Project: Autonomous Robotic Vacuum Cleaner

Advisor: Professor Mark Preston

Team: Eric So
Joaquin Ajtum
Ying Moy
Yueh Lan Quach

Autonomous Robotic Vacuum Cleaner

Draft System Specification

Autonomous Robotic Vacuum Cleaner

Draft System Specification
Principle of Operation
The operation of the robotic vacuum is going to be based on retrieving data from an
array of inputs that will tell the condition of the floor space around the vacuum.
These inputs include sonar, touch sensors, and a digital compass. Each of these parts
will be described in further detail further on later in the documentation. The data
from these inputs will be fed into the chip(s) which through its software program will
decide which direction the vacuum should move by sending the control signals out to
the drive motors.

Sonar
Sensors

Touch
Sensors

Compass

Filter

Battery
& Power
Regulator

Control

Vacuum

Reset
Button

Autonomous Robotic
Vacuum Cleaner

CHIP:

Left
Motor

Right
Motor
MOTOR:

Figure 1. The initial block diagram for the Autonomous Robotic Vacuum Cleaner

Specification of the Blocks: There are 14 blocks in the block diagram of the robotic
vacuum solution (Figure 1). The boxes in the figure indicate the action taken. Their
functions are described below.
Sonar Conversion and Filter: The sonar block, representative of the sonar sensor
network, is comprised of transmitting and receiving signals to detect objects. (Note: The
suggested model that will be discussed is the SRF04 Ranger from Acroname Products).
After the battery supplies a voltage supply to the sensors, a trigger pulse input is needed
to start the ranging. The processor will wait for an active low of the trigger pulse to come
in. The sonar sensor will then transmit an ultrasonic signal at about 40 KHz in a burst of
cycles. It will then raise its echo line on high, and then listen for an echo. The
processor will start the timing when the echo line is raised. An echo line is a pulse whose
width is proportional to the distance to the object and an echo will occur after it bounces
off an object. As soon as the receiver of the sonar sensor receives an echo, the echo line
will lower. But if nothing is detected the sensor will automatically lower after about
30ms. Thus, it is possible to calculate the range or distance by timing the pulse.
The range for this system is approximately 3cm to about 3m. A wait time of at least
10ms is needed between measurements to allow it to recharge.
The output of the sensor will be filtered and then stored on the main chip used in the
design. There will be approximately three to four sonar sensors. Each sensor will have
an allocated address memory in which it stores their echo time return.
Touch Sensors: The touch block, representative of the touch sensors, operates in a much
simpler fashion compared to sonar sensors. Touch sensors are somewhat analogous to
light switches. When the sensor is touched or pressed, an electrical circuit located
inside the sensor is closed. Thus, this permits the flow of electricity. Therefore, current
flow will stop when the sensors are not pressed. A device then detects this current flow
to recognize when the sensor is on or off.
There will be two to three touch sensors (bumper sensors). These are needed as a last
resort obstacle detection in which the sonar did not detect for some reason. Output also
will be stored in a separate space on the main chip. All sensors are used to both avoid
obstacles and create a map of the environment.
Compass:
A digital compass will be used to assist the robotic vacuum in the direction in which it is
going and the direction in which it needs to turn. The digital compass should have a
digital output of the degree in which it is facing. Using the data fed into the chip, it can
then decide if the vacuum should continue turning or if it is heading in the correct
direction. The chip, with the help of this compass, can decide what signals to send to
each motor.

Control and Reset

Control acts as the central processing unit of the robotic vacuum cleaner. It will be
activated as soon as the user pressed the On switch and deactivated on Off switch.
Control must be able to send activation and deactivation signals to the six sonar sensors
located at the front of the robot in less than 0.1 second. At any given time only two of the
sensors would be functional to avoid receiving incorrect signals due to random signal
bouncing on the smooth surfaces. The activated sensors must be able to complete their
operation, sensing and generating inputs in less than 0.1 second before the job is switch
to the next adjacent sensors. The reset must provide pulse of 3.5 to 5 volts for at least 500
milliseconds. The digital compass must be able to provide at least +/- 2 degree accuracy.
The robot must be able to stop immediately (less than 1 millisecond) when it received
input from any of the touch sensors. In other words, the time interval between receiving
of the signal from touch sensors and sending out deactivation signal to the motors must
be less than 1 millisecond.
Battery and Power Regulator:
It carries one environmentally friendly nickel-metal hydride batteries (NiMH) batteries
on board. As soon as the battery's power dips below the 10% point, the unit will cease
vacuuming, and will automatically shut-off itself displaying a red led. User has to bring
it to its charging station, charge for about two hours, and return it to the point where it
ceased vacuuming to complete the task.
Vacuum: As its brush spins, it reaches out from underneath robotic vacuum to grab
particles from along walls and into corners, as well as around furniture legs. The particles
are swept into its cleaning path, to be picked up by its rotating brushes.
Motor: This autonomous robotic vacuum contains four motors: one for each driven
wheel, one for the brush roll and one for the vacuum suction.

Sonar
Sensors

Touch
Sensors

Compass

Filter

Battery
& Power
Regulator

Control

Vacuum

Reset
Button

Autonomous Robotic Vacuum

Cleaner

CHIP:

Left
Motor

Right
Motor
MOTOR:

Figure 1. The initial block diagram for the Autonomous Robotic Vacuum Cleaner