1

CHAPTER 1

INTRODUCTION

1.1 GENERAL

Artificial intelligence (AI)-based robots are being used across the

world. These robots, which have been created with the combination of advanced
hardware and AI technologies, are intended for human-centered innovation,
recognizing people, and responding to human emotions. Social robots that can
function as friends for humans are considered to be an area of significant future
value.

Serving robots assist human beings, typically by performing a job

that is dirty, dull, distant, dangerous or repetitive, including household chores.
They typically are autonomous and/or operated by a built-in control system,
with manual override options. The term "serving robot" does not have a strict
technical definition. The International Organization for Standardization defines
a “serving robot” as a robot “that performs useful tasks for humans or
equipment excluding industrial automation applications”.

According to ISO 8373 robots require “a degree of autonomy”,

which is the “ability to perform intended tasks based on current state and
sensing, without human intervention”. For serving robots this ranges from
partial autonomy - including human-robot interaction - to full autonomy -
without active human robot intervention. The International Federation of
Robotics (IFR) statistics for serving robots therefore include systems based on
some degree of human robot interaction or even full tele-operation as well as
fully autonomous systems.
 2

In addition, researchers predict that serving robots will contribute

in many ways to the sustainability of the many business in the future. Now this
has become especially apparent in the face of the widespread use of non-contact
services caused by the COVID-19 pandemic worldwide. As part of this trend,
serving robots are seen as leaders in convenience in the many applications. In
South Korea, serving robots are used in various restaurant franchises, and their
usage is gradually increasing. Particularly, serving robots that can replace
employees in provincial towns’ restaurants, as there is a shortage of manpower
compared to Seoul and the metropolitan area, are drawing the attention of
restaurant owners and also offer a unique experience for customers.

A broad review of prior studies regarding the use of robots has

highlighted that it is a fundamental part of this study to identify the benefits and
risks that users will associate with their use. This study focuses on the basic
attributes of robots in situations where empirical research data is very limited
and attempts to clarify the relationship between serving robots’ attributes and
the perceived benefits and risks. To achieve this, the value-based adoption
model (VAM) is utilized. This model maximizes value by focusing on the
perceived benefits and sacrifices by general users to understand customer
behavior. To analyze individuals' new-technology acceptance behavior, VAM is
formulated through a comparison of perceived benefits and sacrifices. The
benefits include enjoyment and usefulness, and sacrifices include sub-concepts
such as perceived fee, technicality, risks, etc.

Based on the results of these preceding studies, this study analyzes

the impact of the serving robots’ attributes on revisit intention by mediating the
customers’ perceived benefits and risks. It also attempts to analyze the effect of
customers’ perceived value and satisfaction and to conduct research by
subdividing the serving robots in the restaurant business into analysis targets.
 3

Empirical research on robots, especially in the social sciences and

the dining industry, has not been conducted widely, and most of the research so
far has been focused on quality of engineering, which emphasizes the technical
and systemic aspects. Serving robots offer the advantage of reducing labor cost
and providing an interesting experience for customers. Ideally, through
extensive empirical research, based on the unlimited growth potential of the
market in the future, various theories, research models, research methods, and
results regarding serving robots and consumer behavior should be prepared.
This research highlights the need for empirical research regarding serving
robots by taking into account the overall social trends and academic needs that
encourage AI, and it is expected that it will be valuable to provide a theoretical
basis for future related research and practical implications for relevant areas.

After conducting this study, we intend to present detailed

suggestions to enhance the revisit intention of customers by analyzing the
aspects of the serving robot that are positively perceived by them and which
aspects should be further complemented.

1.2 NEED FOR THE STUDY

Basic need for studying this project is to make the process of all
industry in automated manner. And also we had made non-contact serving
experience to the customer by making social distancing during this pandemic
situation. This system replaces the conventional method in restaurant and it
reduces the human need and makes the process simple and efficient . After
conducting this study, we intend to present detailed suggestions to enhance the
revisit intention of customers by analyzing the aspects of the serving robot that
are positively perceived by them and which aspects should be further
complemented.
 4

1.3 OBJECTIVE OF THE STUDY

This robot can be incorporated in various areas of requirements

such as Restaurants, Industries, Hospitals etc,. The system requires a little bit of
human intervention for activities such as reprogramming for several application
and their location. We consider the main aim as the optimum use of time and
the reduction of social contact. The main objective of this project is
 To increase the social distancing between peoples
 To reduces the wages of the workers in that Restaurants,
Industries, Hospitals, etc,.

The next level of focus is on the human intervention areas such as the
programming to the field area where it used.
 5

CHAPTER 2

REVIEW OF LITERATURE

2.1 INTRODUCTION
The interest of automation on youngsters is improving day by day
we found an opportunity to help Dining industry in the process of Serving. As
on our survey, the restaurants facing labor deficient problems for serving and
related process. Due to this labor deficiency, there will be a great loss for them
in terms of both economy and customer satisfaction. Previously, many
researches try to solve this issue. Some techniques were employed for this
process, since the time is maximum, there will be loss in production and this
leads to excess usage of time and capital. Here we proposed a low cost Arduino
controlled food-serving bot for serving process. Our proposed work optimizes
the manual power with efficiency in this pandemic situation.

2.2.1 PAPER 1

Neeti Malik et. al., (2016) [14] has proposed this paper on the International
Journal of Engineering Science and Computing on the above topic. The purpose
of this Serving Robot is to develop a automation in Dining Industries which
used for the Serving Robot. In today’s restaurant Digital multi-touch menu
cards and other forms of digital facility are replacing old-fashioned services
like-waiters can take order from customer and serve them. Intelligent Restaurant
system delivers almost infinite flexibility in promoting meal and snack options.
Intelligent Restaurant system uses technologies innovatively in a modern
restaurant such as multi-touch LCD with Arduino mega, RF module, database
& line following Robot to enhance quality of services and to enrich experience.
A line following robot is designed using sensor operated motors to keep track
the line path predetermined for meal serving. PayPal is used for online payment.
 6

In this paper, they demonstrate the idea of automatic menu serving robot. In this
paper, they have made a robot, which provides proper service to customer in
restaurant. If a person wants to give an order then he can call the robot by
simply pressing a switch on his table. The whole system makes use of RF
technology. Robot automatically checks the status of the person. It reaches the
correct destination and person passes his order to robot. The robot sends the
order by wireless technology (RF technology) to counter where a receiver is
placed, this receiver receives the signal from the robot (through RF technology)
and the person at the counter checks the order, prepare it and put it on the robot
and robot again provides proper service to respective person automatically. The
robot can take the order from multiple people by reaching near their tables on
their call. The robot can serve to a customer as well as take order from another
customer at the same time. The basic objective that we had obtained from their
Serving Robot is to serve the customer effectively. It takes their orders and
takes care of transporting food/refreshment to them.

2.2.2 PAPER 2

Shiny.J.S et. al., (2017) [16] has proposed this paper on the International
Journal of Advanced Research in Electrical, Electronics and Instrumentation
Engineering on the above topic. The proposed system by them reduces the man
power and makes the whole process in the restaurant to be done automatically
starting from welcoming the customer to payment of bill. The proposed system
consists of three main blocks. First block deals with ordering process through
which the customer can order the food item without the need of the server. The
customer table is provided with the keypad and LCD display using which the
customer can type the item code and can see the ordered food item. The second
block is to serve the ordered food to the customer. It is done by using the food-
serving robot. It will modify the real time problem of time delay and delivering
of incorrect food item.
 7

It consists of the vehicle, which moves according to the sensor output. The
robot consists of proximity sensor to count the wheel rotation and IR sensor for
obstacle detection. The third block is for payment of bill amount. The cost of
the ordered food item will be displayed to the customer at the time of ordering
itself and if the customer finished ordering, the total amount of the ordered food
item will be calculated and the entire bill amount will be displayed to the
customer. From their proposal, we gathered the information of how to automate
the whole process in one restaurant.

2.2.3 PAPER 3

Preejitha.CT et. al., (2020) [15] has proposed this paper on the International
Research Journal of Engineering and Technology on the above topic. In today’s
world, the use of robot is going on increasing. The robotics technology is
replacing man work at a fast pace throughout the world. At restaurants and
hotels, the customers face many problems due to congestion at peak hours,
unavailability of waiters due to manual order processing. These limitations are
clearly given in this design Restaurant Serving Robot. It is used for ordering
food and beverages. The customer needs to scan the QR code on a particular
table. After scanning, a mobile application will be opened on his/her smart
phone from where he/she can order the food. As the orders will directly display
in the kitchen, the cook will load the order on the robot & then the only task of
the robot is to serve the food on particular table. Robots are able to carry out
every work more effectively and efficiently than a man can do. From this
technique, we got an idea of How to implement the movement of the bot using
the Line following concepts. This request is shipped off the kitchen and
gathering utilizing correspondence network. The server robot at that point
moves food from the kitchen to the client.
 8

2.2.4 PAPER 4

S.Jeyavinotha et. al., (2019) [17] has proposed this paper on the International
Journal of Recent Trends in Engineering & Research on the above topic. In this
Paper, the utilization of robot is continuing expanding. The advanced mechanics
innovation is supplanting man work at a high speed all through the world. In a
cafés and inns, the clients face a ton of issues because of clog at top hours,
inaccessibility of servers and because of manual request handling. This
restriction can be defeat by their plan Smart Food serving Robot. It is utilized
for requesting food and refreshments. The LCD contact screen is set on Robot
where we can arrange the food.The client puts in the request utilizing electronic
menu bar. This request is shipped off the kitchen and gathering utilizing
correspondence network. The server robot at that point moves food from the
kitchen to the client. Robots can complete each work more adequately and
proficiently than a man can do. From this, we had concluded that How the Food
is processed and shipped from the Kitchen to the customers.

2.2.5 PAPER 5
Ha-Won Jang and Soo-Bum Lee (2020) [5] has proposed this paper on the on
Molecular Diversity Preservation International on the above topic. In This study
we focuses on the attributes of serving robots, which include
“anthropomorphism,” “animacy,” “likeability,” “intelligence,” and “safety,” and
their effect on restaurant customers. The study aims to provide a sustainable
development model for the restaurant business, which is suffering from a
shortage of work force. The study identifies the relationships among serving
robots’ attributes, perceived benefits, perceived risks, perceived value,
satisfaction, and revisit intention of customers. An online survey was conducted
with customers, aged eighteen years or older, of restaurants that use serving
robots. 294 surveys were used for the final analysis.
 9

The results indicate that there are statistically significant relationships between
“likeability” and perceived benefits, “intelligence” and perceived benefits,
“safety” and perceived benefits, and “safety” and perceived risks. It also
confirms that perceived benefits have a positive effect on perceived value, and
perceived value has a positive effect on satisfaction and revisit intention.
Moreover, satisfaction has a positive effect on revisit intention. Based on these
findings, several meaningful theoretical and practical implications that can lead
to the sustainability of restaurants are presented.

2.3 CONCLUSION

Thus, we concluded from above studies, if this system is

implemented then the customer could easily order the food item without the
need of the server and without any error. It is recommended that use of touch
screen instead of the keypad and LCD screen. It can also include a module,
which provide greetings to the customer such as saying welcome and thank you
to the customer and using any money payment method to pay the bill amount to
respective account of the owner. And also we can decrease the social contacting
between one others in this pandemic situation.
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CHAPTER 3
PROPOSED DESIGN

3.1 BLOCK DIAGRAM

The whole process of our project is described in the below simplified block
diagram. The process of our design starts from Power supply to the
Microcontroller Board followed by Programing in the manner to control the
Motor Driver control board. The 300 rpm geared motor provided with
mechanum wheels gives the required movement of the robot. This whole
process is by the program installed to Microcontroller based on the users wish.

POWER ULTRASONIC
SUPPLY SENSOR

L298N MOTOR
DRIVER
ARDUINO
NANO
DC GEARED
MOTOR

PROGRAMING ROBOT
WHEELS

Fig 3.1 Block Diagram

3.2 FLOW CHART
The work flow of our Food serving robot is described in the following flow
chart. Our workflow start from understanding the problem from the certain
dining industry and designing the plan for the understudied problems.
 11

After the designing, the program has been implemented and tested by
assembling the parts and the errors are rectified in above testing process.

Understanding the problem

Designing of Serving Robot using Tinker CAD

Developing the circuit design using Proteus Sofware

Implementing the Serving Robot hardware and wiring connection of

component

Developing program for Serving Robot in arduino IDE

Interfacing Arduino to motor control board to control motor

Assembling all components of Serving Robot

Testing the movment of robot in all direction

Testing and error rectification

Fig 3.2 Flowchart

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CHAPTER 4

HARDWARE REQUIREMENTS

4.1 ARDUINO NANO

Fig 4.1 Arduino NANO

The Arduino Nano is a small, complete, and breadboard-friendly board based
on the ATmega328P released in 2008. It offers the same connectivity and specs
of the Arduino Uno board in a smaller form factor. The Arduino Nano is
equipped with 30 male I/O headers, in a dip-30 like configuration, which can be
programmed the Arduino Software integrated development environment (IDE),
which is common to all Arduino boards and running both online and offline.
The board can be powered through a type-b micro-USB cable, or through a 9V
battery.

LED: There is a built-in LED driven by digital pin 13. When the pin is HIGH
value, the LED is on, when the pin is LOW, it's off.

VIN: The input voltage to the Arduino/Genuino board when it's using an
external power source (as opposed to 5 volts from the USB connection or other
regulated power source). You can supply voltage through this pin, or, if
supplying voltage via the power jack, access it through this pin.
 13

5V: This pin outputs a regulated 5V from the regulator on the board. The board
can be supplied with power either from the DC power jack (7 - 20V), the USB
connector (5V), or the VIN pin of the board (7-20V). Supplying voltage via the
5V or 3.3V pins bypasses the regulator, and can damage the board.

3V3: A 3.3 volt supply generated by the on-board regulator. Maximum current
draw is 50 mA.

GND: Ground pins.

IOREF: This pin on the Arduino/Genuino board provides the voltage reference
with which the microcontroller operates. A properly configured shield can read
the IOREF pin voltage and select the appropriate power source or enable
voltage translators on the outputs to work with the 5V or 3V.

RESET: Typically used to add a reset button to shields which block the one on
the board.

Each of the 13 digital pins and 7 Analog pins on the Uno can be
used as an input or output, using pin Mode(), digital Write(), and digital Read ()
functions. They operate at 5 volts. Each pin can provide or receive 20 mA as
recommended operating condition and has an internal pull-up resistor
(disconnected by default) of 20-50k ohm. A maximum of 40mA is the value
that must not be exceeded on any I/O pin to avoid permanent damage to the
microcontroller. The Nano has 7 analog inputs, labeled A0 through A6, each of
which provide 10 bits of resolution (i.e. 1024 different values). By default they
measure from ground to 5 volts, though is it possible to change the upper end of
their range using the AREF pin and the analog Reference () function. A
Software Serial library allows for serial communication on any of the Nano's
digital pins. The ATmega328 also support I2C (TWI) and SPI communication.
The Arduino software includes a Wire library to simplify use of the I2C bus.
 14

4.2 L298N MOTOR DRIVER

Fig 4.2 L298N Motor Driver

The L298N is an integrated monolithic circuit in a 15- lead Multi-watt and

PowerSO20 packages. It is a high voltage, high current dual full-bridge driver
de-signed to accept standard TTL logic level sand drive inductive loads such as
relays, solenoids, DC and stepping motors. Two enable inputs are provided to
enable or disable the device independently of the in-put signals .

The emitters of the lower transistors of each bridge are connected together rand
the corresponding external terminal can be used for the connection of an
external sensing resistor. An additional Supply input is provided so that the
logic works at a lower voltage. L298N Motor Driver Module is a high power
motor driver module for driving DC and Stepper Motors. This module consists
of an L298 motor driver IC and a 78M05-5V regulator. L298N Module can
control up to 4 DC motors, or 2 DC motors with directional and speed control .

When the power supply is less than or equal to 12V, then the internal circuitry
will be powered by the voltage regulator and the 5V pin can be used as an
output pin to power the microcontroller. The jumper should not be placed when
the power supply is greater than 12V and separate 5V should be given through
5V terminal to power the internal circuitry. ENA & ENB pins are speed control
pins for Motor A and Motor B while IN1& IN2 and IN3 & IN4 are direction
control pins for Motor A and Motor B.
 15

Pin Name Description

IN1 & IN2 Motor A input pins. Used to control the Spinning direction
of Motor A

IN3 & IN4 Motor B input pins. Used to control the Spinning direction
of Motor B

ENA Enables PWM direction for Motor A

ENB Enables PWM direction for Motor B

OUT1 & OUT2 Output pins of Motor A

OUT3 & OUT4 Output pins of Motor B

12V 12V input from DC power source

5V Supplies power for the switching logic circuitry inside

L289N IC

GND Ground Pin

Tab 4.2 Pin Configuration of L298N Motor Driver

4.3 GEARED MOTOR

DC Motor – 300RPM – 12Volts geared motors are generally a simple DC motor

with a gearbox attached to it. This can be used in all-terrain robots and variety
of robotic applications. The trade off for torque multiplication is a proportional
reduction in the speed of the output shaft, and reduced overall efficiency. By
utilizing the proper gear technology and ratio for specific applications, the
optimal output and speed profiles can be obtained along with the perfect
mechanical fit to unlock the maximum value of your OEM equipment.
 16

Fig 4.3 DC Geared Motor

Features:

 300RPM 12V DC motors with Metal Gearbox and Metal Gears

 18000 RPM base motor
 6mm Diameter shaft with M3 thread hole
 Gearbox diameter 37 mm
 Motor Diameter 28.5 mm
 Length 63 mm without shaft
 Shaft length 30mm
 180gm weight
 9kgcm Holding Torque
 No-load current = 800 mA, Load current = up to 7.5 A(Max)
 Recommended to be used with DC Motor Driver 20A or Dual DC Motor
Driver 20A

4.4 ULTRASONIC SENSOR

Ultrasonic transducers and ultrasonic sensors are devices that generate or sense
ultrasound energy. Here we use HC-SR04 for the Serving Robot. HC-SR04
Ultrasonic (US) sensor is a 4 pin module, whose pin names are Vcc, Trigger,
 17

Echo and Ground respectively. This sensor is a very popular sensor used in
many applications where measuring distance or sensing objects are required.

Fig 4.4 Ultrasonic Sensor

The module has two eyes like projects in the front which forms the Ultrasonic
transmitter and Receiver. The sensor works with the simple high school formula
that Distance = Speed × Time. The Ultrasonic transmitter transmits an
ultrasonic wave, this wave travels in air and when it gets objected by any
material it gets reflected back toward the sensor this reflected wave is observed
by the Ultrasonic receiver module. The circuitry inbuilt on the module will
calculate the time taken for the US wave to come back and turns on the echo pin
high for that same particular amount of time, this way we can also know the
time taken.

4.5 BATTERY

The Lithium Ion is the power source for the robot have ability to drive all four
one Amps motors with required voltage and current.

Fig 4.4 Lithium Ion Battery

 18

Li-ion batteries use an intercalated lithium compound as the material at the

positive electrode and typically graphite at the negative electrode. The batteries
have a high energy density, no memory effect (other than LFP cells) and
low self-discharge.

Features:

 12V supply, 10 Ampere

 Rechargeable battery
 1.5 kg weight (approx.)
 178x35x60 mm

4.6 GEARED MOTOR WHEELS

We uses four Geared Motor wheels for the movement of our robot. Each motors
are with the specifications of given below. This wheels are capable of working
in the off roads. This also Provides good Traction in most of the surfaces.

Fig 4.5 Geared motor wheel

Features:

 Diameter - 7 cm
 Width of wheel - 4 cm
 Shaft bore - 6 mm
 19

4.7 BASE ARRANGEMENT

The Base of the bot is made of the high strength Polyvinyl Carbide
Material. This reduces the weight of the robot and increases the Performance of
the battery.

Fig 4.6 Base Arrangement

\
SPECIFICATIONS:
 Weight- 1Kg
 Width – 30cm
 Diameter – 30x30x50 cm
 Load capacity- Withstand up to 3kg weight
 20

CHAPTER 5

SOFTWARE REQUIREMENTS

5.1 TINKER CAD

Tinker cad is a free, online 3D modeling program that runs in a web browser,
known for its simplicity and ease of use. Since it became available in 2011, it
has become a popular platform for creating models for 3D printing as well as an
entry-level introduction to constructive solid geometry in schools.Tinker cad
was founded as a company in 2010 in the European Union by
former Google engineer Kai Beckman and his cofounder Mikko Mononen, with
a goal to make 3D modeling, especially the design of physical items, accessible
to the general public, and allow users to publish their designs under a Creative
Commons license. In 2011, the tinkercad.com website was launched as a web-
based 3D modeling tool for WebGL-enabled browsers, and in 2012 the
company moved its headquarters to San Francisco. By 2012 over 100,000 3D
designs had been published by users. In May 2013, Autodesk announced at
a Maker Faire that they would acquire Tinker cad.

In March 2017, Autodesk recommended users of the soon to be retired 123D

Sculpt migrate to Tinker cad (or Maya LT). In May, Autodesk discontinued its
123D Circuits (Circuits.io) "Electronics Lab". The program's features were
merged into Tinker cad. Tinker cad uses a simplified constructive solid
geometry method of constructing models. A design is made up of primitive
shapes that are either "solid" or "hole". Combining solids and holes together,
new shapes can be created, which in turn can be assigned the property of solid
or hole.
 21

In addition to the standard library of primitive shapes, a user can create custom
shape generators using a built-in JavaScript editor. Shapes can be imported in
three formats: STL and OBJ for 3D, and 2-dimensional SVG shapes for
extruding into 3D shapes. Tinker cad exports models in STL or OBJ formats,
ready for 3D printing. Tinker cad also includes a feature to export 3D models
to Minecraft Java Edition, and also offers the ability to design structures
using Lego bricks.

Fig 5.1 Tinker CAD Software

5.2 ARDUINO IDE

The Arduino Integrated Development environment (IDE) is a cross-

platform application (for Windows, mac OS, Linux) that is written in the
programming language Java. It is used to write and upload programs to Arduino
board. The source code for the IDE is released under the GNU General Public
License, version 2. The Arduino IDE supports the languages C and C++ using
special rules of code structuring.
 22

The Arduino IDE supplies a software library from the Wiring project, which
provides many common input and output procedures. User-written code only
requires two basic functions, for starting the sketch and the main program loop,
that are compiled and linked with a program stub main() into an
executable cyclic executive program with the GNU tool chain, also included
with the IDE distribution.

Figure 5.2 Arduino simulator

The Arduino IDE employs the program argued to convert the

executable code into a text file in hexadecimal encoding that is loaded into the
Arduino board by a loader program in the board's firmware. The below program
is given for the movement of the robotic arm for angular motion.
 23

5.3 PROTEUS

The Proteus Design Suite is a proprietary software tool suite used

primarily for electronic design automation. The software is used mainly by
electronic design engineers and technicians to create schematics and electronic
prints for manufacturing printed circuit boards. It was developed in Yorkshire,
England by Lab center Electronics Ltd and is available in English, French,
Spanish and Chinese languages. The first version of what is now the Proteus
Design Suite was called PC-B and was written by the company chairperson,
John Jameson, for DOS in 1988. Schematic Capture support followed in 1990,
with a port to the Windows environment shortly thereafter. Mixed mode SPICE
Simulation was first integrated into Proteus in 1996 and microcontroller
simulation then arrived in Proteus in 1998. Shape based auto routing was added
in 2002 and 2006 saw another major product update with 3D Board
Visualization. More recently, a dedicated IDE for simulation was added in 2011
and MCAD import/export was included in 2015. Support for high speed design
was added in 2017. Feature led product releases are typically biannual, while
maintenance based service packs are released as it is required. The Proteus
Design Suite is a Windows application for schematic capture, simulation, and
PCB (Printed Circuit Board) layout design. It can be purchased in many
configurations, depending on the size of designs being produced and the
requirements for microcontroller simulation. All PCB Design products include
an auto router and basic mixed mode SPICE simulation capabilities. The
micro-controller simulation in Proteus works by applying either a hex file or a
debug file to the microcontroller part on the schematic. It is then co-simulated
along with any analog and digital electronics connected to it. This enables its
use in a broad spectrum of project prototyping in areas such as motor
control, temperature control and user interface design.
 24

Fig 5.3 Proteus Software Interface

It also finds use in the general hobbyist community and, since no hardware is
required, is convenient to use as a training or teaching tool.
 25

CHAPTER 6

IMPLEMENTATION

6.1 CIRCUIT DESIGN

The Proteus Design Suite is a proprietary software tool suite used primarily
for electronic design automation. The software is used mainly by
electronic design engineers and technicians to create schematics and electronic
prints for manufacturing printed circuit boards. Here we made the circuit for our
complete working model in this software.

Fig 6.1 Circuit Design

We used one Microcontroller for controlling whole process connected with the
motor driver and Ultrasonic sensor. Using this simulation software the circuit
errors and rectification for the error are easily identified and solved. The circuit
design of our product is given above.
 26

6.2 3D DRAFT

Tinker cad is a free, online 3D modeling program that runs in a

web browser, known for its simplicity and ease of use. Since it became
available in 2011, it has become a popular platform for creating models for 3D
printing as well as an entry-level introduction to constructive solid geometry. A
design is made up of primitive shapes that are either "solid" or "hole".
Combining solids and holes together, new shapes can be created, which in turn
can be assigned the property of solid or hole. Shapes can be imported in three
formats: STL and OBJ for 3D, and 2-dimensional SVG shapes for extruding
into 3D shapes. The created 3D design had saved in the OBJ format for Future
use or for the purpose of 3D printing.

Fig 6.2.1 Top View Fig 6.2.2 Front View

 27

Fig 6.2.3 Side View Fig 6.4.4 Isometric View

The design is done in such a way to hold all the components in their respective
working positions. The weight is evenly distributed all over the Serving Robot.
The supports is fixed at the top so that the food is placed and serve is done
perfectly.

6.3 FINAL PROTOTYPE

This Robot is mainly done for the serving process, which can be
fruitful under the suitable working condition. This work had to gone through the
serving the goods of measured area. Thus, the adjustment made for program and
working area several times for making this robot useful for the wide range of
working area. It has been tested to best of our ability. Currently the robot is
controlled based on Arduino IDE, this made the range of working area to be
limited.
 28

Figure 6.3 During field work

Different types of the testing made for the different working conditions to
obtain our result. This testing’s and conclusion of the final product are fruitful
on our knowledge. It is possible to made change in working area by
reprogramming on Arduino. If repetition needed daily then you have to plug
your power source and switched on daily.
 29

CHAPTER 7

RESULTS AND DISCUSSIONS

First of all we checked the results from the final testing of the
prototype. The testing gives practically the same results with many small steps
confirming the efficiency of the design. This was evident in all cases simulated.
In order to evaluate the accuracy of the results for the prediction of working of
the prototype. The tool which we used for designing is sophisticated on
designing the model of the prototype. The determination of the following
profiles on testing has the final purpose of testing result. And also we have
employed simulation analysis through the proteus software for complete
working circuit design. At Last we tested it in working field and gets the results
as we predicted in the designs.
 30

CHAPTER 8

CONCLUSION

Our project mainly targets the dining industry to increase the productivity
by decrease the time for the serving process. In future, our project will hold the
better position for dining industrial revolution. Our project creates a good
impact over workers to take over the process with our innovation. If it continues
for 05-10 years for all Dining Industries, our state will self-sufficient in modular
kitchens. In the marketing perspective the above said areas have a great scope
with further upgrades this can be implemented in the variety of dining
industries. The technology, which is involved in our model, is serving the food
to the customers for the particular Restaurant, Hotels, etc. The speed is not
needed much in this scenario. The upgrade includes automatic billing, in case if
the customer waiting movement over a long time for billing.
 31

CHAPTER 9

FUTURE SCOPE

The robot can be made more miniature in size. One of the

limitation of the robot is range and ordering. The module for the range here we
used has a limited range and it can be operated for more tables in restaurants. To
increase the range many other modules such as Wi-Fi and ZigBee with pre-
programed LCD display can be used. In future, the automatic billing and
payment application can be added.
 32

APPENDIX

1. Ultrasonic Sensor Calculation

HC-SR04 is a commonly used module for non-contact distance

measurement for distances from 2cm to 400cm. It uses sonar (like bats and
dolphins) to measure distance with high accuracy and stable readings. It consists
of an ultrasonic transmitter, receiver and control circuit. The transmitter
transmits short bursts which gets reflected by target and are picked up by the
receiver. The time difference between transmission and reception of ultrasonic
signals is calculated. Using the speed of sound and ‘Speed = Distance/Time'
equation, the distance between the source and target can be easily calculated.

Distance Calculation:

Time taken by pulse is actually for to and from travel of ultrasonic signals,
while we need only half of this. Therefore time is taken as time/2.

Distance = Speed * Time/2

Speed of sound at sea level = 343 m/s or 34300 cm/s

Thus, Distance = 17150 * Time (unit cm)

2. Program – Arduino

The program given below is used for the serving robot, which is
used for serving customer from kitchen.

const int pingPin1 = A1;

const int echoPin1 = A0;

const int pingPin2 = A2;

const int echoPin2 = A3;

 33

const int pingPin3 = A4;

const int echoPin3 = A5;

void setup() {

Serial.begin(9600);

pinMode(2,OUTPUT);

pinMode(6,OUTPUT);

pinMode(7,OUTPUT);

pinMode(5,OUTPUT);

void loop() {

long duration1, inches1, cm1;

pinMode(pingPin1, OUTPUT);

digitalWrite(pingPin1, LOW);

delayMicroseconds(2);

digitalWrite(pingPin1, HIGH);

delayMicroseconds(10);

digitalWrite(pingPin1, LOW);

pinMode(echoPin1, INPUT);

duration1 = pulseIn(echoPin1, HIGH);

cm1 = microsecondsToCentimeters(duration1);

if(cm1<15)
 34

digitalWrite(5,HIGH);

digitalWrite(6,LOW);

digitalWrite(7,HIGH);

digitalWrite(2,LOW);

delay(100);

long duration2, inches2, cm2;

pinMode(pingPin2, OUTPUT);

digitalWrite(pingPin2, LOW);

delayMicroseconds(2);

digitalWrite(pingPin2, HIGH);

delayMicroseconds(10);

digitalWrite(pingPin2, LOW);

pinMode(echoPin2, INPUT);

duration2 = pulseIn(echoPin2, HIGH);

cm2 = microsecondsToCentimeters(duration2);

if(cm2<15)

digitalWrite(5,LOW);

digitalWrite(6,HIGH);

digitalWrite(7,LOW);
 35

digitalWrite(2,HIGH);

long duration3, inches3, cm3;

pinMode(pingPin3, OUTPUT);

digitalWrite(pingPin3, LOW);

delayMicroseconds(2);

digitalWrite(pingPin3, HIGH);

delayMicroseconds(10);

digitalWrite(pingPin3, LOW);

pinMode(echoPin3, INPUT);

duration3 = pulseIn(echoPin3, HIGH);

cm3 = microsecondsToCentimeters(duration3);

if(cm3<15)

digitalWrite(5,LOW);

digitalWrite(6,HIGH);

digitalWrite(7,HIGH);

digitalWrite(2,LOW);

delay(100);

else

{
 36

digitalWrite(5,HIGH);

digitalWrite(6,HIGH);

digitalWrite(7,HIGH);

digitalWrite(2,HIGH);

long microsecondsToInches(long microseconds) {

return microseconds / 74 / 2;

long microsecondsToCentimeters(long microseconds) {

return microseconds / 29 / 2;

}
 37

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