RoboVac

Raymond PerezJetmir PalushiJuan GamarraJoseph SeborowskiDiego Molina

Objectives

Better CleaningMore PowerAlgorithmDesignDirt SensorsMapping

Outshining Competition

Objectives

Initiate Prototyping Phase Research cheap/effective parts

(i.e. sensors,motors,casing…) Purchase components Commence troubleshooting (testing phases) Progress well within project plan

Project Plan

Task Name Start End

Project Plan 1/9/07 1/11/07

Parts List 1/25/07 2/8/07

Ordering Parts 1/25/07 2/22/07

Define Objectives 1/11/07 1/17/07

Refine Final Design 1/11/07 2/11/07

Validate Prototyping 2/9/07 2/13/07

Manufacturability 1/11/07 2/12/07

Prototype Building 2/15/07 3/4/07

Detailed Tasks

Choosing appropriate parts Microprocessor Motors Casing Battery Omni-directional components Recycling of “Roomba” parts

Manufacturability

• Building Process• Quick Assembly

Casing

Major problem so farPlastic Injection MoldingFirst Cut Prototype and Proto-mold both turned

us down

Casing Continued

Austro Mold - $800Metal – lighter metals, AlPlastic Bin – fits specific dimensionsCNC

Casing Alternatives

Mapping

Path optimization Eliminate cleaned areas Radial Closed Loop Path Visited path marked as obstacle Memory optimization Complex geometry path prevention

Sensors and Electrical Components

Bumper SwitchesObstacles (e.g. wall, couches)

Light SensorsDetect Dirt

Proximity Infrared SensorsStair detection

Voltage RegulatorsSwitch DC/DC voltage regulator

Resistors, Capacitors, Transistors and LED

Microcontroller

Low Supply-Voltage 1.8-3.6V

Ultra low-Power ConsumptionStandby mode

12 Bit A/D converterMemory

60Kb Flash2Kb RAM

Programming

IAR Embedded Workbench IDE

High level programming (C, C++)

Omni-Directional Platform

Cost of PrototypingWeight of Bearing

Refining Design

Changes incurred Casing revisions due to size limitations Choosing the “brain” Altering blower intake Location of motors Omni-directional obstacles

Refining Design

• New Blowers– Previous option was no longer available– Next best thing was found at Digi-key– Modification needed to fit system

• E-bay parts chosen– High Prices for low quantity orders – Wheel Tire set– Brushes

Progress

Prototyping Parts received Parts still pending Returns

Pending Deliverables Robot body Final Cost Analysis Programming

Financial Breakdown

Obstacles

Case moldingMaintaining price range $Controlling directional movementObtaining market nicheStaying within timeline