or transistor MOSFET Absolute Maximum Rating a i lt lt Sensing n range Table 3 2 Pin Definition of IRO1A IR Sensor and Ratings 46 The Medium Range Infrared Sensor has a sensing range of approximately 2cm to 10cm The sensitivity can vary with the reflectivity of the object and the ambient lighting The modulated IR signal will reflect more on white surface and reflect less on black surface The sensor is designed to adjustable sensing range User may adjust sensing range by using the preset on IROIA for different application Figure 3 22 Product Dimension B B D A GF E Figure 3 23 Product Layout Label Function Label Function A Signal indicator LED E The hole to solder and connect VCC B IR transmitter F The hole to solder and connect GND C IR sensor G The hole to solder and connect output signal s D Preset Table 3 3 Product details 47 A isa signal indicators LED for IRO1A The LED will turn ON when signal
26. ld still differentiate the pots that need to be watered by putting different signs at the path of the line following at each different pots Other than that the programming part was also a crucial part to make sure the robot could differentiate each pot After each sign that it reaches at each pots the programming will keep in its memory by using the looping method This will help the robot to make sure it can differentiate each pots But during the demostration due to hardware problem that was caused by the castor wheel only one pot could be used to show the detectation of different pot The watering process did achieve the mininum standard that was needed in this project Eventhough there was no mechanism used to be implemented for this robot only by using gravity of earth it did water the plants The only disadvantage for this kind of design is that the watering process could be control which way it should pour the water from the robot It only has one direction in watering the plants 60 4 3 The Final Product As result of the project below are the pictures of WaterBot from different views If noticed the is a white box in front of the WaterBot that box is used to stablize the movement of the WaterBot and to make sure it doesn t trembles during its movement Meanwhile the hanger is use to shape the pipe for the watering process Figure 4 1 Side View of WaterBot Figure 4 2 Front View of WaterBot CHAPTER 5 CONCLUSIO
27. ller 37 Table 3 1 Device Features of PIC Microcontroller MOSE Operating Frequency DC 40 MHz Program Memory Bytes 32K Program Memory 16384 nstructions 1536 Data EEPROM Memory 256 Bytes E Interrupt Sources 18 1O Ports PotsAB CDE Ooo A O uu m Modules B jo MSSP Addressable a Parallel Communications PSP 10 bit Analog to Digital Module 8 input channels POR BOR RESET Instruction Stack Full RESETS and Delays Stack Underflow PWRT Programmable Low Voltage Detect Programmable Brown out Reset PIC Microcontroller reguired basic circuit to operate They are Power Supply which it need the SV and Ground GND Crystal or Oscillator for the clock time in order for microcontroller to execute instruction Reset for restart the microcontroller and I O support circuit for microcontroller to read inputs and control the output For this project the voltage range of power source could be given for this circuit board is between 7V and 15V Higher input voltage will produce more heat at LM7805 voltage regulator Typical voltage is 9V Anyhow LM7805 will still generate some heat at 9V LM7805 1A maximum will regulate the given voltage to SV Vcc for supplying power to the PIC Microcontroller and pull up the push button input The purpose of using diode D1 is for circuit protection in case the polarity of the power source is incorrect Capacitors are use to stabilize the voltage input an
28. nt in our lobby This fun exercise was designed to promote critical thinking planning designing team work and ability to execute The two teams were each given a robot kit as a basic tool but were allowed to order any other supplies needed The robot had to carry at least 8 oz of water but each additional ounce carried would score an extra point One point would also be added for each ounce that the robot weighed less than 8 Ibs A totally autonomous robot completing his task without human intervention or radio control would have its score doubled Red weight 2 25 Ibs carried one gallon of water and had an ingenious design incorporating optical encoders around the wheels and bumper switches at the front 24 Figure 2 3 Blue Robot Both teams had working autonomous robots The Blue team s robot took a wrong turn and spilt its water wetting the electronics The Red team s robot performed flawlessly until the very end Theirs was also the lighter of the two and carried more water Their ingenious design incorporated optical encoders and front bumpers To ensure the robot went straight even if the motors powering each side were going at different speeds optical encoders were used to compare the revolutions made by each motor and correct them so they were kept the same To correct for any error still built up along the course two bumper switches mounted on the front of the robot triggered upon contact with the bucket depending on whether
29. ntate This is because the space that required to put the circuit can also give effects towards the size and design of the circuit board The use of IR sensor is vital for the line following this is the part that makes the robot move autonomously by following the path that have been created Also the use of relay in controlling the water pump is the main part that makes this robot as the WaterBot Last part of design is the programming part where this part is the control processing unit for the robot that act as the brain of the robot This part is done by programming the integrate circuit IC with using a suitable software In this project will use Micro C to program PIC18F452 The programming part is important to the robot follow the desired objectives If the programming for the robot is unsuccessful this may lead to a failure of the design of the robot or the robot itself will malfunction For conclusion all parts are related and important to each another and if even one part fails to be completed this could cause a failure in the robot fabrication CHAPTER 4 RESULT AND DISCUSSIONS 4 0 Introduction The final accomplishments and results of the project shall be explained in this chapter This chapter discusses on the result analysis and problems that are encountered throughout the completion of the WaterBot After the development and completion of the WaterBot it will then be evaluated in order to measure the effectiveness and to ens
30. of Engineering Electrical Mechatronics U Signature Supervisor PROF MADYA DR ROSBI BIN MAMAT Date i 12 APRIL 2010 WATERBOT A WATERING PLANT ROBOT MUHAMMAD HAZWAN ZULFADHLI BIN MOHD ZULKIFLI A Thesis Submitted in Fulfillment of the Requirements for the Award of the Bachelor of Engineering Electrical Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia APRIL 2010 DECLARATION T declare that this thesis entitled W ATERBOT A WATERING PLANT ROBOT is the result of my own research except as cited in the reference Signature Dunt EE Name MUHAMMAD HAZWAN ZULFADHLI BIN MOHD ZULKIFLI Date 12 APRIL 2010 DEDICATION Especially dedicated in thankful appreciation for support encouragement and with all those sacrifices to my dearest mama Norhizam Bte Othman and abah Mohd Zulkifli Bin Mohd Yunus May all your wishes been granted by God the Almighty Also to the most understanding partner my beloved Farahiza Izzatie Binti Mohd Rani who always by my side to cheer me up when I was down and to my bestfriend Mohd Khairul Azizat Bin Johari who add the colours on my canvas of life To my siblings Nur Izzati Maisarah Nur Izzah Naemah Mohd Hasif and Nurfarah Adibah for the love we had and the pain we shared in life together are always on my mind and 1 hope you will achieve what you are aim for And to fellow students who have encour
31. of the WaterBot Using Google Sketchup 3 4 Front View of Mechanical Design 3 5 Top View of Mechanical Design 3 6 Side View of Mechanical Design 3 7 DC Power Window Motor 3 8 DC Water Pump 3 9 The Circuit Attachment 3 10 Pin Diagram for PIC18F452 Microcontroller 3 11 Schematic Diagram for Voltage Regulator Circuit PAGE 10 11 12 12 13 15 17 17 18 18 18 19 20 21 22 24 3 12 3413 3 14 3 15 3 16 3 17 3 18 3 19 3 20 3 21 3 22 3 23 3 24 3 25 3 26 3 27 3 28 3 29 3 30 3 31 3 32 3 33 3 34 4 1 4 2 Voltage Regulator Voltage Regulator of WaterBot Schematic Diagram of Basic Circuit for Microcontroller The Usage of PIC18F452 Port Microcontroller I O Circuit Schematic Diagram of IR Sensor Circuit Schematic Diagram of LM324 Four pairs of IR sensors IR Sensor Circuit IR Sensor Arrangement and Operation Product Dimension Product Layout Power Window Motor Controller Schematic Circuit for One Power Window Motor Pump Controller Schematic Circuit for Pump Controller Micro C Front Window Micro C Step 1 Micro C Step 2 Programming Flow Chart PIC Programmer PIC Programmer Connection PICKIT2 Programmer Side View of WaterBot Front View of WaterBot 24 24 25 26 27 28 28 29 29 30 32 32 34 34 35 35 36 37 38 38 40 40 4l 46 46 LIST OF TABLE TABLE TITLE PAGE 3 1 Device Features of PIC Microcontroller 23 3 2 Pin Definition of IRO1A IR Sensor and Ratings 31 CHAPTER
32. otor is used to move the wheel to any direction The mechanism of the motor will act differently to the corresponding IR sensors that detect the path of the line following When none of the IR sensors detect the path this means that the robot is out of track so it will start the search mode to find the path so that it can be on track again The speed of motor will be controlled by using PWM Pulse Width Modulator 34 3 2 3 Water Pump As stated in the previous chapters the water pump that will be used for the watering process is a DC water pump This water pump was hard to find and it was bought in Singapore The water pump is control by a 12V SRD relay that was specially design for the watering purpose The amount of water that will be watered is depends on the delay that is use to switch on the water pump The delay is set in the programming The longer the delay the more water will be pumped to the plants Figure 3 8 DC Water Pump 3 3 Electronic and Circuit Part For the robot able to function properly the electronic part must be perfectly installed to the robot In this project there are several circuits that need to be design for the robot First circuit is the main circuit that consist voltage regulator circuit to give the voltage to turn on the integrated circuit IC and to avoid the circuit burn Second is the IR sensors that are use to detect the line Next is the power window motor controller that acts as a driver to t
33. ould water plants even so only plants that are in pots 5 2 Recommendations Since the pump that was use is small it could be better for future project that the pump is design to make a bigger pump so that the amount of water that could be pour can be more larger For this project the pump was bought at a second hand shop So any modification to make the pump could pour larger amount of water during the watering process could be a bit dificult The position of the motor that was attached to the robot should be more balance This is because the weight of the robot could make the movement of the robot be unstable This was a problem for the robot in the early stage of designing To solve the problem there was a box of stone was put in the front of the robot to make it more stable while it moved The used of more IR sensor could be applied in future project so that the robot could be more intelligent during its line following process In this project only four IR sensors was used With more IR sensors as the detection for the line following it could encounter more different movement for the robot 63 REFERENCES Mohd Arif Adib 2007 Autonomous Mobile Robot Degree s Thesis Bachelor of Electrical Engineering Mechatronics Universiti Tekonologi Malaysia Lee Cherng Woei 2009 Lane Following Vehicles Degree s Thesis Bachelor of Electrical Engineering Mechatronics Universiti Tekonologi Malaysia Ea Ai Choon
34. out their responsibilies towards motherearth Such as watering plants around the house and others daily routine Watering crops and landscapes plants needs continuous watering system Without water all living things in this planet will die Thus designing a robot to replace human and conventional systems in watering domestics uses and to a larger extend in watering vegetable orchards farms can be very important In Japanese robots are specially designed for planting watering and even harvesting farm crops Crops watering systems in Malaysia are not as advance as in Japan Robots are not widely used as the main watering technology as it is more usual to use conventional pumps and piping systems It is widely known that designing maintaining and implementing robotic technologies are more costly and are not cost effective in small scale applications Therefore for the scope of this project it is focused on designing a domestic robot for watering vased planted plants only ABSTRAK Pada zaman moden kini manusia semakin sibuk mengejar kejayaan serta kekayaan didalam dunia supaya memperoleh kehidupan yang senang dan mewah Mereka menumpukan banyak masa di alam pekerjaan sehinggakan kadang kala mengabaikan rutin harian mereka Ada diantara mereka sanggup mengabaikan keluarga hanya semata mata mengejar kekayaan Malah juga yang lupa tentang tanggungjawab mereka terhadap alam sekitar Antaranya seperti menyiram pokok di rumah dan rutin rutin yang lain Po
35. pread use performing jobs more cheaply or with greater accuracy and reliability than humans They are also employed for jobs which are too dirty dangerous or dull to be suitable for humans Robots are widely used in manufacturing assembly and packing transport earth and space exploration surgery weaponry laboratory research and mass production of consumer and industrial goods It is difficult to compare numbers of robots in different countries since there are different definitions of what a robot is The International Organization for Standardization gives a definition of robot in ISO 8373 an automatically controlled reprogrammable multipurpose manipulator programmable in three or more axes which may be either fixed in place or mobile for use in industrial automation applications This definition is used by the International Federation of Robotics the European Robotics Research Network EURON and many national standards committees 17 The Robotics Institute of America RIA uses a broader definition a robot is a re programmable multi functional manipulator designed to move materials parts tools or specialized devices through variable programmed motions for the performance of a variety of tasks The RIA subdivides robots into four classes devices that manipulate objects with manual control automated devices that manipulate objects with predetermined cycles programmable and servo controlled robots with continuous poin
36. r mechanical drawing like Google Sketchup Auto CAD and others By using these software people will able to illustrate their design in three dimension form and capable to adapt the design to the real component Others this software will give advantage for mechanical maker to choose the suitable component to apply it at suitable position For this project uses Google Sketchup to design the mechanical struture of the robot because the software is easier to be use than other drawing softwares Google SketchUp is a 3D modeling program designed for architects civil engineers filmmakers game developers and related professions It also includes features to 3l facilitate the placement of models in Google Earth It was designed to be easier to use than other three dimension CAD computer aided design programs f Untitled SketchUp File Edit View Camera Draw Tools Window Help A ZBOC CILSLROE HAR OLS BY EE ea id 9 BES PES FOC DING ff PSM2 Comp ff FYP1 SEMINAR p 136 FARAH C Figure 3 2 The front page of Google Sketchup Software Figure 3 2 show the main window of Google Skechup before the mechanical drawing design precede In this main window the usable tool icon will display with differences function to make the user easy to start the design Figure 3 3 Mechanical Design of the WaterBot Using Google Sketchup 32
37. re set the PIC configuration Figure 3 30 will appear after the new project icon click The configuration on the PIC must be set like the type of PIC that used the crystal clock project name and the device configuration must set to default so that the PIC able to read the programming If the configuration for the PIC is wrong the program still able to build but when the program burn to the PIC it will not able to read and the program is not functioning 3 4 3 Project Programming n Robot will follow line and When the robot Switch ON robot gt gt TESTIS E search for pot Pour the right IR sensor detecte and Turn 90 until IR sensor checks which amount found plant ID amount in the pot of water should be at a certain time poured l lt Turn back 90 to get on track Figure 3 31 Programming Flow Chart 53 Figure 3 31 shows the project programming flow chart where is show algorithm of the robot movement according the situation faced The programming start with initialization all the port in PIC that need to used as the output and the input By using PIC P18F452 all port can be use as input or output In this project PIC port will be used start from port A to port D Port D are use both as input and output From pin RDO to RD3 are uses as input signals from the IR sensors that will read digital signal from the IR sensor to go to the next instruction Meanwhile for pin RD4 to RD7 are use as outputs for the power window mo
38. rmula number of pot 2 N is the number of dots needed The last objective is to build a robot that will water plants in pots For this project it will only focus on how to water the plants in pots but not how it waters the plants This means the mechanism of watering the plants only uses gravity method without any specific design of mechanism 1 5 The scope of study The following are the guidelines followed to ensure the project is conducted within its boundary of mechanical hardware modification electronics including sensors and programming This is to ensure the project is heading in the right direction to achieve its intended objectives The first scope is the mechanism part The concept used to build the WaterBot is a mobile autonomous robot There will be two motor to be used as actuators to move the robot Power window motor will be used for this purpose Then there will be a castor wheel in front of these two motors The use of castor wheel is to minimise the cost to build the WaterBot The shape of the robot will be build in circle shape so that the WaterBot will look more artistic 19 Second scope is the electrical part This involves the design of PIC microcontroller circuit for the robot brain the controller for the pump the motor driver for the power window motors the IR comparator circuit for the line following purpose Meanwhile for the identity detection to differentiate each pot an IR module sensor will be boug
39. s project However the input and information given really helps in improving the robot development Thus with each of this project that have been stated WaterBot will be designed as maybe pioneer to make agriculture field in Malaysia more advance in using robotics in its area CHAPTER 3 PROJECT METHODOLOGY 3 0 Methodology A proper planning is needed to ensure this project is completed on time The developing process of the WaterBot involves in design of the main controller circuit that includes the electronics and motorization hardware debugging and etc Therefore the following chapter discusses the methods and materials employed in the design and fabrication of the project as well as its manner of operation Basically this project is an interdisciplinary field that ranges in scope from the design of mechanical electrical components and software development 29 3 1 Overall Flow of Project Activities In the development of this project the flow can be classified into input process output and feedback Figure 3 1 shows the research methodology flow chart for completing this project Choose the title initial research of the title and project proposal Research deeper about the circuit the suitable components and parts and about the mechanical part of the Waterbot v y v ME TN v pe v DE O v RII v Debugging and hardware improving Recheck the stability and do some Parts and components purchasing M
40. sensor not able to process and execute 3 42 Micro C programming EI E C mikroC compiler for PIC File Edi View Project Debugger Run Tools Help Der t gt B Bes AR B s EH F Ow X Xi waterbot c Code Explorer OHelp Keyboard fs 9 amp Functions global B includes e tl e L Project Setup Project Summary Device P18F452 v Clock 010 000000 MHz Build Type Release lt XI G Messages P Find E QConvertor Line Column Message No Message Text Unit 00 100 Success Release Build 00 101 Used ROM 730 2 Used RAM 21 1 00 102 Free ROM 32037 38 Free RAM 1490 99 F bhn2 hazwantprgram psmiwaterbot c 3 Microsoft Office TH Compatibility T FYP1 SEMINAR p 136 FARAHHAYANA IC CI 1 Figure 3 28 Micro C Front Window 51 Figure 3 28 shows the main window of Micro C programming where this program use program IC that used in the project This software support all PIC from all version and in this software the program will be easy when write in C or C language In general this software will support for Intel processor only because this software has been design by for these processor This software easy to use than others because the programming language is direct and the user did not need to set configuration and to include the library for PIC because it is build in El mikroC compiler for PIC DER Fie Edt View Project Debugger Run Tools Help D e m ow
41. ss spend to build an IR sensor The IR sensor fullfill the specification to detect different dots as an ID for each different pots But due to hardware and software problems the IR sensor module couldn t communicate with the PIC microcontroller The last objective was to make the WaterBot can water plants in pots This last objective was the main objective for this project As discuss in previous section a DC water pump was used to act as the tool to water the plants This objective was also encountered with just a little problem but it still could be achevied and implemented in the WaterBot 59 4 2 Discussion This project has not been without any challenges which are predominant in the undertaking of such an assignment The first challenge that was encountered in this project was the mistake of designing the pump controller of the water pump The design of the pump controller was using a SRD relay In the early stage of designing the pump controller three voltage source was use to make sure the relay could work But due to some mistake in understanding the concept of the relay then only two voltage source was use to implement the pump controller At last the pump contoller did work as it was planned The second problem was related to the second objective that was to build the IR sensor that can be used to differentiate each pot The IR sensor module that was used didn t give the expected result To overcome this problem the robot cou
42. t and output ports large size of program storage and more peripherals supported The basic operation is like the input signals are sent to the microcontroller and the microcontroller will send instructions to control the WaterBot Microchip PIC18F452 Microcontroller that was chosen comes in 40 pins package PDIP Microcontroller PIC18F452 runs at 40MHz with 100ns instruction time Speaking of instruction the space or size of PIC18F452 has space of 16k lines for Assembly Code Figure 3 10 shows the pin diagram of PIC18F452 and Table 3 1 shows the device features for PIC18F452 40 I lt gt RB7 PGD RAWANO 7 39 O RB6 PGC RA1 AN1 lt 7 38 RBS PGM RA2 AN2 VREF 5 37 I gt RB4 RA3 AN3 VREF 36 4 RB3 CCP2 RA4 TOCKI 35 RB2 INT2 RAS AN4 SSILVDIN lt na Y L RB1 INT1 REO RD AN5 lt gt 7 i to 33 I RBO INTO RE1WR AN6 lt 2 Lf 20 vw RE2 CS AN7 CO o co 31 I 2 Vss Voo O o 30 I 4 RD7 PSP7 Vss __ a 29 T RD6 PSP6 OSC1 CLKI Tr RD5 PSP5 OSC2 CLKO RA6 fr 27 O RD4 PSP4 RCO T1OSOITICKI 26 I RC7 RX DT RC1i MT10SII CCP2 25 J gt RC6 TX CK RC2 CCP1 ri 24 RC5 SDO RC3 SCK SCL di 23 H gt RCA SDI SDA RDO PSPO CO 22 H RD3 PSP3 RD1 PSP1 120 21 I RD2 PSP2 Figure 3 10 Pin Diagram for PIC18F452 Microcontro
43. t to point trajectories and robots of this last type which also acquire information from the environment and move intelligently in response 1 2 Line Following Robot Some of the earliest Automated Guided Vehicles AGVs were line following mobile robots They might follow a visual line painted or embedded in the floor or ceiling or an electrical wire in the floor Most of these robots operated a simple keep the line in the center sensor algorithm They could not circumnavigate obstacles they just stopped and waited when something blocked their path 1 3 Problem Statement Previously it was stated that humans are busy with their workload until they forget their obligations towards nature Plants that are not watered for some time then die To prevent this from to happening a robot is designed and fabricated so that it can move using line following and then water plants that are in pots 18 1 4 Objective There are three objectives in this project The first objective is to build a robot that is autonomous by using line following algorithm to navigate in the workplace The second objective is to build the IR sensor that can be used to differentiate between each pot It will be used different patterns that will be attached to each pot These patterns are design with using dots for its patterns One IR sensor will detect one dot If there are two pots that need to be watered so there must be one dot to be used It will use the fo
44. that has the ability to water plants that are in pots and move autonomously using line following This project main objective is to accomplish the process of watering plants in pots using a robot and not focussing on SWITCH ON the way of watering the plants DETECT LINE DETECT POT Figure 1 1 The Expected Outcome of the Project CHAPTER 2 LITERATURE REVIEW 2 0 Literature Review Literature review is vital to the research because from the previous researches it can be guidelines to this project In other words it can bring a various idea and method to make this project a success It also become a study case for this project to overcome with the new idea and different design compared to the previous project Otherwise from the literature review references it can develop the contents to this research Below is a few listing that been done from the previous project This chapter focuses on the related fields and knowledge pertaining to the accomplishment of the thesis itself Reading includes such as reference books papers websites conferences articles and any documentation concerning the related applications and research works 22 21 Watering Robot Figure 2 1 Picture of Watering Robot Watering Robot the plant watering robot will take over the task of adequately watering each plant at pre determined intervals Watering Robot will find and water the plants that are scheduled for watering It will n
45. the meccano struts is the output with a black plastic fish tank tube joiner on the end for a nozzle This about doubles the distance to 2m or so Remember that don t want to hurt any animals with this so pressure is limitted and besides the range of the object trackers is less than a meter so this is heaps for the purpose It works quite well considering the pump is designed for 12 15V N gt af D ole le a aT e b pa N vi b il E JJ Figure 2 6 Sensor Array This is the sensor array Each of the four sensors consist of two phototransistors in parallel and 5xIR LEDs There are 20 LEDs drawing 250mA in total The IR LEDs are only on for a small percentage of the time so they don t have a significant effect on battery life Hoped to get more range from the array but still don t get much more than 500mm at night 27 Figure 2 7 Front part of SplatBot SplatBot would occasionally hit something with one of the front wheels and get caught without realising it Now it has limit switches on the front bumper which are monitored by an interrupt routine This allows him to react quickly to a collision It also fitted a speaker so he can make various noises to indicate certain conditions He now emits a two tone warning if he collides 2 4 Summary From the literature review discussed in this chapter there were many projects that are related to WaterBot So this makes this previous robot could become references to thi
46. tor controller Port C used as the power window motor controller input port where port C used as the output to control PWM Pulse Width Modulator of power window motor controller that labeled CCP1 and CCP2 The port declaration and instruction programming writing need to refer to the PIC data sheet to make sure the programming readable by PIC 3 4 4 Programming Burner Programming burner is the final step in programming part where the programming for project complete the program need to be burnt into PIC to the robot able to move It is like the soul for the robot In this project the programming project burn by using PICKIT2 software where this software is in package with its programmer 54 Figure 3 32 PIC Programmer Programmer IOK Header 5X2 Figure 3 33 PIC Programmer Connection Figure 3 32 show the programmer that need to use when the programming programmed into PIC This programmer has specific pin that need to connect to PIC to make sure the programming successfully programmed The pins that involve connecting in PIC18F452 are pin 1 pin 39 and pin 40 where they are pin MCLR pin PGC and pin PGD The pin connection like on Figure 3 33 Before software programmed into PIC the PIC need to supply a voltage for 5 Volt to power on the PIC There are two ways to supply voltage through PIC and they are connect the pin 8 in programmer to 5 Volt where the voltage come from computer USB because the output voltage from USB
47. ure whether it had met the outlined objectives successfully By the methodology as discussed in the previous chapter this project has made remarkable result and achievement 58 4 1 Result The WaterBot was successful designed The robot was able to move according to the line following and even could water the plants that are in pots But the implementation was not really success the robot couldn t differentiate the variety of pots that need to be watered due to hardware and software problem The first objective of the project was to build a robot that is autonomous by using line following method This part was successfully achieved without any defects The robot could move according to the path that was created for the demostration It had seven movements that were specially created for the demostration There are forward stop little turn right big turn right little turn left big turn left path finding and 90 turn For each of this movements has its own identification of the line following The forward stop little turn right big turn right little turn left and big turn left movement are used during the robot is on track Meanwhile path finding is used when the robot is out of track and 90 turn is used to water the plants The second objective is to build the IR sensor that can be used to differentiate each pot To achieve this objective an IR sensor module was bought to make it easier to apply to the robot and to consume le
48. ve The Scope of Study Project Outline Summary PAGE II IH IV VI VII XII I 4 W U N 2 0 3 0 2 0 2 1 2 2 2 3 2 4 3 0 3 1 3 2 3 3 3 4 3 4 LITERATURE REVIEW Literature Review Watering Robot Robots From Challenge 2006 Splatbot Summary PROJECT METHODOLOGY Methodology Overall Flow of Project Activities Mechnical Part 3 2 1 Mechanical Design 3 2 2 Power Window Motor 3 2 3 Water Pump Electronic and Circuit Part 3 3 0 Electronics and Circuit Part 3 3 1 Electronic Design 3 3 2 PIC Microcontroller and Voltage Regulator 3 3 3 IR Sensor 3 3 4 ID Pot Dectection 3 3 5 Power Window Motor Controller 3 3 0 Pump Controller Programming Part 3 4 Programming Part 3 4 2 Micro C Programming 3 4 3 Project Programming 3 4 4 Programming Burner Conclusion 14 15 16 16 19 20 20 21 22 27 30 33 35 36 36 38 39 42 4 0 RESULT AND DISCUSSION 4 0 Introduction 4 1 Result 4 2 Discussions 4 3 The Final Product 5 0 CONCLUSION AND RECOMMENDATION 5 1 Conclusion 5 2 Recommendations REFERENCES APPENDICES 43 44 45 46 47 48 49 50 LIST OF FIGURES FIGURE TITLE 1 0 The Expected Outcome of the Project 2 1 Picture of Watering Robot 2 0 Red the Robot 2 3 Blue Robot 2 4 Design of Splatbot 2 5 Pump for Splatbot 2 6 Sensor Array 2 7 Front Part of SplatBot 3 1 Methodology Flowchart 3 2 The Front Page of Google Sketchup Software 3 3 Mechanical Design
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