1

AUTOMATIC TOUCHLESS TROLLEY.

GROUP MUHAMMAD TAUFIQ BIN SYAHRIWAL

MEMBERS (03DTP19F1049)
MUHAMMAD AFIQ BIN SAHARUDDIN
(03DTP19F1030)

SUPERVISOR PN NUR FARIDAH HANIM BINTI MOHD

MOKHTAR

LECTURE DR. SYAIFUL NIZAM BIN AB RAHIM

 2

TABLE OF CONTENT

CHAPTER 1 : INTRODUCTION Page

1.1 Introduction 6
1.2 Background of Study 7
1.3 Problem Statements 8
1.4 Project Objective 9
1.5 Study of Question 9
1.6 Scope of Project 9
1.7 Importance of Project 10
1.8 Definition of Operation 10
1.9 Project Result 10
1.10 Conclusion 11

CHAPTER 2 : FIELD RESEARCH

2.1 Introduction 11
2.2 Literature review 11
2.2.1 Durable Shopping Cart
12
2.2.2 Wheel Grocery Cart
13
2.2.3 Mobile Folding Cart
14
2.2.4 8 Wheel Shopping Cart
15
2.2.5 Amazon Dash Cart
15
2.2.6 Ultrasonic Sensor
16
2.3 Conclusion 19

CHAPTER 3 : METHODALOGY
 3

3.1 Introduction
20
3.2 Project Design 21
3.2.1 Method/Procedures/Techniques of Project
22
3.2.2 Materials and Equipment 29
3.2.3 Analysis of Data
36
3.3 Analysis Substability
38
3.4 Conclusion
38
REFERENCES
39
 4

LIST OF TABLES

Table No. Page

2.1 The differences of the trolley. 19
3.1 Gantt Chart 27
3.2 Specification of equipment’s. 30
 5

LIST OF FIGURES

Figure No. Page

2.1 Durable type of shopping cart 12
2.2 Wheel grocery trolley type 12
2.3 Mobile holding trolley 14
2.4 Shopping cart 8 wheel 15
2.5 Amazon dash cart 16
3.1 Isometric view 21
3.2 Back view 21
3.3 Side view 21
3.4 Concept of sensor work 23
3.6 Design of sensor platform 23
3.7 Method of project 24
3.8 Flow chart of procedure 25
3.9 Block diagram 26
3.10 Circuit of project 28
3.11 Generalized system design 36
3.12 Formula 37
3.13 Design and development of following robot 37

CHAPTER 1

INTRODUCTION
 6

1.1 INTRODUCTION

31 December would usually be the date for a year to be ended but during
the year 2019, 31 December was marked as a new beginning to something
else. 31 December 2019 was the date when coronavirus disease (Covid-19)
has been first reported in Wuhan, China. This outbreak has been spreading
speedily all across not only to the countries but also to the whole world.
Since the virus has been spreading around and killing many people, Whole
Health Organization(WHO) has come out with few steps to prevent people
from catching the virus easily. The steps are an individual needs to maintain
at least one-meter distance between them and the others. Next, it was
advisable for an individual to make wearing a face mask a normal part of
being around other people, the mask needs to cover the chin, nose, and
mouth. If it is a medical mask, you need to dispose of it after you have used
it for the whole day, and for the fabric mask, you need to wash it before
wearing it again. Other than that, an individual should wash their hand
moderately or use hand sanitizer after they touch anything in the public place
as the virus can be transferred by touching surfaces that have been
contaminated by the virus when touching their eyes, nose, or mouth without
cleaning their hands. Not to forget, it is also better to avoid spaces that are
crowded, closed and involved close contact between people since the virus
can be spread poorly ventilated and/or crowded indoor settings, where
people tend to spend longer periods.
Next, to control the spread of Covid-19, the Government of
Malaysia has implemented Movement Control Order(MCO). Thus, the
Government has also come out with a Standard of Procedure(SOP) that
needs to be obeyed by all the folks. The SOP is the guidelines to be followed
during these hard times to ensure the wellness of people. For example, it is
compulsory for an individual to wear face masks when they are outside of
their houses or public space such as supermarkets. Other than that,
supermarkets need to limit the number of customers at one time. However,
even when the Government has come out with the SOP, it does not change
the fact that people were terrified about what is going. During the first phase
 7

of implementing MCO, most of the people were panic and impulsively

buying face masks, hand sanitizers, and all the necessities without realizing
that they were putting themselves in danger. These people went to the
supermarkets and use the trolley that was provided without knowing that, it
is one of the ways for the virus to be spread as the trolley has been used so
many times by different people. The trolley handler was one of the surfaces
that the virus could be transmitted because not everyone sanitizes their hands
after using the trolley. One might touch their face and continued using the
trolley while buying the basic needs without sanitizing his or her hands.
Therefore, I came out with the idea of inventing an automatic
trolley to assist us in buying stuff from the supermarket. Genuinely, it will
help us in reducing the contacts between the trolley and our hands, besides it
is much easier as we can control it and move it anywhere we want. Apart
from that, it is a high-tech-savvy machine as this automatic trolley requires a
high skill technology to function where it aligns well with our modernization
culture era. I think that this automatic machine could put many lives in safety
as thousands or it might reach millions of bacteria had surfaced the manual
trolley we are using now and this jeopardizes many innocent lives.
Moreover, this automatic trolley consumes only batteries to function and this
improvise the reusable energy and obviously could cut more cost compared
if we use the electricity. Not to mention, the efficiency of using rechargeable
batteries as it consumes lesser electricity but provides the same quality as we
wanted.

1.2 BACKGROUND OF STUDY

The purposes of this project are to make it convenient for the users or
customers that need to lift any heavy object with minimal movement. This
project shared the same function as a normal trolley but with very minimal
contact with the trolley handler. Therefore, the speciality of this project is
the trolley can be moved using a controller hence the customer does not
have to use any force to push or pull the trolley as the trolley could be
 8

moved using the controller only. Thus, with minimal contact from the
customer and the trolley, the spread of the virus could be contained.
In this project, we are using 3 units of ultrasonic sensor that will be put on
the trolley sides which are left, right and in front of the trolley. This
ultrasonic sensor will sense all the movement and follow it depending on the
user. If the user moves to the left, the trolley will follow it and vice versa. On
top of it, the user can switch the trolley on or off using a remote control. The
remote control is designed to function as a key for the trolley. For the remote
control, 2 units of the motor would be used where it will be controlled by the
four relays. These four relays would be divided into two sides which are left
and right, two relays for each side. Not to forget, the icing of the cake is
when the distance between the trolley and user is too close, the buzzer will
be making a sound as a warning for the user to move slower.

1.3 PROBLEM STATEMENT

Based on our observations, in this method of using the manual and

conventional trolley, many problems have been faced by the customers as
well as the supermarket workers. Below are the problems that occurred and
faced by the customers and the supermarket workers.
i) It is inconvenient for the customer to shop since the customer needs to wait
for another customer to finish their errands.
ii) In addition, customer need to touch the handle of the trolley to lift
their stuff which can increase the possibility of transmitting the covid-19.
With the implementation of this new SOP, it is best to have the automatic
trolley to prevent the spread of Covid-19 among the customers and workers.
iii) It is inconvenient for the elderly to move heavy object since the
elderly do not have the energy to do so.

1.4 PROJECT OBJECTIVE

i) To design an automatic trolley that is easier to use.

 9

ii) Test the automatic trolley with movement without using contact on the
trolley.

1.5 STUDY OF QUESTIONS

i) Can the new design easy to operate?

ii) Can the automatic trolley helps the customer to reduce the waiting
time?
iii) Can the automatic trolley helps the supermarket to cut cost?
iv) Can the automatic trolley narrow down the possibility to transmit the
Covid-19?

1.6 SCOPE OF PROJECT

This investigation was directed around Kuala Lumpur, which is the

territory that houses the majority of the stores in the express, the number of
inhabitants in this examination comprises stores in Malaysia.
I) This programmed trolley utilizes electronic things like 3 LED units
furthermore utilizes an LCD which will show the genuine plate
weighed by a weight scale sensor.
II) This programmed streetcar is not difficult to work with because the
size of the streetcar isn't too large when contrasted with the streetcars
accessible in general stores now.
III) The most extreme weight permitted is 150kg because the weight
scale utilized is the greatest load of 150kg.
 10

1.7 IMPORTANT OF PROJECT

This machine is capable of making our work easier and lessens the time
process of carrying the products to the trolley which indirectly increase the
product’s productivity. Moreover, this automatic trolley can decrease the
workload and energy force compared to the older version of the trolley.
Furthermore, this trolley not only lessens our burden but it creates more
attraction to the people to shop in the supermarket as it is way more effective
and efficient. Therefore, shoppers and customers should worry less about
this risky situation of Covid-19 in supermarkets. This mechanism helps
enhance the SOP as ordered by the government and preventing this
transmission of the contagious virus that can take away our lives. In addition,
this helps secure our safety as well as increase the profit of every
supermarket. To connect with, this automatic trolley stabilises the current
financial situation of many companies that had been affected drastically from
this past few months due to the worsening situation of this Covid-19.

1.8 DEFINATION OF TERMS

Effectiveness: In this examination, productivity alludes to the proficiency

of a machine characterized as the level of information energy moved to
valuable yield energy. It is the proportion of the helpful yield energy to the
measure of energy put into the machine.

1.9 EXPECTED PROJECT/RESULT

Create a touchless trolley which function to lessen people's burdens and create
a environment which can lead others to be more creative and innovative with
their surroundings to ease their lives.
 11

1.10 CONCLUSION

To summarise, the usage of suitable technology plays an important role to

adapt to this new norm that everyone struggling to fit in. This is the exact
time for our country to move forward so that it will be innovative and
progressive equivalent to other top countries all around the world
internationally. Onwards, the supermarkets should transform and develop an
efficacious and fruitful strategy in equipment requirements to a hybrid
system. Conversely, maintaining the company’s reputation is significant as
the cost and profit are not fixed. In particular, the entrepreneurs should take a
proactive approach to emphasise the safety of the shoppers.

CHAPTER 2

FIELD RESEARCH

2.1 INTRODUCTION

A trolley is a little table on haggles used to convey food, books, and so on

Holders or wheeled crates for filling things while shopping.
Programmed is something that moves or accomplishes something without help from
anyone else (instruments, machines,); need not be worked by labour, executed
(predominantly) with the utilization of specific devices and not labour. In this part, we
have done a gathering conversation that we will deliver a programmed idea trolley
where the trolley can follow the client who utilizes it to lift merchandise reasonably
and hypothetically. Subsequently, the shopper needn't bother with any power to push
or pull the thing he purchased. Moreover, we will audit past examinations and look at
the depictions and details of regular or high - tech trolley accessible available today.
Correlations should be made to arrive at the degree of the component we need for this
programmed trolley.
2.2 LITERATURE REVIEW
 12

2.2.1 Durable Shopping Cart

Figure 2.1: Durable type of shopping

cart
Product Description:
• Uses 4 wheels
• E-coat packaging. This finish provides superior rust protection.
• Plastic scrub rails and corner bumpers protect walls and cars from damage.
• Add wire at the top to add strength and durability.
• The bottom leg is welded in place that helps keep the car quiet when
pushed on rough pavement.
• Supplied with ASTM rated seat belts.

Specifications:
• Width: 22.75 "
• Length: 42 "
• Height: 41 "
• Basket Capacity: 9,348 ci
• Total Shopping Capacity: 19,237 ci
• Nesting distance: 9 "
• Weight: 62 pounds
 13

2.2.2 Wheel Grocery Cart

Figure 2.2 : Wheel grocery trolley type

Product Description
1. Coated with a soft and non -slip softener, sweat -absorbent, human
-adjustable foam handle, this shopping cart allows you to adjust the height
from 38.5 "to 41.5" for comfortable posture and convenience.
2. Including two 360 -degree swivel wheels, 2.5 "swivel at the front and two
7" swivel wheels at the rear, just turn on or off the rear wheels, this cart can
change direction smoothly for quick use.
3. Strong construction; Steel frame. Basket dimensions: 15 "x 13" x 20 "(L x
W x H), Open dimensions up to: 20" x 19 "x 38.5" /41.5 "(L x W x H).

Specifications
• Product Name: 2 wheel grocery cart
• Black colour
• Material: Iron tube with powder coating
• Item Dimensions LxWxH: 20 x 19 x 41.5 inches
• Item Weight: 10.1 pounds
 14

2.2.3 Mobile Folding Cart

Figure 2.3 : Mobile folding trolley cart

Product Description
• This trolley is an ideal trolley for shopping or picnicking or traveling
because of its ability to be folded into a simple bag like design. Very
convenient and space saving and efficient. It has an extendable handle that
can be extended to be easily handled and pulled with the help of built -in
wheels that allow mobility and movement to be done.

Specifications
• Dimensions: 41cm (L) x 9.5cm (W) x 43cm (H) [folded]
38cm x 33cm x 43cm / 91.5cm
• Packing Weight: 2.4 kg
• Volume Measurement Weight: 5.2 kg
• Material: Plastic
 15

2.2.4 8 Wheel Shopping Cart

Figure 2.4 : Shopping cart 8 wheel

Product Description
• Sturdy and lightweight aluminium trolley basket is easy to roll with full
360 -degree rotating front wheels for easy driving.
• Fold flat with a simple lifting motion for easy carrying and storage.
• Multifunctional foldable shopping cart.
• Easy and comfortable to store and carry.

Specifications
• Saturation: 93 * 40 * 39CM
• Weight: 3Kg
• Material: Aluminum
• PU with 8 wheels rotating 360 degrees
• Black + Transparent Wheel Color
• Weight Capacity up to 60 KG
 16

2.2.5 Amazon Dash Cart

Figure 2.5 : Amazon dash cart

Product Description

• A new smart shopping cart, called “Amazon Dash Cart”, automatically

detects items with sensors, cameras and computer vision algorithms. This
allows customers to skip the payment line at the physical store by charging a
credit card attached to their Amazon account.

• “Amazon Dash Cart” is designed for small shopping trips with space for
two bags. The car has a touch screen that allows customers to access an
“Alexa shopping list” and a coupon scanner. The technology will be
available at Amazon Woodland Hills, California, grocery stores in the future.

2.2.6 Ultrasonic Sensor

Ultrasonic (US) sensors are also widely used to measure distances. Thus
they have provided a reliable source of obstacle detections. Since they are
not vision- based, they are useful under conditions of poor lighting and
transparent objects. However, ultrasonic sensors have limitations due to their
wide beam-width, sensitivity to specular surfaces, and the inability to discern
objects within 0.5 m. Because of the typical specular nature of the ultrasonic
waves reflection, only reflecting objects that are almost normal to the sensor
acoustic axis may be accurately detected [2].
 17

Most ultrasonic sensors use a single transducer to both transmit the sound
pulse and receive the reflected echo, typically operating at frequencies
between 40 kHz and 250 kHz. A variety of different types of transducers are
used in these systems [3].

Ultrasonic is one of the distances measuring sensors that had been studied.
Ultrasonic transducers measure the amount of time taken for a pulse of
sound to travel to a particular surface and return as the reflected echo[4]
Typically, an ultrasonic rangefinder sends a 'ping' and waits to hear an echo.
Sound waves propagate from the transmitter and bounce off objects,
returning an echo to the receiver (below left). If the speed of sound is known,
the distance to an object can be calculated from the time delay between the
emitted and reflected sounds. While the principle of calculating distance
from the time of travel is simple, there are many limiting factors to consider.
Sound diverges very rapidly, so transducers are carefully designed to
produce as small a beam as possible. While some applications require a wide
beam, a narrow beam improves the range and reduces background
interference. There is a direct relationship between beam width and target
surface angle: the wider the beam, the greater the possible angle between the
transducer and the surface. When the angle is too great (>12 degrees), the
reflected beam misses the transducer as Figure 2. While some surfaces may
produce scattered diffuse reflections, these are much weaker and are not used
for distance measuring purposes.

The speed of sound varies with temperature: as air gets warmer, sound
travels faster. Hence ultrasonic systems must incorporate a thermometer to
estimate the current speed of sound. While the ambient air temperature can
be measured, other warming effects, such as convection and turbulence, can
cause errors in the calculated distance. Humidity alters the attenuation of
sound in air, which determines the maximum range of an ultrasonic device.
Attenuation is also related to the frequency of the emitted sound: higher
frequencies improve the sampling resolution, but attenuate more thus
reducing the range [4].
 18

The attenuation of sound in air increases with the frequency, and at any
given frequency the attenuation varies as a function of humidity. The value
of humidity that produces the maximum attenuation is not the same for all
frequencies [5].
 19

2.3 CONCLUSION

Types of
trolley

Function Used in large Used for ideal for Lifting items up Automatically
supermarkets. groceries or shopping or or down stairs. detect purchased
small items. picnicking or items
traveling
because of its
ability to be
folded into a
bag.
Capacity Big Small Small Small Biq
limit

Numbers 4 wheels 4 wheels 2 wheels 8 wheels 4 wheels

of wheel (2) small
(2) big

Pros Has a large - low cost Foldable and Lifting items up Allows customers
capacity space - Foldable save space or down stairs to skip the
payment line at
the store by
charging a credit
card
Cons Not compact Small capacity Small capacity High cost -High cost.
space space -Only used in
Amazon
supermarkets

Table 2.1 The differences of the trolley.

 20

CHAPTER 3

METHODOLOGY

3.1 INTRODUCTION

Research methodology is the strategies and methods of planning, gathering

and investigating information to create proof that can uphold an
examination. Approach depicts how an issue is considered and why certain
strategies and procedures are utilized. The motivation behind the philosophy
is to help see all the more extensively or in more insight concerning the use
of the technique by making a depiction of the examination interaction.

In this system section, we will examine how and the expense of carrying
out this venture. Furthermore, this section is likewise a significant piece of
this venture to understand the programmed streetcar. Above all else, it
begins with the interaction stream graph that will be appeared in the
following area followed by the venture plan and schematic drawing of the
circuit that we will utilize. Then, the strategy/method/procedure of
undertaking creation is trailed by a rundown of materials and hardware
utilized in the creation of the venture. Next up is a Gantt outline, which will
show the excursion of our undertaking which required 14 weeks. From that
point forward, we made an investigation of the choice of parts is the most
imperative to begin the venture. Decide the kind of part or material
appropriate for the plan of the system and express the creation cost of the
undertaking.
 21

3.2 PROJECT DESIGN

Ultrasonic sensor

Aluminum Rod

Adriano Uno Set

Polypropylene Wheel

Figure 3.1 Isometric view

Figure 3.2 Back view

Figure 3.3 Side view
 22

3.2.1 METHOD/PROCEDURES/TECHNIQUES OF PROJECT

PRODUCTION.

Three pieces of ultrasonic sensors were used to perform tracking on the

both human’s legs. The concept is that the sensors are arranged horizontally
with a specific distance, where this distance will be the average width of
human legs when the human is walking normally. Figure 3.5 shows the basic
concept of the arrangement of ultrasonic sensor where the human legs are
being sensed within the area of interception. There are two situations in the
sensors placement, the first is when there is an intercept signal between
sensor 1 and sensor 2, the systems inform the robot that is sense the human’s
left leg, while when there is an intercept signal between sensor 2 and sensor
3, the system is sensing the right leg.

The dimension of the platform has been determined and the process of
cutting Perspex is then carried on. Then, the combination of all cut Perspex
is carried on according to the design as Figure 3.6 and connected using screw
and nut. One sensor is located in the middle of the platform where another
two are located at the right and left of the middle sensor. The purpose of
using screw and nut is to aid the users in adjusting the angle while
performing calibration on three sensors that used to track human’s left and
right leg. By adjusting the angle, calibration on an algorithm would be easier
to develop.
 23

Figure 3.5 Concept of Sensors Works

Figure 3.6 Design of Sensor Platform

 24

Start

REMOTE
CONTROL
PRESSED

ULTRASONIC
DTECT RANGE

YES
LEFT&RIGHT BOTH MOTOR
ULTRASONIC FORWARD
DETECT OBJ

NO

YES
LEFT&CENTER
RIGHT MOTOR FORWARD,LEFT
ULTRASONIC
DETECT OBJ MOTOR REVERSE

NO

YES
LRFT&CENTER
RIGHT MOTOR REVERSE.LEFT
ULTRASONIC
TRIGGER OBJ MOTOR FORWARD

NO
NO
YES
ULTRASONIC BOTH MOTOR STOP
NOT DETECT
ANY OBJ

END

Figure 3.7: Method of project

 25

Here are the steps for planning a product that you want to build.

Start

Discussion

Research

Buy the components

Make a software/program

Connect all the components

Test the components

Attach to the trolley

End

Figure 3.8 : Flow chart of procedure

 26

We also entered a point at this stage in which knowledge has to be taken and
integrated with current definitions. Designers must closely examine develop
elements and compare them to other projects. The form designer must also
consider each method that is likely to be connected to a specific issue.

Figure 3.9 : Block Diagram

Through the remote control that functions as a key the user can turn on the
waggon. The ultrasonic sensor detects the user orientation left, right, or
forward, while the trolley has been turned on. The echo sends the data to the
Arduino uno through the RF receiver. The Arduino processes and sends the
data to the two engines that are used and attached to the 'buzzer.' Four
'relays' power the two engines. Where two left motor 'relays' and two more
right engine 'relays.' If the length from the trolley to the user is too long, it
can sound like a buzzer, warning the user to proceed slowly. If the driveway
gets too close to a user, a buzzer sounds to warn that a user is moving further
 27

Table 3.1 : Gantt Chart

 LEFT SENSOR
MOTOR
MOTOR
RIGHT TYRE
LEFT TYRE
A B C D E F G H I J K L HC-SR04
RELAY 4 CHANNEL(12V)

Vcc
Trig
Gnd
Echo
ARDUINO PIN A0

DC+
DC-
IN1
IN2
IN3
IN4
ARDUINO PIN A1

CENTRE SENSOR
CONNECT TO
12V DC BATTERY
HC-SR04
Vcc
Trig
Gnd
Echo

4
2

7
6
5
3
0
1

9
8

13
12
11
10

GND
AREF
ARDUINO PIN A2
ARDUINO PIN A3
ARDUINO UNO RIGHT SENSOR

ARDUINO UNO
HC-SR04
Vcc
Trig
Echo
Gnd

Vin

RST
3V3
5V
GND
GND
A0
A1
A2
A3
A4
A5
ARDUINO PIN A4
ARDUINO PIN A5

Figures 3.10 Circuit of project.

WIRELESS RECEIVER
12NO

11 COM
LCD 10NC
-

16 1 9NO

8COM
+

7NC
2COM

4NC
3NO
12V
GND

1NC

5COM

6NO
BUZZER

ARDUINO PIN 8

ARDUINO PIN 11
ARDUINO PIN 4
(-) 0V BATTERY
ARDUINO PIN 5
ARDUINO PIN 6 (+)12V BATTERY
ARDUINO PIN 9

ARDUINO PIN 7
28
 29

3.2.2 MATERIALS AND EQUIPMENTS.

1. Jumper cable (MALE-MALE)

2. Jumper cable (MALE-FEMALE)
3. Jumper cable (FEMALE-FEMALE)
4. Adaptor
5. Arduino uno
6. Extender
7. Arduino jack
8. Battery 12V
9. Relay 4CH 12V
10. Buzzer 5V
11. RF receiver
12. RF remote
13. LCD 16X2
14. Ultrasonic sensors
 30

Table 3.2 : Specification of equipment’s.

1. JUMPER  2.54mm
CABLE  Compatible with 0.1mm
(MALE- spacing pin headers
MALE)  Length: ~10cm

2. JUMPER  2.54mm
CABLE  Compatible with 0.1mm
(MALE- spacing pin headers
FEMALE)  Length: ~10cm

3. JUMPER  2.54mm
CABLE  Compatible with 0.1mm
(FEMALE- spacing pin headers
FEMALE)  Length: ~10cm

4. ADAPTOR  Input: 100-240V ~

50/60Hz 0.3A
 Output: Regulated
+12VDC 1A
 Check the extension
cable if you need more
length
 31

5. ARDUINO  Microcontroller:
UNO ATmega328
 Operating Voltage: 5V
 Input Voltage
(recommended): 7-12V
 Input Voltage (limits): 6-
20V
 Digital I/O Pins: 14 (of
which 6 provide PWM
output)
 Analog Input Pins: 6
 DC Current per I/O Pin:
40mA
 DC Current for 3.3V Pin:
50mA
 Flash Memory: 32kB
(ATmega328) of which
0.5kB used by bootloader
 SRAM: 2kB
(ATmega328)
 EEPROM: 1kB
(ATmega328)
 Clock Speed: 16MHz

6. EXTENDER

 Facilitate cable
connection on one capital
 32

7. ARDUINO  Facilitates the connection

JACK of the power supply to
the Arduino

8. BATTERY  Voltage: 12
12V  Lead Acid Type: General
Purpose
 Capacity: 8AH
 Chemistry: Lead Acid
 Lead Acid Design: AGM

9. RELAY 4CH  Control signal: TTL level

12V  Rated load: 7A/250VAC;
10A/125VAC;
10A/28VDC
 Contact action time:
10ms/5ms
 Current: 15-20mA per
channel
 Number of Relays: 4
 33

10 BUZZER 5V  Material: ABS
.  Colour: Black
 Size: 9 x 11.8 mm (L x
D)
 Rated voltage: 5V DC
 Operating voltage: 4 –
7V
 Min sound output at
10cm: 85 dB

11 RF  Frequency: 315MHz
. RECEIVER  Voltage: 12 Vdc
 Operating Current: <
7mA Receiving
 Sensitivity: 105 Dbm
 Receiving Distance: 100-
200 metre (Open Area)
 Mode:
Toggle/Latch/Momentary
(Can be selected)

12 RF REMOTE  Frequency: 315MHz

.  Voltage: 12 Vdc 27A
 Operating Current: <
10mA
 Transmitting Power:
10mW
 Modulation Mode: ASK
(FM)
 Receiving Sensitivity:
-108 Dbm
 Transfer Distance: 80-
200 metre (Open Area)
 34

13 LCD16X2  Number of Characters:

. 16 characters x 2 line
 Input Voltage Range: DC
4.5V to 5.5V
 Operation Voltage for
LCD: 5V DC
 Backlight Forward
Current: 120 mA
 Backlight Forward
Voltage Range: 4.1 V to
4.3 V
 Module Size: 80.0 x 36.0
x 13.5mm
 Weight: 40g

14 ULTRASONIC  Sensor angle: Not more

. SENSOR than 15 degrees.
Detection distance: 2cm-
450cm.
Test distance =(high
level time * sound
velocity (340M/S) / 2
Input trigger signal: 10us
TTL impulse
- Echo signal : output
TTL PWL signal

15 ROD  Pure aluminium rod,

. ALUMINIUM excellent corrosion
resistance, high thermal
conductivity and
electrical conductivity.
 Pure aluminium welding
rods are suitable for TIG
 35

classification and oxygen

- acetylene gas of pure
aluminium welding and
aluminium alloy joints as
fillers,
 Length: 500mm -
1000mm
 Diameter: 5mm - 10mm
16 Wheels  Wheels are made of
. polypropylene.
 Resistant to wear,
reduces shock and makes
less noise.
 Wheel rotation moves in
various directions.
 Wheels rotate 360
degrees under load.
 Quantity: 4

3.2.3 ANALYSIS OF DATA

The generalized system design incorporating different sensors and modules

is show below.
 36

Figure 3.11: Generalized system design

Taking a gander at the working of the above framework, the primary stage is
the identification of a tag and doing the generous preparing in the handling
unit. The processor that we have utilized. After the identification of tag next
stage is to set up a sequential correspondence between the processor and
control unit. We have utilized Arduino as a control unit. In this stage place
point directions of tag are sequentially communicated to Arduino for
additional preparing.

Next stage is to interface modules and vital sensors with the control unit. For
this reason, we utilized ultrasonic sensor, magnetometer and IR sensors for
the legitimate working of robot.

We utilized ultrasonic sensor for obstruction evasion and to keep a particular

distance for the item. The ultrasonic sensor works precisely works precisely
with in a scope of 4 meters. Ultrasonic sensors work by figuring the
occasions contrasts.
 37

Figure 3.12: Formula

Design and Development of Human Following Robot

Figure 3.13: Design and development of following robot

This ultrasonic sensor is placed at the top of robot to maintain accuracy in

measuring distance between the robot and target object.

3.3 ELEMENT SUSTANBILITY

The numerous problems facing sustainable industrial development

such as population transition and shortages of resources are causing a
growing need to produce resources efficiently, environmentally conscious,
 38

flexibly, and adaptively, with human-centred and ergonomically appropriate

workstations and working conditions. The new manufacturing method of
human and machine cooperation promises to help to fulfil these demands.
However, a substantial assessment of the economic, ecological and social
aspects of sustainability is required for the design and realisation of specific
applications. The paper provides a methodology for such assessments of
human and machine cooperation about their sustainability contribution.
Furthermore, an assessment of a human and machine communication
approach in a particular case of commercial use shows the relevance of the
technique.

3.4 CONCLUSION

An effective execution of an individual supporter robot is shown in this

examination. This robot doesn't just have the discovery capacity yet in
addition the following and following capacity also. The following is
essentially performed on the tag and the human is followed based on that
discovery. It was likewise remembered that the „following‟ capacity of the
robot ought to be just about as effective as could be expected. The tests were
performed on the various conditions to stick point the missteps in the
calculation and right them. The various sensors that were incorporated with
the robot added an extra benefit.

REFERENCE

[2] Y. Matsumoto and A. Zelinsky, “Real-time face tracking system for

human-robot interaction,” in 1999 IEEE International Conference on
Systems, Man, and Cybernetics, 1999. IEEE SMC ’99 Conference
Proceedings, 1999, vol. 2,
pp. 830–835 vol.2.
 39

[3] T. Yoshimi, M. Nishiyama, T. Sonoura, H. Nakamoto, S. Tokura, H.

Sato, F. Ozaki, N. Matsuhira, and H. Mizoguchi, “Development of a Person
Following Robot with Vision Based Target Detection,” in 2006 IEEE/RSJ
International Conference on Intelligent Robots and Systems, 2006, pp. 5286–
5291.
[4] H. Takemura, N. Zentaro, and H. Mizoguchi, “Development of vision
based person following module for mobile robots in/out door environment,”
in 2009 IEEE International Conference on Robotics and Biomimetics
(ROBIO), 2009, pp. 1675–1680.
[5] N. Bellotto and H. Hu, “Multisensor integration for human- robot
interaction,” IEEE J. Intell. Cybern. Syst., vol. 1, no. 1,
p. 1, 2005.

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