3
4
5
METHODOLOGY
3.1 Flow Chart
3.1.1 Collect the Information 3.1.2 Study and design basic structure
3.1.3 Construct basic body with specification 3.1.4 Construct the PIC controller circuit
3.1.5 Construct the movement coding 3.1.6 Apply sonar sensor to PIC and test
3.1.7 Test movement 3.1.8 Finalize the work
3.2 Project Implementation
3.2.1 Mobile Robot Algorithm Design 3.3
Controller 3.3.1
Advantages PIC Microcontroller 3.3.2 Comparison Key Feature of PIC
3.4 PIC Programming Fundamental
3.4.1 Advantage of C language 3.4.2 Basic C Structure for PIC
3.4.3 Pre-processor Directive 3.4.4 Main Program
3.4.5 Functions
3.5 Ultrasonic Sensor
3.5.1 The MaxSonar High Performance Sonar 3.5.2 MaxSonar-EZ1 Feature
3.5.3 MaxSonar-EZ1 Benefits
ANALYSIS AND RESULT
4.1 Chassis development
4.1.1 Raw Material of Mechanical. 4.2
Circuit development 4.2.1 List of electronic component and device
4.3 Product Overview
4.4 Programming development
4.4.1 Programming code 4.5
Ultrasonic and PIC analysis
CONCLUSION AND RECOMENDATION 5.1
Conclusion 5.2
Future Work and Recommendation 18
19 20
20 20
20 21
22 23
23 23
24 24
25 26
27 27
28 28
28 29
29 30
30 31
32 32
35 35
40 41
44 46
48
50 50
51
REFERENCES APPENDIX
i. Appendix A
ii. Appendix B
iii. Appendix C
53
55 56
59
LIST OF TABLES
NO. TABLE TITLE
PAGE
2.1 Comparison of sensor
12 2.2
Comparison of material basic body 13
2.3 Comparison of microcontroller
14 2.4
Comparison of batteries 15
2.5 Comparison of motor
16 2.6
Summary 17
3.1 PIC Device Feature
26 3.2
Basic C programming 29
4.1 Raw material for mechanical part
35 4.2
List of electronic and electric part. 40
4.3 Table of analogue output voltage ultrasonic analysis
48
LIST OF FIGURES
NO TITLE
PAGE
2.1 Rectangular algorithm
7 2.2
State chart of the project design 8
2.3 The koala robot in its commercial version
9 2.4
Mobile robot shape 10
2.5 Wall following
10 2.6
Koala robot modified and equiped with 2DOF arm 10
2.7 Autonomous vacuum cleaner algorithm
11 2.8
Infrared sensor 12
2.9 Ultrasounic sensor
12 2.10
Acrylic plate 13
2.11 Aluminium
13 2.12
68HC11 14
2.13 PIC 16F877
14 2.14
12v lead acid 15
2.15 LiPo 11.1V
15 2.16
Servo motor 16
2.17 Small DC
16 3.1
Flow chart of the methodology 19
3.2 Main window to design the program code
22 3.3
Zigzag algorithm 24
3.4 PIC16F877A Circuit Board
25 3.5
Pin diagram PIC 25
3.6 Block Diagram of MaxSonar-EZ1
30 4.1
Basic frame design 33
4.2 Servo motor bracket
33 4.3
Top view of basic frame 34
4.4 Bottom view of basic frame
34 4.5
Microcontroller circuit 36
4.6 Microcontroller circuit layout
37 4.7
Motor and vacuum driver circuit 38
4.8 Motor and vacuum driver circuit layout
39 4.9
Sonar base plate 39
4.10 Mobile Vacuum Cleaner Robot overview
41 4.11
Final view of product 43
4.12 Flow chart of programming code
44 4.13
Graph ultrasonic range finder analysis. 49
CHAPTER 1
INTRODUCION
Before starting the project, the basic knowledge of the water tank level monitoring system should understand. This chapter is discussing briefly the overall
requirement that needed to implementing this project.
1.1 Project Overview
