Professional Documents
Culture Documents
Submitted by
Malik Usama Waheed 2007-EE-128
Ahsan Parwez 2007-EE-134
Saghir Ahmed 2007-EE-139
Huzaifa Saifuddin 2007-EE-158
Muhammad Dawood Qamer 2007-EE-159
Sajid Gul Amber Khan 2007-EE-168
January, 2011
The creation of intelligent robots is surely one of the most exciting and challenging
goals of Artificial Intelligence. A robot is, first of all, nothing but an inanimate
machine with motors and sensors. In order to bring life to it, the machine needs to be
programmed so as to make active use of its hardware components. This turns a
machine into an autonomous robot. Since about the mid-nineties of the past century,
robot programming has made impressive progress. State-of-the-art robots are able to
orient themselves and move around freely in indoor environments or negotiate
difficult outdoor terrains, they can use stereo vision to recognize objects, and they are
capable of simple object manipulation with the help of artificial extremities. At a time
where robots perform these tasks more and more reliably, we are ready to pursue the
next big step, which is to turn autonomous machines into reasoning robots. A
reasoning robot exhibits higher cognitive capabilities like following complex and
long-term strategies, making rational decisions on a high level, drawing logical
conclusions from sensor information acquired over time, devising suitable plans, and
reacting sensibly in unexpected situations. All of these capabilities are characteristics
of human-like intelligence and ultimately distinguish truly intelligent robots from
mere autonomous machines.
Our interest in robots leaned more toward the popular concept of robots as humanlike
friends and servants. We did not have the funds to build a computer-controlled robot
that is why we used microcontrollers.
This thesis provides an in-depth look into “THE WAITER ROBOT WITH
WIRELESS ORDRING SYSTEM“, providing complete knowledge of the project that
describes the devices used in the formation and those associated with it. The text also
elaborates the terminologies and factors related to the project.
Chapter 2: This chapter further gives background of the robotics and describe the
types in more detail.
Chapter 4: This chapter describes the design phase and entire methodology of our
project.
Chapter 6: Chapter includes description of components used in the project and how
they were used.
Chapter 7: Gives details about the softwares and their development process.
Chapter 8: This chapter contains the flowcharts and the schematics of the project.
Appendices: Appendix A contains time and cost analysis and Appendix B contains
datasheets of major components.
First and foremost we are thankful to Almighty Allah, through His guidance we have
reach this point in our lives.
We are grateful to our parents who provided us with all the resources and luxuries,
and supported us in every possible way during the duration of this project.
We are deeply indebted to Mr. Muhammad Rafay Khan (Lecturer, Electronics Dept),
our internal advisor, who offered his valuable time whenever we needed. His full
encouragement and even more cooperation was always with us, during the completion
of this project. Finally yet importantly, we acknowledge the efforts of our teachers
who have been our source of inspiration throughout the university years and have
shared their knowledge and skills with us.
We are also deeply indebted to Mr. Abrash Pervaiz, our external advisor, who
provided his valuable knowledge about the PIC micro-controller and its interfacing
and programming. We are also grateful to Mr. Sohail Memon who provided his
expertise about the mechanical design of robot.
Project Approval
Through technical advances we humans have automated vast areas of our working
lives. Apart from industrial and communication fields, fields like that of gardening,
cleaning and cooking are also being automated, that are intelligent and can operate as
per requirement with minimum of human interference.
Through our knowledge and observations we are designing a Robot based on PIC18
that can deliver food items inside a restaurant; our prototype will exhibit some level of
intelligence as it navigates through the restaurant. This prototype will take
orders\input wirelessly by the use of RF modules for reception and transmission.
Each table will be implanted\installed with our custom designed module containing
PIC18 and RF transmitter and input buttons for selection, resetting and transmitting
along with a LCD display for displaying information of selected items.
The inputs are processed by PIC18 and data is delivered to RF transmitter. The RF
transmitter from the table directs the information to the Counter RF receiver where
data is decoded by max232 IC and delivered through the serial port to a computer that
has a GUI (designed in Visual Studio 2008-2010) along with a database based on
SQL Management Server 2008.
The Robot receives its codes and orders from the Counter in the same way using RF
transmitter receiver pair. When “send order” button is pressed in the GUI the codes
are transmitted through a RF transmitter installed on the counter, the Robot receives
the orders and acts accordingly. In its way to the table or back from table to the
Counter the Robot may encounter an obstacle, to detect obstacles of any kind we have
installed Ultrasonic sensors that will detect the obstructions, the Robot will stop and
sound an alarm\beep.
Preface………………………………………………………………………….….(ii)
Acknowledgment………………………………………………………………….(iv)
Certificate…………………………………….…………………………………....(v)
Synopsis………………………………………………………..………..………..(vi)
Chapter 1 Introduction
1.1 Introduction…………………………………………………………...2
1.6 Conclusion………………………………………………………….…4
2.1 History...........................................................................................6
2.4.1 Biology……………………………………………...….……..9
2.4.2 Electronics………………….…………………….…….……10
2.4.3Aesthetics……………..……………….…………..……...…..10
2.4.4 Mechanics…………………….……………….…….………10
2.5 Conclusion……………………………………………………………..11
3.3 RF…………………………………………………..…….…………..…13
3.6 Conclusion………………………………………………,,……………..17
4.1 Introduction…………………………………………………………….19
4.2 Conclusion……………………………….………………………...……20
5.1 Introduction………………………………………...……….….………22
5.5 Conclusion…………………..………………………………..….……..23
6.2 Transistor…………………………..……………………………………26
6.3.1 Features………………………….…………..………..………27
6.7 Relay…………………………………………………..…………………29
6.11 RS 232……………………………………….………………..………..32
7.1 Software………………………………………………………...………..36
7.3 Conclusion……………………………………………..……..…..43
REFERENCES
APPENDIX A
APPENDIX B
1.1 INTRODUCTION:
Wireless Ordering System reduces the flow of work, simplifies the complex orders,
receives accurate orders, provides pleasant environment & speedy service, prevents
monetary loss, & increases customer reliability in ordering. Moreover, it's also an
integrated system that automatically controls business by connecting to POS system at
the counter.
Service robots have no strict internationally accepted definition, which, among other
things, delimits them from other types of equipment, in particular the manipulating
industrial robot. IFR, however, have adopted a preliminary definition:
With this definition, manipulating industrial robots could also be regarded as service
robots, provided they are installed in non-manufacturing operations. Service robots
may or may not be equipped with an arm structure as is the industrial robot. Often, but
not always, the service robots are mobile. In some cases, service robots consist of a
mobile platform on which one or several arms are attached and controlled in the same
mode as the arms of the industrial robot.[1]
a- Industrial Robots.
b- Mobile Robots.
c- Agricultural Robots.
d- Service Robots.
e- Social Robots.
f- Entertainment Robots.
g- Tele robots.
Today in this modern world era many jobs are undesirable by skilled workers such as
sewerage cleaners, toll collectors at the highways, high tension wire repairman, crime
scene decontaminators, and even butlers and waiters at the fast food restaurants. Many
developed countries of the world depend on cheap unskilled labor from other 3rd
world countries to provide the manpower to do these jobs while the population of that
country do the skilled jobs.
In order to fill the gap and eliminate the need of manpower from other countries many
specialized robots have been built to perform the tasks that humans normally don‟t
prefer to do.
Being a waiter at a restaurant is also one kind of job that humans don‟t prefer to do, at
least the skilled labor doesn‟t want to do, that is why we have set out our goal to build
a robot and an entire system a model and a prototype for such tasks.
Our design will greatly reduce the reliance on manpower and unskilled labor that
sometimes become a nuisance.[2]
This chapter was the introduction to robotics .in which robot was briefly discussed
and also its application and also the advantages for using the robot were briefly
explained.
2.1 HISTORY:
Stories of artificial helpers and companions and attempts to create them have a long
history. In 1837, the story of the Golem of Prague, a humanoid artificial intelligence
Rectangular arms are sometimes called "Cartesian" because the arm´s axes can be
described by using the X, Y, and Z coordinate system. It is claimed that the Cartesian
design will produce the most accurate movements.
A cylindrical arm also has three degrees of freedom, but it moves linearly only along
the Y and Z-axes. Its third degree of freedom is the rotation at its base around the two
axes. The work envelope is in the shape of a cylinder.
The spherical arm, also known as polar coordinate robot arm, has one sliding motion
and two rotational, around the vertical post and around a shoulder joint. The spherical
arm's work envelope is a partial sphere, which has various length radii.
The last and most used design is the jointed-arm., also known as an articulated robot
arm. The arm has a trunk, shoulder, upper arm, forearm, and wrist. All joints in the
arm can rotate, creating six degrees of freedom. Three are the X, Y, and Z-axes. The
other three are pitch, yaw, and roll. Pitch is when you move your wrist up and down.
Yaw is when you move your hand left and right. Rotate your entire forearm, this
motion is called roll.
Mobile robots are able to move, usually they perform task such as search areas. A
prime example is the Mars Explorer, specifically designed to roam the mars surface.
Mobile robots are a great help to such collapsed building for survivors Mobile
robots are used for task where people cannot go. Either because it is too dangerous
for people to reach the area that needs to be searched.
Robots on legs are usually brought in when the terrain is rocky and difficult to enter
with wheels. Robots have a hard time shifting balance and keep them from
tumbling. That‟s why most robots with have at least 4 of them, usually they have 6
legs or more.
Robots are not only used to explore areas or imitate a human being. Most robots
perform repeating tasks without ever moving an inch. Most robots are „working‟ in
industry settings.
An autonomous robot is despite its autonomous not a very clever or intelligent unit.
The memory and brain capacity is usually limited, an autonomous robot can be
compared to an insect in that respect. In case a robot needs to perform more
complicated yet undetermined tasks an autonomous robot is not the right choice.
Complicated tasks are still best performed by human beings with real brainpower. A
person can guide a robot by remote control. A person can perform difficult and
usually dangerous tasks without being at the spot where the tasks are performed.To
detonate a bomb it is safer to send the robot to the danger area.
2.4.1 BIOLOGY
Robots are often modeled after nature. A lot of BEAM robots look remarkably like
insects. Insects are easy to build in mechanical form. Not just the mechanics are in
inspiration also the limited behavior can easily be programmed in a limited amount of
memory and processing power.
2.4.2 ELECTRONICS
Like all robots they also contain electronics. Without electronic circuits the engines
cannot be controlled. Lots of Beam Robots also use solar power as their main source
of energy.
2.4.3 AESTHETICS
A BEAM Robot should look nice and attractive. BEAM robots have no printed
circuits with some parts but an appealing and original appearance.
2.4.4 MECHANICS
In contrast with expensive big robots BEAM robots are cheap, simple, built out of
recycled material and running on solar energy.
As we can see that the use of robots is widespread they are also being used as butlers
and waiters around the world to do basic jobs such as waiters, and interestingly
2.5 CONCLUSION:
In this chapter we have discussed that why robot was introduced and what was the
history behind it. Also the general structure and working principle of robot has been
discussed briefly and also the major types of robots have been discussed in this
chapter which will give an idea that how robots have been used in different areas to
perform different task.
3.3 RF:
Spectrum analyzers, which provide basic measurement capabilities, are the most
popular type of RF instrument in many general-purpose applications. Specifically,
using a spectrum analyzer you can view power-vs-frequency information, and can
sometimes demodulate analog formats, such as amplitude modulation (AM),
frequency modulation (FM), and phase modulation (PM).
Vector instruments include vector or real-time signal analyzers and generators. These
instruments analyze and generate broadband waveforms, and capture time, frequency,
phase, and power information from signals of interest. These instruments are much more
powerful than spectrum analyzers and offer excellent modulation control and signal analysis.
Network analyzers, on the other hand, are typically used for making S-parameter
measurements and other characterization measurements on RF or high-frequency
components. Network analyzers are instruments that correlate both the generation and
analysis on multiple channels but at a much higher price than spectrum analyzers and
vector signal generators/analyzers.[8]
The advantages of a RF communication system are many. Start with the simple fact
that if it is wireless, you don't have to lay cable all over your facility. Cable is
expensive, less flexible than RF coverage and is prone to damage. For new facilities,
implementing a wireless infrastructure may be more cost effective than running cable
through industrial environments, especially if the space configuration may change to
support different storage space allocation or flexible manufacturing stations.
Accessibility is a key benefit. If workers are within range of the system and they
always should be if a proper site survey is performed (as explained on page 8) they
are always in touch with their data. This advantage cannot be overstated. To always
have your data literally at your fingertips whenever needed means there is no break in
productivity and no empty or “deadhead” trips to a stationary terminal, docking
station or dispatch location to receive pick or putaway instructions. Critical decisions
can be made and action taken immediately at the point of activity. Less wasted time
means you can do significantly more, faster, without adding additional employees.
Would that make a difference in your business?
When goods arrive at receiving, the bar code on the pallet is scanned and the data is
sent to the host computer. At virtually the same moment, the quantity of goods
received can be compared with the quantity ordered to immediately determine if there
is any disparity. If goods received are different from the order, or are damaged,
immediate action can be the warehouse, production department or shipping/staging
area. Whether outgoing goods are cross-docked or simply transported from storage
and loaded onto the truck, shipments can be directed efficiently to trucks and
confirmed via the RF system. Invoices, advanced ship notices (ASNs) and other
necessary forms and reports can be initiated the moment truck doors are closed.[9]
Goods don't sit when instructions are sent wirelessly direct to the mobile terminal.
Forklift truck operators no longer have to go somewhere specific to get their
instructions; rather, the instructions come to them, saving time, eliminating deadhead
trips and making more productive use of personnel and materials. Also, a RF system
allows stock retrieval and replenishment to be combined, dramatically reducing the
number of movements involved in the internal transport of material and the number of
empty runs.
RF supports all possible order picking principles: individual selection, batch selection
or splits between articles and packaging. Picking information is received by the
terminal, and inquiries and transaction/activity data are sent from the terminal to the
host, all in real time. Once the order is picked, a forklift truck operator can then be
given delivery instructions from a warehouse management system (WMS) via RF.
Providing real-time updates of picking activity and order status enables the WMS to
continually recalculate the most efficient pick/putaway routes and order assignments.
Using RF for stock control offers huge savings in time and money. Because all events
are recorded in real time, the computer is continually aware of the current inventory.
This high level of monitoring essentially makes separate cycle counting unnecessary.
Many companies reduce the number of formal inventory counts they conduct each
year, and in some cases eliminate them altogether, because the RF system provides
accurate, real-time inventory information.
Depending on the order picking method, RF offers a range of possibilities for speedy
verification of previous activities/transactions. For example, after a certain number of
transactions, the remaining stock at the pick-up location can be counted for extra
verification. If the physical stock is not the same as the administrative stock, those
mistakes can be rectified before the goods are moved or shipped.
Each time stock is removed, the transaction is recorded by the mobile terminal and
sent to the host. When stock reaches minimum, preset levels, the system can be set to
A wireless system is a serious investment. It's important to consider all factors before
making your decision. Following is a brief guide to the major topics and purchasing
considerations that must be evaluated before committing to a system, including site
planning, wireless technology options and standards, and an overview of the
computers and input technologies commonly used in industrial radio frequency
network applications.
3.6 CONCLUSION:
This chapter is based on wireless communication which describes the principle of
communication wirelessly and the history and purpose for introducing this way of
communication .its types and its applications are also discussed in this chapter.
4.1 INTRODUCTION:
The other requirements for our project are building materials like sheets of Aluminum
and wooden planks for reinforcement of the structure of the robot, tables and chairs
are also going to be setup.
On the counter a Computer will be setup to view the orders coming from the table,
software implemented will be visual basic.
We will setup an entire restaurant-like environment with tables, chairs, counter and a
waiter. The Waiter will be fully mechanical and will work without the interference of
any human being, once all is set the waiter will await the instructions from the tables
or the counter.
On the tables we will install digitized menus featuring the offers of the restaurant,
once a customer selects any deal from the menu the microprocessor will store the
information process it and send it to an RF transmitter, that will transmit the exact
Table number with Deal selected to the counter, on the counter a RF receiver will
receive the data and send it to the microprocessor installed on counter, The
microcontroller on the counter will be interfaced with a computer and the exact data
will show up on the computer screen.
Our first task will be to interface our microcontroller with the DC Gear Motors that
will drive the robot, then we will design the base of the robot upon which entire frame
of the body of the robot will be built.
The Circuit boards will be soldered on to a veroboard and then checked and installed
on to wooden base inside the robot. The batteries will be placed and the structure of
the robot will be sealed.
For the tables, pushbuttons will be placed and upon them a transparent sheet
containing the list of food and drink items will be printed and then pasted on the
surface of table, the microcontroller units will be installed under or at the sides of the
tables with their respective RF transmitter.
The robot structure will be equipped with electronic circuits, power supplies,
controller, sensors, RF receiver and DC gear motors. Everything will need to be
secured in their right places, eliminating the possibilities of hardware damage. The
proximity sensors will be installed on the front of the robot in order to detect the
obstacles in front of it. A tray will also be installed on the arms of the robot to carry
the food items to the tables.
Testing will be done throughout the working of our project. Our project consists of
many individual parts each in the end will make up the entire environment of a
restaurant. Each part of our project will be tested individually at first, like transmitters
on our tables and the receiver on the counter will be checked and tested with proper
programmed microcontrollers.
The Waiter Robot is based on many electronic and mechanical components, starting
with motors driven by microcontroller then to sensors, each will be properly tested
and checked over and over again until entire objective of the project is complete.
4.2 CONCLUSION:
This chapter gave the overview on how we planned our journey to complete our
project. This chapter also gave a short introduction to the working of our project. In
later chapters we will define more about each component and software.
5.1 INTRODUCTION:
The main feature in the mechanical design is to construct such a structure, which is
capable of carrying in itself the entire circuitry, driving mechanism, power source. It
should be stable at the same time and should be strong enough to serve our purpose.
The structure of the robot is divided into different sections based on the requirements.
The details of these sections are as follows:
The DC gear motor should be able to produce enough power to carry entire
weight of its structure.
The robot will turn around at 180 degree angle to add to its mobility.
The arms should be strong enough that it can bear the weight of food and
drink items along with the tray.
The grip between the floor and the tacks should be high enough that it can
move easily any type of floor.
The structure of the robot is tightly fitted on the base that when it move the
items or the meal should be balance and not fall over.
The robot should have enough power that it push any object which height is
less than the half feet.
The importance of Mechanical Aspects within a system can never be denied as they
so very often determine the final Outcome and Overall Performance of the system and
in our case, it is a very important aspect because there are a lot of things are to be
considered so make our system not only fusible but also successful.
5.5 CONCLUSION:
This chapter gave the overview of the Robot which we planned to make by keeping
its task in consideration we are going to design it mechanical structure.
PICs are popular with both industrial developers and hobbyists alike due to their low
cost, wide availability, large user base, extensive collection of application notes,
availability of low cost or free development tools, and serial programming (and re-
programming with flash memory) capability.
Microchip announced on February 2008 the shipment of its six billionth PIC
processor.[11]
We have used the PIC18F452 microcontroller in our project. The prime purpose of
this controller in our project is to control and sustain the entire process and give the
precise result.
6.2 TRANSISTOR:
The transistor is the fundamental building block of modern electronic devices, and is
ubiquitous in modern electronic systems. Following its release in the early 1950s the
transistor revolutionized the field of electronics, and paved the way for smaller and
cheaper radios, calculators, and computers, amongst other things.[12]
We have used two NPN transistors in our motor driver circuit for switching purpose.
The transistor base is connected with controller‟s output pin to ON/OFF the
transistors. With the help of this transistor we are able to run our dc motor in both
directions (forward/reverse).
6.3.1 FEATURES
Output Current up to 1A
We have used momentary push buttons in our project for ordering the menu and as
well as the manual command in the body of the robot in case of wireless transmission
malfunction.
These LCD screens are limited to text only and are often used in copiers, fax
machines, laser printers, industrial test equipment, networking equipment such
as routers and storage devices.[14]
We have used the 16x2 LCD just only for display the orders which is given by the
customer.
Distance-Sensors detect echoes from objects and evaluate their propagation time and
amplitude. Examples are distance meters and presence detectors. By intelligent
algorithms based on signal theory models or heuristic approaches (synthetic aperture,
pulse holography, fuzzy or neural network etc.) the resolution and detection range
were increased, the radial and lateral resolution significantly enhanced and objects
recognized.[15][16]
In our project Ultrasonic senor is used to sense the obstacle in front of the Robot‟s
path. By the help of this sensor we are capable to detect any obstacle for collision
avoidance.
6.7 RELAY:
Electromagnetic attraction
Electromagnetic induction.
Two 12V dc electromechanical relay have been used by in the motor driver circuit as
a switch.
Dry cell batteries, regardless of their size, have the same components. At the center of
each dry cell battery is a rod called a cathode, which is generally made of metal or
graphite and is surrounded by an electrolyte paste. The cathode and electrolyte paste
are wrapped in paper or cardboard. One or more of these cells are sealed into a metal
cylinder called an anode, which is typically made of zinc or alkaline.
We use 12 volt dry Cell Battery as the main power source for the Waiter robot.
When ultrasonic sensor detects any objects in front of the robot than the controller
sends the high signal to buzzer. The buzzer is simple a transducer which convert the
electrical signal into sound due to this the buzzer produce the sound.
A radio receiver is an electronic circuit that receives its input from an antenna, uses
electronic filters to separate a wanted radio signal from all other signals picked up by
this antenna, amplifies it to a level suitable for further processing, and finally converts
through demodulation and decoding the signal into a form usable for the consumer,
In our project RF transmitter and receiver are used for wireless transmission of the
data we have used 4 transmitters and 2 receivers each table contains 1 transmitter and
one transmitter is attached in the counter circuit to give the wireless command to the
robot.
6.11 RS 232:
We have used the RS-232 protocol to transmit and receive data serially by the way of
computer.
We have used the two dc gear motors in our robot to drive the four wheels of the
robot and motor is controlled by programming of controller.
This device has a compact construction where the emitting-light sources and the
detectors are located face-to-face on the same optical axis. The detector consists of a
phototransistor Transmitter is positioned opposite the receiver used for small
distances and narrow objects.
In our project we are using the u-sensor for motion detection across the wheels. We
have divided the wheels into four steps when each step cut the line of sight of u-
sensor than the output of the u sensor become high which is read by the
microcontroller.
The MAX232 is an integrated circuit that converts signals from an RS-232 serial port
to signals suitable for use in TTL compatible digital logic circuits.
6.15 CONCLUSION:
This chapter contains the brief description of the components which are used in the
project and how we use it.
7.1 SOFTWARE:
This project contains a lot of mechanical designing and electronic circuitry and
wiring, major component of electronics is the PIC microcontroller that we used, it
needs to be programmed and also one of them is to be interfaced with a Computer
running Visual Basic 2010.
1- PIC Simulator.
PIC18 Simulator IDE is powerful application that supplies PIC18 developers with
user-friendly graphical development environment for Windows with integrated
simulator (emulator), Basic compiler, assembler, disassemble and debugger. PIC18
Simulator IDE currently supports the following microcontrollers from the Microchip
PIC micro 18F product line: 18F242, 18F248, 18F252, 18F258, 18F442, 18F448,
18F452, 18F458.
- FLASH program memory editor, EEPROM data memory editor, hardware stack
viewer,
- Microcontroller pinot interface for simulation of digital I/O and analog inputs,
- PIC18 Basic compiler features: three basic integer data types (1-bit, 1-byte, 2-byte),
optional 4-byte (32-bit) integer data type with 32-bit arithmetic‟s, arrays, all standard
- PC's serial port terminal for communication with real devices connected to serial
port,
- Graphical LCD module simulation interface for 128x64 graphical LCD modules,
- Stepper motor phase simulation interface for stepper motor driving visualization,
Through this software we were able to compile and test our programs before burning
it into the PIC18 memory, also .hex files were obtained after compilation and later
burned into the memory of PIC18.
On April 12, 2010, Microsoft released Visual Studio 2010, codenamed Dev10, and
.NET Framework 4. [22]
Visual Studio 2010 features a new UI developed using WPF. Visual Studio 2010 IDE
has been redesigned which, according to Microsoft, clears the UI organization and
"reduces clutter and complexity." The new IDE better supports multiple document
windows and floating tool windows, while offering better multi-monitor support. The
IDE shell has been rewritten using the Windows Presentation Foundation (WPF),
whereas the internals have been redesigned using Managed Extensibility Framework
(MEF) that offers more extensibility points than previous versions of the IDE that
enabled add-ins to modify the behavior of the IDE.
The new multi-paradigm ML-variant F# forms part of Visual Studio 2010; as do M,
the textual modeling language, and Quadrant, the visual model designer, which are a
part of the Oslo initiative.
Visual Studio 2010 comes with .NET Framework 4 and supports developing
applications targeting Windows 7. It supports IBM DB2 and Oracle databases, in
addition to Microsoft SQL Server. It has integrated support for developing Microsoft
The Visual Studio 2010 code editor now highlights references; whenever a symbol is
selected, all other usages of the symbol are highlighted.It also offers a Quick Search
feature to incrementally search across all symbols in C++, C# and VB.NET projects.
Quick Search supports substring matches and camelCase searches. The Call
Hierarchy feature allows the developer to see all the methods that are called from a
current method as well as the methods that call the current one.IntelliSense in Visual
Studio supports a consume-first mode which developers can opt into. In this mode,
IntelliSense will not auto-complete identifiers; this allows the developer to use
undefined identifiers (like variable or method names) and define those later. Visual
Studio 2010 can also help in this by automatically defining them, if it can infer their
types from usage. [23]
The GUI was developed entirely in Visual Studio 2010. Following are the important
features and commands that were used in the development of the software.
Form1 is by default the main form in the project, we have renamed it to “Main Order
Form” using the properties panel. Labels are added to define the details of the
In the Main Order Form three buttons are added “View Database” to view the
database or history of the orders that were received. “Close Program” is used to
shutdown the software. “Show Order Details” button is used to view the detail of the
orders, when this button is clicked it will open up a new form and display the details
of the orders in the 1st textbox of the “Main Order Form”.
Two more features are required by the software and both are added into the “Main
Order Form”, they are Serail Port and Timer_Tick function. Serial Port is added to
receive the data from the serial port of the computer and display it on the textbox
fields in the main order form, serial port settings include, selecting the COM port of
the computer and setting the baud rate to 2400.
Timer_Tick function repeatdly checks the status and updates the textboxes.
The following is a screenshot of the “Main Order Form” at the start of the program.
When data is received through the serial port the “Main Order Form” is updated.
Following is the screenshot taken after it was updated.
In this form three buttons are added to add functionality to it, Close button closes the
form, “Database” button will insert the new entry into the database, “Transmit” button
will transmit the command to the Robot, it will send the Table number to the robot.
This form also displays the names of the items that are being offered by us.
Following is the screenshot of the “Order Details” form without any orders displayed
on it.
Following is the screenshot showing the details of selections made by the customers.
Following is the screenshot of Database form showing the history and database of
previous orders.
7.3 CONCLUSION:
Motor is a device that converts electrical energy into mechanical energy. Its principle
is because when a current carrying conductor is placed in a magnetic field, it
experiences a mechanical force whose direction is given by Fleming‟s Left Hand Rule
and magnitude by F = B I L
In this circuit we use two relays to operate the Dc gear motor and use two transistor as
a switch. In this circuit motors are grounded through the relay, when the controller
send the logic to the transistor base the emitter and collector become short and 12 volt
through the battery is appear around the motor. When we controller send the logic to
both transistor the motor will move forward direction, to turn the robot we one motor
operates while other is off.
This circuit is the main circuit of the robot, this circuit also connected with two
motors, ultra sonic sensor circuit, U-shape sensor circuit and RF receiver. This circuit
drives the motor and according the programming and U-shape sensor count the
rotation of the wheel and gives the rotation values to the controller. During the robot
in the motion any obstacle come in its path send the signal to the controller and
controller stop the motor. When the controller receive the signal through the RF
receiver it goes to its destination table to deliver the order, when it receive the the
signal it come back to is position. The u-shape sensor is used for counting the rotation
of the wheels we use LM324 with U-shape sensor because u-shape gives continuous
output and it use as a level trigger.
this is the circuit of table, in this circuit we attach 7 push buttons, 5 push buttons is
use to insert the values of the order and 1 button is use to send the order to the counter
and one button is use to reset the order if u enter the wrong values, one LCM is
connected to the controller which shows orders.
This circuit is use for LEDS flashing we use 12 LEDS and glow them first to last
again and again through the programming.
The counter circuit has both RF receiver and transmitter, this circuit receives
data from tables and send it to the computer through max232 and serial port, and
displayed on the GUI.
From the GUI we send the transmit table number command to the robot through the
RF transmitter.
The Customer will take a seat at one of three tables, menu card will be printed on the
custom designed modules, selections are made using 5 pushbuttons on the module,
and last 2 pushbuttons are for “Reset” and “Send” respectively.
Liquid Crystal Display will display the selections made by the customer, when he has
made his selections he can press the “Send” button to transmit the order wirelessly to
the Counter.
All the data transmitted from the module at the tables is received by a RF receiver at
the Counter, the receiver is directly connected to the MAX232 IC that converts the
logic of data and sends it to serial port of the computer, the software is designed in
such a way that it displays exact information about the order that was placed by the
customer from the tables.
The GUI will display the Table number, and all the selections made by the customer,
this way the order is placed.
All the details of the orders are displayed on the GUI and are saved into the database
for later viewing.
The items that are ordered are placed onto the tray of the robot and then Robot is
given command to serve to the customers, using the GUI.
Data is sent through the serial port of the computer to the MAX232 module that
converts the logic and sends information to the RF transmitter. A RF receiver is
installed in the Robot for reception of commands from the Counter. “Recall”
command button can be used to call the robot back to the starting position, which is
the Counter. The process will be repeated again for the next order.
We are glad to introduce first time in our university this kind of a prototype, it will
attract many people towards the engineering side because of small wonders that can
be made.
We can say that our main component was the PIC18 that was used on each and every
part of the project, tables, counter, and the robot itself.
Mechanical design was also put in consideration as the prototype needs a proper
shape and figure to look pleasant and designed for the task at hand.
During our research we have come across many models available doing the same job
as waiters, cleaners, chefs, etcetera, each with entirely different criteria. Our robot is
based on driving the robot on the fixed defined paths and only with intelligence of
detecting objects or obstacles in front of it. Many features can be added to assist the
robot and the operators for better management of task and functionality of the robot.
Many models we came across used cameras mounted typically on what is suppose to
be the head of the robot. The camera would take real time images or real time video
and store it or transmit it wirelessly to the control terminals and screens installed in
control room or the counter.
This feature not only gives sight to the robot, it also gives real time update on location
of the robot on the terminals of operators and staff. With the use of complex
programming the images from the cameras can be processed and identified by the
robot as living or as a object. This technique is usually very advance and best left to
big companies manufacturing and specializing in such hardware.
During our research we came one interesting model that would dance to the music to
entertain the customers while it was idle (had no new order).
Cleaner robots have been around for quite a long time now, they are mounted with
brushes on their bases to clean away dust and other particles. With the help of
complex programming the robot can keep track of the amount of work it has done.
GPS system can also be implemented to know the exact coordinates of the robot at all
times and make the robot enable to know its own location and improve the A.I. level
of the robot.
Many robot models and systems are equipped to recognize the human sound and
voice and are able to understand the language and some key words.
Sense of hearing is very useful and the ability of the robot to answer to commands is
also a key to improving the A.I. of the robot.
Many robots are designed to be used in field and prescribe medicine to the patients.
Other robots are operated by a doctor who is in other country or remote location.
Basic designs are the same, medical robots are usually equipped with LCD screens to
show the status and other information.
CHAPTER 1
[2] http://www.wtec.org/robotics/report/05-Industrial.pdf
CHAPTER 2
[3] http://www.electronicsteacher.com/robotics/type-of-robots.php
CHAPTER 3
[4] http://en.wikipedia.org/wiki/Wireless
[5] http://www.wirelesscommunication.nl/reference/chaptr07/history.htm
[6] http://compnetworking.about.com/cs/wireless80211/a/aa80211standard.htm
[7] http://en.wikipedia.org/wiki/Radio_frequency
[8] http://searchnetworking.techtarget.com/definition/radio-frequency
[9] http://www.smartturn.com/forums/blogs/kevin-collins/47-best-practices-setting-
up-warehouse-rf-network.html
[10] http://www.electronics-manufacturers.com/info/rf/microwave-electronics/rf-
microwave-attenuator.html
CHAPTER 6
[11] Muhammad Ali Mazidi. PIC Microcontroller And Embedded Systems : Using
Assembly And C For PIC 18
[12] http://www.kpsec.freeuk.com/components/tran.htm
[13] http://en.wikipedia.org/wiki/Voltage_regulator
[14] http://www.sparkfun.com/products/255
[15] http://en.wikipedia.org/wiki/Ultrasonic_sensor
[16] http://www.sensorsmag.com/sensors/acoustic-ultrasound/choosing-ultrasonic-
sensor-proximity-or-distance-measurement-825
[17] http://www.howstuffworks.com/relay.htm
[19] http://www.arcelect.com/rs232.htm
[20] http://www.camiresearch.com/Data_Com_Basics/RS232_standard.html
[21] http://www.directindustry.com/industrial-manufacturer/dc-gearmotor-65199.html
CHAPTER 7:
[22] http://www.microsoft.com/visualstudio/en-us
[23] http://en.wikipedia.org/wiki/Microsoft_Visual_Studio
[24] http://www.microsoft.com/express/Database/
BOOKS
VIDEO TUTORIALS:
DATASHEETS
http://www.electrokits.com/downloads/pdf/7805-datasheet-kec.pdf
http://www.alldatasheets.com
http://www.electrokits.com/Datasheets/7805-Datasheet
This type of robot can be implemented in all those types of industry where
This type of robot can cover wide areas of operations in different fields.
This type of robot can work in hindrance without losing its efficiency.
Databases are also managed on a remote computer system that will show
COST OF PROJECT
Microcontrollers:
Total = 67,500Rs.
Cost and time of Ownership can be defined as the amount it costs to maintain, fix, and
guarantee a product and the time required for the competition of project. For instance,
if a design change requiring hardware rework must be made to a few prototypes, the
cost might be relatively small. However, as the number of units that must be changed
increases, the cost can become enormous. The ease or difficulty of design changes can
also affect opportunity costs. The total cost for the project is approx 72,000Rs.
Engineers who spend time fixing old designs could be working on introducing new
products and features ahead of the competition. . In a typical design, many different
types have to be purchased and stocked. The total time duration of the completion of
the project is about in the mid or end of November 2010
Microcontroller (PIC18F)
Microcontroller (PICF)
Transistor
LCD
RF Transmitter
RF Receiver
MAX 232
Regulator