CHAPTER FOUR

4.1 CONSTRUCTIONAL RESULTS OF THE PROJECT

The figure below shows the automatic highway cleaner bot, integrated with five ultrasonic
sensors that are programmed to read the distance between the bot and obstacles in their direction,
which aids the bot in safe navigation as it moves, there are two the 6v 4.5A battery this batteries
are used to power the two drivers that move the bot, the bot is capable of moving for 3hours on
the battery power.

Fig 4.1 view of Highway cleaner bot.

4.2 TESTING AND ANALYSIS OF THE ULTRASONIC SENSOR

The highway cleaner bot, relies on five ultrasonic sensors to aid it in its movement, so as to avoid
bumping into obstacles, when it encounters an obstacle at it stops moving and calculates the
distance at its sides, the bot would stir to the side (left or right) that has a greater distance. If the
two sides were to be blocked as well, it would read the values of the back sensor and move back
if the back is free else it would give off an alarm, using its buzzer.

In testing the functionality of the fore-ultrasonic sensors, the vcc of both sensors were removed
from the power supply and the bot was put on, this resulted in the bot continually turning in
various directions but not moving forward.

In testing the functionality of the rear-ultrasonic sensor, the vcc of the sensor was removed from
the power supply. This resulted in the bot crashing into obstacles at its back when it attempted to
reverse.

In testing the functionality of the left and right ultrasonic sensors respectively, the vcc of both
sensors was removed from power, this led to the device incorrect decisions when the front of the
bot was blocked as the readings were not accurate.
When all sensors were connected to power the bot was able to navigate itself through hurdles and
obstacles. The sensors at the front of the bot are programmed to halt if an obstacle is within
20cm range, whilst the sensors at the sides are programmed to turn to the side that has a free line
of sight greater than 30cm, if both sides are less than 30cm, it moves back. The hind ultrasonic
sensor is programmed to only halt when there is an obstacle within 15cm range. The bot would
give off an alarm if all sides are blocked.

FIG 4.2 Ultrasonic sensor

4.3 TESTING AND ANALYSIS OF THE STEPPER MOTOR

For the mobility of the highway cleaner, we made use of the NEMA 17 stepper motor driver,
there are two drivers mounted at the rear tires, each stepper motor controls one driver, each
motor is directly powered by a battery this ensures that it receives enough power to run.

To test the functionality of the motor the power supplied to the motor was reduced by using a
potentiometer, it was observed that the torque of the motor reduced significantly, and the motor
was unable to move the chassis.

It was also observed that the motors speed is relatively proportional to the battery charge, as the
battery gets low due to current discharge under load, the motor speed gradually reduces.

The highway cleaner moves efficiently when the both batteries are fully charged.

Fig 4.3 Nema 17 stepper motor

4.4 TESTING AND ANALYSIS OF THE L298N DRIVER

To test the efficiency of the driver, we connected the output of the driver to a motor, in pairs,
when the first pair of the drivers output was connected to the motor, it caused the motor to move
in only one direction, when the other pair of the driver was connected the motor moved in the
reverse direction. This test was carried out for both drivers and the outcome was the same.

Fig 4.4 L298N driver

4.5 TESTING AND ANALYSIS OF THE BUZZER

To test the efficiency of the buzzer unit, the frequency used to activate the buzzer was changed to
attain a pitch, this was done by increasing the pulse width modulated signal going to the buzzer
and it responded as expected, by changing the range of the sound to a higher pitch.

Fig4.5 Buzzer unit.

4.6 TESTING AND ANALYSIS OF THE PROXIMITY SENSOR

The proximity sensor is programmed as a hardware interrupt, hence to test its efficiency, we
removed the sensor attached to the front left and right angles, and set obstacles at those angles,
the results were that the bot crashed into those obstacles, this was due to the obstacles being at
the blind spot of the ultrasonic sensor, and the absence of the proximity sensor. This same test
was carried out for the back proximity sensors and the same results were obtained.
 Fig 4.6 Proximity sensor

4.7 COST EVALUATION AND ANALYSIS

Components Quantity Price ( N )

Microcontroller 1 10,000
Nema 17 2 4500
L298N 2 2500
Ultrasonic sensors 5 1500
6v Battery 2 1500
Buzzer 1 50
LED 4 10
Crocodile clips 6 50
Tire 4 500
Chassis 1 6000
Prototype Chassis 1 4500
DC motor(Sweeper) 1 1500
Total 28 45,890