Animation Robot Roomba
Project: Autonomous Robotic Vacuum Cleaner
Autonomous Robotic Vacuum Cleaner
Draft System Specification
Autonomous Robotic Vacuum Cleaner
Draft System Specification
Principle of Operation
The operation of the robotic vacuum is going to be based on retrieving data from an array of inputs that will tell the condition of the floor space around the vacuum. These inputs include sonar, touch sensors, and a digital compass. Each of these parts will be described in further detail further on later in the documentation. The data from these inputs will be fed into the chip(s) which through its software program will decide which direction the vacuum should move by sending the control signals out to the drive motors.
[pic]Figure 1. The initial block diagram for the Autonomous Robotic Vacuum Cleaner
Specification of the Blocks: There are 14 blocks in the block diagram of the robotic vacuum solution (Figure 1). The boxes in the figure indicate the action taken. Their functions are described below.
Sonar Conversion and Filter: The sonar block, representative of the sonar sensor network, is comprised of transmitting and receiving signals to detect objects. (Note: The suggested model that will be discussed is the SRF04 Ranger from Acroname Products).
After the battery supplies a voltage supply to the sensors, a trigger pulse input is needed to start the ranging. The processor will wait for an active low of the trigger pulse to come in. The sonar sensor will then transmit an ultrasonic signal at about 40 KHz in a burst of cycles. It will then raise its “echo line” on high, and then listen for an “echo”. The processor will start the timing when the echo line is raised. An echo line is a pulse whose width is proportional to the distance to the object and an echo will occur after it bounces off an object. As soon as the receiver of the sonar sensor receives an echo, the echo line
Autonomous Robotic Vacuum Cleaner
Draft System Specification
Autonomous Robotic Vacuum Cleaner
Draft System Specification
Principle of Operation
The operation of the robotic vacuum is going to be based on retrieving data from an array of inputs that will tell the condition of the floor space around the vacuum. These inputs include sonar, touch sensors, and a digital compass. Each of these parts will be described in further detail further on later in the documentation. The data from these inputs will be fed into the chip(s) which through its software program will decide which direction the vacuum should move by sending the control signals out to the drive motors.
[pic]Figure 1. The initial block diagram for the Autonomous Robotic Vacuum Cleaner
Specification of the Blocks: There are 14 blocks in the block diagram of the robotic vacuum solution (Figure 1). The boxes in the figure indicate the action taken. Their functions are described below.
Sonar Conversion and Filter: The sonar block, representative of the sonar sensor network, is comprised of transmitting and receiving signals to detect objects. (Note: The suggested model that will be discussed is the SRF04 Ranger from Acroname Products).
After the battery supplies a voltage supply to the sensors, a trigger pulse input is needed to start the ranging. The processor will wait for an active low of the trigger pulse to come in. The sonar sensor will then transmit an ultrasonic signal at about 40 KHz in a burst of cycles. It will then raise its “echo line” on high, and then listen for an “echo”. The processor will start the timing when the echo line is raised. An echo line is a pulse whose width is proportional to the distance to the object and an echo will occur after it bounces off an object. As soon as the receiver of the sonar sensor receives an echo, the echo line