Tyre Lifting System For Mobile Robot.
ABSTRACT
This project focuses on the development of Tyre Lifting System for mobile robot.
Mainly, the Tyre Lifting System development consists of three main parts:
mechanical part, electrical and electronic part, and programming part. As for
mechanical part is a base design, and any mechanical relevant part while for
electronic part is a circuit design for sensor and PIC16F877A. The development for
the lifting tyre platform used machining process and fabrication. The electronic
circuit constructed and then attached to a microcontroller which acts as the tyre
lifting main controller for the tyre movement.The main idea of the mechanism is to
lift the tyres when detecting an obstacle. The inputs are received from sensors which
are mounted at the mobile robot platform. In this project, microcontroller is used to
perform the step of lifting tyre sequence.
i
ABSTRAK
Projek ini menumpukan pada pembangunan sistem mengangkat tayar dinamik untuk
robot mudah alih. Pembangunan sistem mengangkat tayar mengandungi tiga
bahagian utama: bahagian mekanikal, bahagian elektrik dan elektronik, dan bahagian
pengaturcaraan. Bahagian mekanikal meliputi reka bentuk badan, reka dan manamana bahagian berkaitan mekanikal manakala untuk bahagian elektronik meliputi
rekabentuk litar untuk penderia dan mikropengawal. Pembangunan untuk platform
mengangkat tayar mengunakan proses mesin dan proses pembuatan. Litar elektronik
dibina dan disambungkan dengan mikropengawal dan bertindak sebagai pengawal
utama untuk pergerakan mengangkat tayar. Mekanisme utama sistem ini adalah
untuk mengangkat tayar apabila mengesan halangan. Input-input diterima dari
pengesan-pengesan yang dipasang pada platform robot mudah alih. Dalam projek ini,
mikropengawal digunakan untuk mengawal proses mengangkat tayar.
ii
DEDICATION
Specially dedicated to
my beloved parents who have encouraged, guided and inspired me
throughout my journey of education
iii
ACKNOWLEDGEMENT
Alhamdulillah, praise be to Allah for His blessings and giving me the strength along
the challenging journey of completing the project. Primarily, I would like to take this
opportunity to express my deepest gratitude towards my project supervisor, thank my
supervisor, Mr. Mohd Hisham b. Nordin who has persistently and determinedly
assisted me during the project. It would have been very hard to complete this project
without the passionate supports and guidance encouragement and advices given by
him.
My outmost thanks also go to my family who has given me support throughout my
academic years. Without them, I might not be able to become who I am today. I am
grateful to have love affection and care from all of my family members as well. My
fellow friends should also be recognized for their continuous support and
encouragement.
My sincere appreciation also extends to my entire course mate and others who have
provided assistance at various occasions. Their views and tips are useful definitely.
Last but not least, thanks to individuals that has contributed either directly or
indirectly to make this thesis project.
iv
TABLE OF CONTENT
Abstract
i
Abstrak
ii
Dedication
iii
Acknowledgement
iv
Table of Content
v
List of Table
viii
List of Figures
ix
List Abbreviations
x
1.0
INTRODUCTION
1
1.1
Background
1
1.2
Problem statement
2
1.3
Objectives
2
1.4
Scope of Project
2
2.0
LITERATURE REVIEW
3
2.1
Introduction
3
2.2
Mobile Robot
3
2.2.1
Classification
4
2.2.2
Mobile Robot Navigation
4
2.2.2.1
Manual robot or Tele-Op
4
2.2.2.2
Guarded tele-op
5
2.2.2.3 Line-following robot
5
2.2.2.4
Autonomously randomized robot
5
2.2.2.5
Autonomously guided robot
5
2.2.2.6
Sliding autonomy
6
2.3
Movement
6
2.4
Lifting Tire Mechanisms
7
2.5
Detection Mechanism
10
2.6
Programmable controller
10
v
2.6.1
Microcontroller
11
2.6.1.1
Central Processing Unit (CPU)
11
2.6.2
Programmable Logic Controller (PLC)
13
2.7
Summary of Chapter 2
13
3.0
METHODOLOGY
14
3.1
Introduction
14
3.2
Development process flowchart
15
3.2.1
Explanation of the development process flowchart
16
3.2.2
PSM 1 and 2 Gantt Chart
17
3.2.3
Fabrication Process for The Platform
18
3.2.4
Circuit Design
18
3.2.5
Programming
18
3.2.6
Testing And Analysis
19
3.3
Parts Selection
20
3.3.1
Mechanical Structure Parts
20
3.3.1.1
Tire
20
3.3.1.2
Aluminium Angle
21
3.3.1.3
Acrylic
22
3.3.2
Electrical and Electronic Parts
23
3.3.2.1
Battery
23
3.3.2.2
DC Motor
24
3.3.2.3
Microcontroller
25
3.3.2.4
Relay
26
3.3.2.5
Limit switch
27
3.3.2.6
Transistor
28
3.3.2.7
Protoboard
29
3.3.2.8
Voltage Regulator
30
3.3.2.9
Capacitor
31
3.4
Preliminary Design of the Project
32
3.4.1
Design
32
3.4.2
Block Diagram
33
vi
4.0
DESIGN AND DEVELOPMENT
34
4.1
Tire Lifting Platform Development
34
4.1.1
Tire lifting base design
35
4.1.1.1
Base machining process
36
4.1.2
Tire Lifting Handle Design
39
4.1.3
Sensor
41
4.2
Tire Lifting Electronic Circuit Development
43
4.3
Programming Development
46
4.3.1
Write program using microC 8.2
47
4.3.2
Simulating using Proteus ISIS 7.6 SP4 for PIC16F8777A
52
4.4
Conclusion
55
5.0
RESULT AND DISCUSSION
56
5.1
Result
56
5.2
Tire Lifting System Experiment
57
5.2.1
Initial Testing
57
5.2.1.1
Stability
57
5.2.2
Circuit testing
59
5.2.3
Obstacle Sensor Experiment
60
5.3
Discussion
64
5.3.1
Initial testing Discussion
64
5.3.1.1
Stability Discussion
64
5.3.2
Circuit discussion
65
5.3.3
Obstacle Sensor Discussion
65
5.4
Conclusion
66
6.0
CONCLUSION AND FUTURE WORK
67
REFERENCES
68
vii
LIST OF TABLES
2.1
Advantages and Disadvantages of Programmable Control
13
4.1
Electronic Component
44
4.2
Input
44
4.3
Output
45
5.1
Size of The Cable Wire’s Casing
63
viii
LIST OF FIGURES
2.1
Moving Patterns on Stairs.
8
2.2
Mobile robot with Forklift-Wheels.
8
2.3
Active obstacle passing mechanism in a magnetic wheeled wall
9
climbing robot
2.4
Magnetic wheeled robot Fischer
9
3.1
Development Flow Chart
15
3.2
PSM 1 and PSM 2 Gantt chart.
17
3.3
Tire
19
3.4
Aluminium angle
21
3.5
Acrylic
22
3.6
12 volt valve regulated lead-acid rechargeable battery
23
3.7
12 volt geared dc motor.
24
3.8
PIC start up kit
25
3.9
12V Relay
26
3.10
limit switch
27
3.11
Transistor
28
3.12
Protoboard
29
3.13
Voltage Regulator
30
3.14
Capacitor
31
3.15
Design
32
3.16
System block Diagram
33
4.1
Engineering drawing of the tire lifting platform
35
4.2
Cutting using Hand Saw
36
4.3
Assemble the base
36
4.4
Drilling the Hole
37
4.5
Hole for the DC motor
37
4.6
Mount the motor
37
4.7
Motor with the base
37
ix
4.8
56 cm aluminium angle
38
4.9
Battery holder
38
4.10
closed view of the battery holder
38
4.11
lifting handle part
39
4.12
assemble of the tire
39
4.13
lifting handle
39
4.14
drilling the acrylic
40
4.15
hole for the
40
4.16
making the thread
40
4.17
coupling part
40
4.18
L shape of the acrylic
41
4.19
Attachment of the sensor
41
4.20
2 piece of the sensor holder
41
4.21
limit switch attached.
42
4.22
limit switch position
42
4.23
closed view of the limit switch
42
4.24
electronic circuit
44
4.25
main command in microc
47
4.26
starting the microC
49
4.27
new project
49
4.28
setup the project
50
4.29
writing the program
50
4.30
build the project
51
4.31
success message
51
4.32
start the proteus
52
4.33
‘P’ symbol
52
4.34
search the component
53
4.35
placed the PIC
53
4.36
circuit diagram
54
4.37
select the hex file
54
4.38
simulation of the circuit
55
x
5.1
tire lifting platform
56
5.2
front tires lift
58
5.3
middle tires lift
58
5.4
back tires lift
58
5.5
11.48V
59
5.6
4.99V
59
5.7
5V input
60
5.8
small and round obstacle
61
5.9
medium and square obstacle
61
5.10
high level obstacle
61
5.11
failed detection of obstacle
62
5.12
measurements the height
62
5.13
measurements the width
63
5.14
The actual size of the obstacle
64
xi
LIST OF ABBREVIATIONS
AGV
-
Automated Guided Vehicle
ALU
-
Arithmetic Logic Unit
CPU
-
Central Processing Unit
D.C.
-
Direct Current
I/O
-
Input / Output
IR
-
Infrared
LED
-
Light Emitting Diode
PC
-
Program Counter
PCB
-
Printed Circuit Board
PIC
-
Peripheral Interfaces Controllers
xii
CHAPTER 1
INTRODUCTION
1.1
Background
A mobile robot is an automatic machine that is capable of movement in a given
environment. Mobile robots have the capability to move around in their environment and
are not fixed to one physical location. Mobile robotics the branch of robotics concerned
with movable robot systems that are able to locomote within an environment or terrain.
Mobile robotics and robots are mainly used in research on navigation and exploration,
with applications for autonomous guided vehicles.
A few advantages of mobile robot are it is suitable to transport material. It can be useful
to move in dangerous location. Besides that, it can be use in research and exploration
task. Mobile robot has been use in performing variety of task and can move in different
location. The purpose of this research is to create mechanism of lifting tire for mobile
robot platform.
1
1.2
Problem Statement
Nowadays, mobile robot faces many critical problems and challenges in the technology
today. The problems that usually occur are the mobile robot not stable when moving
across an obstacle.
This mobile robot has a disadvantage when crossing the cable wire. The wheel will crash
with the obstacle and make the mobile robot unstable. The purpose of this research is to
create mechanism of lifting tire including mechanical structure, circuit and programming
for the lifting system.
1.3
Objectives
The objectives of the project are:
a) To design and create tire lifting system for mobile robot in order to overcome the
small obstacle like cable wire.
1.4
Scope of project
Scope that is covered for this project:
a)
Mechanical design for tire lifting system for mobile robot platform.
b)
Mechatronics for tire lifting system for mobile robot circuits.
c)
Sensors for tire lifting system for mobile robot
d)
Programming for PIC.
2
CHAPTER 2
LITERATURE REVIEW
2.1
Introduction
This chapter reviews some of the previous works that have been done in the field of
mobile robot technology. This section highlighted the mobile robot, classification, type
of mobile robot navigation, and previous research including mobile robot development,
problem that faced and mechanism of lifting tire, the common applications of lifting tire
method for the mobile robot and analysis on the tire lifting the method as well as design
of effective design for the mobile robot.
2.2
Mobile Robot
Mobile robots have the capability to move around in their environment and are not fixed
to one physical location. Mobile robot is any autonomous mobile machine that interacts
with its environment through sensors, and attempts to achieve some objective or a small
robot that have capability to move around in their environment and not stick to certain
location. It is also can perform desired tasks in unstructured environments without
continuous human guidance.
3
The autonomous robot are capable of gain information about the environment, work for
an extended period, move either all or part of itself throughout its operating environment
without human assistance and avoid situations that are harmful to peoples, properties,
and itself. It can be found in industry, military, and security environment. Other than
that, it also appears in public consumers for entertainment or to perform certain tasks
like vacuum cleaning or mowing.
2.2.1
Classification
The mobile robot can be classified by the environment in which it travel and device that
they use to move. First the environment in which they travel can be divide by 3 that is
the land or home robot, aerial robots, and underwater robots. Second, the devise that
they use divided into legged robot, wheeled robot, and tracks. In this project, the
development of the project is based on the device use to move that is wheeled robot that
moves in land environment.
2.2.2
Mobile Robot Navigation
There are many types of mobile robot navigation:
2.2.2.1 Manual Remote or Tele-op
A manually tele-op'd robot is totally under control of a driver with a joystick or other
control device. The device may be plugged directly into the robot, may be a wireless
joystick, or may be an accessory to a wireless computer or other controller. A tele-op'd
robot is typically used to keep the operator out of harm's way. Examples of manual
remote robots include Foster-Miller's Talon, iRobot's PackBot and KumoTek's MK-705
Roosterbot.
4
2.2.2.2 Guarded Tele-op
A guarded tele-op robot has the ability to sense and avoid obstacles but will otherwise
navigate as driven, like a robot under manual tele-op. Few if any mobile robots offer
only guarded tele-op.
2.2.2.3 Line-following Robot
Some of the earliest Automated Guided Vehicles (AGVs) were line following mobile
robots. They might follow a visual line painted or embedded in the floor or ceiling or an
electrical wire in the floor. Most of these robots operated a simple "keep the line in the
center sensor" algorithm. They could not circumnavigate obstacles; they just stopped and
waited when something blocked their path. Many examples of such vehicles are still
sold, by Transbotics, FMC, Egemin, HK Systems and many other companies.
2.2.2.4 Autonomously randomized robot
Autonomous robots with random motion basically bounce off walls, whether those walls
are sensed with physical bumpers like the Roomba cleaners or with electronic sensors
like the Friendly Robotics lawn mower. The simple algorithm of bump and turn 30
degrees leads eventually to coverage of most or all of a floor or yard surface.
2.2.2.5 Autonomously guided robot
An autonomously guided robot knows at least some information about where it is and
how to reach various goals and or waypoints along the way. "Localization" or
knowledge of its current location is calculated by one or more means, using sensors such
motor encoders, vision, Stereopsis, lasers and global positioning systems. Positioning
systems often use triangulation, relative position and/or Monte-Carlo/Markov
localization to determine the location and orientation of the platform, from which it can
plan a path to its next waypoint or goal. It can gather sensor readings that are time- and
5
location-stamped, so that a hospital, for instance, can know exactly when and where
radiation levels exceeded permissible levels. Such robots are often part of the wireless
enterprise network, interfaced with other sensing and control systems in the building.
For instance, the PatrolBot security robot responds to alarms, operates elevators and
notifies the command center an incident arises. Other autonomously guided robots
include the SpeciMinder and the Tug delivery robots for hospital labs, though the latter
actually has people at the ready to drive the robot remotely when its autonomy fails. The
Tug sends a letter to its tech support person, who then takes the helm and steers it over
the Internet by looking through a camera low in the base of the robot.
2.2.2.6 Sliding autonomy
More capable robots combine multiple levels of navigation under a system called sliding
autonomy. Most autonomously guided robots, such as the HelpMate hospital robot, also
offer a manual mode. The Mobile Robot Sinside guidance system, which is used in the
ADAM, PatrolBot, Speci-Minder, MapperBot and a number of other robots, offers full
sliding autonomy, from manual to guard to autonomous modes.
2.3
Movement
A recent research study by Mohd Khairul, (2008) showed that the objectives of the
project that he develop to design and construct a mobile robot that can following line and
enable to approach the objective area. The mobile robot programmed able to drive the
mouse straight ahead and to make clean right or left turn at any junction while following
the line in the right speed. Four IR transmitters and receivers placed at the center of the
front detection circuit used to make sure the mobile robot moving by following the line.
The mobile robot can do task like exploration and navigation. Based on the previous
development by the S Datta,R.Ray and dr Banerji, the objective of their research is to
develop a vehicle that can navigate autonomously and transport jobs and tools in
manufacturing environment. As a result, they develop the Autonomous Mobile Robot
6
with Manipulator for the Manufacturing Environment. Besides that, in 1998, David
P.Anderson also create small mobile robot that can be use to exploring human habitats.
Analysis of the research on a mobile robot for handling hazardous chemical by Khairul
(2008) claim that modification needed in order to improve the mobile robot. First, the
mobile robot need more powerful high torque motor applied with the lighter body
structure to improve the robot movement. Mohd Khairul,K (2008) identified that the
stability is important thing in the design of the robot to give better result of movement.
In addition improvement in programming will give better result in the mobility of the
robot.
2.4
Lifting Tire Mechanisms
Mobile robot has been introduced into the industry to do many tasks. Forecast indicates
that this trend of using mobile robot will continue for the foreseeable future. Early
research, the application research of mobile robots with forklift-driving-wheels capable
to ascend and descend stairs by the Hirofumi and Noriyoshi in 1999 was concern about
the mechanism in lifting the tire of mobile robot.
In a report on a specific case, Hirofumi and Noriyoshi (1999) state that mechanism of
lifting tire for mobile robot can be use to ascending the stair and descend stairs. The
mobile robot with Forklift-Wheels capable to ascend and descend stairs is shown in
figure 2. The FDW robot mobile robot with Forklift-Driving-Wheels capable to ascend
and descend stairs is divided into three parts (Body, Front Forklift-Wheels, and Rear
Forklift-Wheels).Those forklifts have driving wheels. The robot can move up and down
by the front and rear forklifts, and also it can be transferred by using these through the
stairs and the step.
7
This research in develop the mobile robot that can lift the tire is as an alternative method
to cross the obstacle. The Forklift system is a good mechanism to lift the tire. This
system can be useful to be use for the mobile robot to cross the obstacle.
Figure 2.1: Moving patterns on stairs. (Hirofumi and Noriyoshi 1999)
Figure 2.2 Mobile robot with Forklift-Wheels. (Hirofumi and Noriyoshi 1999)
Besides that, the research of a robot that capable to cross the obstacle when climbing the
wall describe by the Fischer, F. Tâche, and R. Siegwart (2007) under the title magnetic
wheeled robots that can pass difficult obstacles (ridge-type).For passing even more
difficult obstacles, some of these robots are equipped with special mechanisms within
their structure. This robot also uses linear movements, but needs fewer actuators and is
8
This project focuses on the development of Tyre Lifting System for mobile robot.
Mainly, the Tyre Lifting System development consists of three main parts:
mechanical part, electrical and electronic part, and programming part. As for
mechanical part is a base design, and any mechanical relevant part while for
electronic part is a circuit design for sensor and PIC16F877A. The development for
the lifting tyre platform used machining process and fabrication. The electronic
circuit constructed and then attached to a microcontroller which acts as the tyre
lifting main controller for the tyre movement.The main idea of the mechanism is to
lift the tyres when detecting an obstacle. The inputs are received from sensors which
are mounted at the mobile robot platform. In this project, microcontroller is used to
perform the step of lifting tyre sequence.
i
ABSTRAK
Projek ini menumpukan pada pembangunan sistem mengangkat tayar dinamik untuk
robot mudah alih. Pembangunan sistem mengangkat tayar mengandungi tiga
bahagian utama: bahagian mekanikal, bahagian elektrik dan elektronik, dan bahagian
pengaturcaraan. Bahagian mekanikal meliputi reka bentuk badan, reka dan manamana bahagian berkaitan mekanikal manakala untuk bahagian elektronik meliputi
rekabentuk litar untuk penderia dan mikropengawal. Pembangunan untuk platform
mengangkat tayar mengunakan proses mesin dan proses pembuatan. Litar elektronik
dibina dan disambungkan dengan mikropengawal dan bertindak sebagai pengawal
utama untuk pergerakan mengangkat tayar. Mekanisme utama sistem ini adalah
untuk mengangkat tayar apabila mengesan halangan. Input-input diterima dari
pengesan-pengesan yang dipasang pada platform robot mudah alih. Dalam projek ini,
mikropengawal digunakan untuk mengawal proses mengangkat tayar.
ii
DEDICATION
Specially dedicated to
my beloved parents who have encouraged, guided and inspired me
throughout my journey of education
iii
ACKNOWLEDGEMENT
Alhamdulillah, praise be to Allah for His blessings and giving me the strength along
the challenging journey of completing the project. Primarily, I would like to take this
opportunity to express my deepest gratitude towards my project supervisor, thank my
supervisor, Mr. Mohd Hisham b. Nordin who has persistently and determinedly
assisted me during the project. It would have been very hard to complete this project
without the passionate supports and guidance encouragement and advices given by
him.
My outmost thanks also go to my family who has given me support throughout my
academic years. Without them, I might not be able to become who I am today. I am
grateful to have love affection and care from all of my family members as well. My
fellow friends should also be recognized for their continuous support and
encouragement.
My sincere appreciation also extends to my entire course mate and others who have
provided assistance at various occasions. Their views and tips are useful definitely.
Last but not least, thanks to individuals that has contributed either directly or
indirectly to make this thesis project.
iv
TABLE OF CONTENT
Abstract
i
Abstrak
ii
Dedication
iii
Acknowledgement
iv
Table of Content
v
List of Table
viii
List of Figures
ix
List Abbreviations
x
1.0
INTRODUCTION
1
1.1
Background
1
1.2
Problem statement
2
1.3
Objectives
2
1.4
Scope of Project
2
2.0
LITERATURE REVIEW
3
2.1
Introduction
3
2.2
Mobile Robot
3
2.2.1
Classification
4
2.2.2
Mobile Robot Navigation
4
2.2.2.1
Manual robot or Tele-Op
4
2.2.2.2
Guarded tele-op
5
2.2.2.3 Line-following robot
5
2.2.2.4
Autonomously randomized robot
5
2.2.2.5
Autonomously guided robot
5
2.2.2.6
Sliding autonomy
6
2.3
Movement
6
2.4
Lifting Tire Mechanisms
7
2.5
Detection Mechanism
10
2.6
Programmable controller
10
v
2.6.1
Microcontroller
11
2.6.1.1
Central Processing Unit (CPU)
11
2.6.2
Programmable Logic Controller (PLC)
13
2.7
Summary of Chapter 2
13
3.0
METHODOLOGY
14
3.1
Introduction
14
3.2
Development process flowchart
15
3.2.1
Explanation of the development process flowchart
16
3.2.2
PSM 1 and 2 Gantt Chart
17
3.2.3
Fabrication Process for The Platform
18
3.2.4
Circuit Design
18
3.2.5
Programming
18
3.2.6
Testing And Analysis
19
3.3
Parts Selection
20
3.3.1
Mechanical Structure Parts
20
3.3.1.1
Tire
20
3.3.1.2
Aluminium Angle
21
3.3.1.3
Acrylic
22
3.3.2
Electrical and Electronic Parts
23
3.3.2.1
Battery
23
3.3.2.2
DC Motor
24
3.3.2.3
Microcontroller
25
3.3.2.4
Relay
26
3.3.2.5
Limit switch
27
3.3.2.6
Transistor
28
3.3.2.7
Protoboard
29
3.3.2.8
Voltage Regulator
30
3.3.2.9
Capacitor
31
3.4
Preliminary Design of the Project
32
3.4.1
Design
32
3.4.2
Block Diagram
33
vi
4.0
DESIGN AND DEVELOPMENT
34
4.1
Tire Lifting Platform Development
34
4.1.1
Tire lifting base design
35
4.1.1.1
Base machining process
36
4.1.2
Tire Lifting Handle Design
39
4.1.3
Sensor
41
4.2
Tire Lifting Electronic Circuit Development
43
4.3
Programming Development
46
4.3.1
Write program using microC 8.2
47
4.3.2
Simulating using Proteus ISIS 7.6 SP4 for PIC16F8777A
52
4.4
Conclusion
55
5.0
RESULT AND DISCUSSION
56
5.1
Result
56
5.2
Tire Lifting System Experiment
57
5.2.1
Initial Testing
57
5.2.1.1
Stability
57
5.2.2
Circuit testing
59
5.2.3
Obstacle Sensor Experiment
60
5.3
Discussion
64
5.3.1
Initial testing Discussion
64
5.3.1.1
Stability Discussion
64
5.3.2
Circuit discussion
65
5.3.3
Obstacle Sensor Discussion
65
5.4
Conclusion
66
6.0
CONCLUSION AND FUTURE WORK
67
REFERENCES
68
vii
LIST OF TABLES
2.1
Advantages and Disadvantages of Programmable Control
13
4.1
Electronic Component
44
4.2
Input
44
4.3
Output
45
5.1
Size of The Cable Wire’s Casing
63
viii
LIST OF FIGURES
2.1
Moving Patterns on Stairs.
8
2.2
Mobile robot with Forklift-Wheels.
8
2.3
Active obstacle passing mechanism in a magnetic wheeled wall
9
climbing robot
2.4
Magnetic wheeled robot Fischer
9
3.1
Development Flow Chart
15
3.2
PSM 1 and PSM 2 Gantt chart.
17
3.3
Tire
19
3.4
Aluminium angle
21
3.5
Acrylic
22
3.6
12 volt valve regulated lead-acid rechargeable battery
23
3.7
12 volt geared dc motor.
24
3.8
PIC start up kit
25
3.9
12V Relay
26
3.10
limit switch
27
3.11
Transistor
28
3.12
Protoboard
29
3.13
Voltage Regulator
30
3.14
Capacitor
31
3.15
Design
32
3.16
System block Diagram
33
4.1
Engineering drawing of the tire lifting platform
35
4.2
Cutting using Hand Saw
36
4.3
Assemble the base
36
4.4
Drilling the Hole
37
4.5
Hole for the DC motor
37
4.6
Mount the motor
37
4.7
Motor with the base
37
ix
4.8
56 cm aluminium angle
38
4.9
Battery holder
38
4.10
closed view of the battery holder
38
4.11
lifting handle part
39
4.12
assemble of the tire
39
4.13
lifting handle
39
4.14
drilling the acrylic
40
4.15
hole for the
40
4.16
making the thread
40
4.17
coupling part
40
4.18
L shape of the acrylic
41
4.19
Attachment of the sensor
41
4.20
2 piece of the sensor holder
41
4.21
limit switch attached.
42
4.22
limit switch position
42
4.23
closed view of the limit switch
42
4.24
electronic circuit
44
4.25
main command in microc
47
4.26
starting the microC
49
4.27
new project
49
4.28
setup the project
50
4.29
writing the program
50
4.30
build the project
51
4.31
success message
51
4.32
start the proteus
52
4.33
‘P’ symbol
52
4.34
search the component
53
4.35
placed the PIC
53
4.36
circuit diagram
54
4.37
select the hex file
54
4.38
simulation of the circuit
55
x
5.1
tire lifting platform
56
5.2
front tires lift
58
5.3
middle tires lift
58
5.4
back tires lift
58
5.5
11.48V
59
5.6
4.99V
59
5.7
5V input
60
5.8
small and round obstacle
61
5.9
medium and square obstacle
61
5.10
high level obstacle
61
5.11
failed detection of obstacle
62
5.12
measurements the height
62
5.13
measurements the width
63
5.14
The actual size of the obstacle
64
xi
LIST OF ABBREVIATIONS
AGV
-
Automated Guided Vehicle
ALU
-
Arithmetic Logic Unit
CPU
-
Central Processing Unit
D.C.
-
Direct Current
I/O
-
Input / Output
IR
-
Infrared
LED
-
Light Emitting Diode
PC
-
Program Counter
PCB
-
Printed Circuit Board
PIC
-
Peripheral Interfaces Controllers
xii
CHAPTER 1
INTRODUCTION
1.1
Background
A mobile robot is an automatic machine that is capable of movement in a given
environment. Mobile robots have the capability to move around in their environment and
are not fixed to one physical location. Mobile robotics the branch of robotics concerned
with movable robot systems that are able to locomote within an environment or terrain.
Mobile robotics and robots are mainly used in research on navigation and exploration,
with applications for autonomous guided vehicles.
A few advantages of mobile robot are it is suitable to transport material. It can be useful
to move in dangerous location. Besides that, it can be use in research and exploration
task. Mobile robot has been use in performing variety of task and can move in different
location. The purpose of this research is to create mechanism of lifting tire for mobile
robot platform.
1
1.2
Problem Statement
Nowadays, mobile robot faces many critical problems and challenges in the technology
today. The problems that usually occur are the mobile robot not stable when moving
across an obstacle.
This mobile robot has a disadvantage when crossing the cable wire. The wheel will crash
with the obstacle and make the mobile robot unstable. The purpose of this research is to
create mechanism of lifting tire including mechanical structure, circuit and programming
for the lifting system.
1.3
Objectives
The objectives of the project are:
a) To design and create tire lifting system for mobile robot in order to overcome the
small obstacle like cable wire.
1.4
Scope of project
Scope that is covered for this project:
a)
Mechanical design for tire lifting system for mobile robot platform.
b)
Mechatronics for tire lifting system for mobile robot circuits.
c)
Sensors for tire lifting system for mobile robot
d)
Programming for PIC.
2
CHAPTER 2
LITERATURE REVIEW
2.1
Introduction
This chapter reviews some of the previous works that have been done in the field of
mobile robot technology. This section highlighted the mobile robot, classification, type
of mobile robot navigation, and previous research including mobile robot development,
problem that faced and mechanism of lifting tire, the common applications of lifting tire
method for the mobile robot and analysis on the tire lifting the method as well as design
of effective design for the mobile robot.
2.2
Mobile Robot
Mobile robots have the capability to move around in their environment and are not fixed
to one physical location. Mobile robot is any autonomous mobile machine that interacts
with its environment through sensors, and attempts to achieve some objective or a small
robot that have capability to move around in their environment and not stick to certain
location. It is also can perform desired tasks in unstructured environments without
continuous human guidance.
3
The autonomous robot are capable of gain information about the environment, work for
an extended period, move either all or part of itself throughout its operating environment
without human assistance and avoid situations that are harmful to peoples, properties,
and itself. It can be found in industry, military, and security environment. Other than
that, it also appears in public consumers for entertainment or to perform certain tasks
like vacuum cleaning or mowing.
2.2.1
Classification
The mobile robot can be classified by the environment in which it travel and device that
they use to move. First the environment in which they travel can be divide by 3 that is
the land or home robot, aerial robots, and underwater robots. Second, the devise that
they use divided into legged robot, wheeled robot, and tracks. In this project, the
development of the project is based on the device use to move that is wheeled robot that
moves in land environment.
2.2.2
Mobile Robot Navigation
There are many types of mobile robot navigation:
2.2.2.1 Manual Remote or Tele-op
A manually tele-op'd robot is totally under control of a driver with a joystick or other
control device. The device may be plugged directly into the robot, may be a wireless
joystick, or may be an accessory to a wireless computer or other controller. A tele-op'd
robot is typically used to keep the operator out of harm's way. Examples of manual
remote robots include Foster-Miller's Talon, iRobot's PackBot and KumoTek's MK-705
Roosterbot.
4
2.2.2.2 Guarded Tele-op
A guarded tele-op robot has the ability to sense and avoid obstacles but will otherwise
navigate as driven, like a robot under manual tele-op. Few if any mobile robots offer
only guarded tele-op.
2.2.2.3 Line-following Robot
Some of the earliest Automated Guided Vehicles (AGVs) were line following mobile
robots. They might follow a visual line painted or embedded in the floor or ceiling or an
electrical wire in the floor. Most of these robots operated a simple "keep the line in the
center sensor" algorithm. They could not circumnavigate obstacles; they just stopped and
waited when something blocked their path. Many examples of such vehicles are still
sold, by Transbotics, FMC, Egemin, HK Systems and many other companies.
2.2.2.4 Autonomously randomized robot
Autonomous robots with random motion basically bounce off walls, whether those walls
are sensed with physical bumpers like the Roomba cleaners or with electronic sensors
like the Friendly Robotics lawn mower. The simple algorithm of bump and turn 30
degrees leads eventually to coverage of most or all of a floor or yard surface.
2.2.2.5 Autonomously guided robot
An autonomously guided robot knows at least some information about where it is and
how to reach various goals and or waypoints along the way. "Localization" or
knowledge of its current location is calculated by one or more means, using sensors such
motor encoders, vision, Stereopsis, lasers and global positioning systems. Positioning
systems often use triangulation, relative position and/or Monte-Carlo/Markov
localization to determine the location and orientation of the platform, from which it can
plan a path to its next waypoint or goal. It can gather sensor readings that are time- and
5
location-stamped, so that a hospital, for instance, can know exactly when and where
radiation levels exceeded permissible levels. Such robots are often part of the wireless
enterprise network, interfaced with other sensing and control systems in the building.
For instance, the PatrolBot security robot responds to alarms, operates elevators and
notifies the command center an incident arises. Other autonomously guided robots
include the SpeciMinder and the Tug delivery robots for hospital labs, though the latter
actually has people at the ready to drive the robot remotely when its autonomy fails. The
Tug sends a letter to its tech support person, who then takes the helm and steers it over
the Internet by looking through a camera low in the base of the robot.
2.2.2.6 Sliding autonomy
More capable robots combine multiple levels of navigation under a system called sliding
autonomy. Most autonomously guided robots, such as the HelpMate hospital robot, also
offer a manual mode. The Mobile Robot Sinside guidance system, which is used in the
ADAM, PatrolBot, Speci-Minder, MapperBot and a number of other robots, offers full
sliding autonomy, from manual to guard to autonomous modes.
2.3
Movement
A recent research study by Mohd Khairul, (2008) showed that the objectives of the
project that he develop to design and construct a mobile robot that can following line and
enable to approach the objective area. The mobile robot programmed able to drive the
mouse straight ahead and to make clean right or left turn at any junction while following
the line in the right speed. Four IR transmitters and receivers placed at the center of the
front detection circuit used to make sure the mobile robot moving by following the line.
The mobile robot can do task like exploration and navigation. Based on the previous
development by the S Datta,R.Ray and dr Banerji, the objective of their research is to
develop a vehicle that can navigate autonomously and transport jobs and tools in
manufacturing environment. As a result, they develop the Autonomous Mobile Robot
6
with Manipulator for the Manufacturing Environment. Besides that, in 1998, David
P.Anderson also create small mobile robot that can be use to exploring human habitats.
Analysis of the research on a mobile robot for handling hazardous chemical by Khairul
(2008) claim that modification needed in order to improve the mobile robot. First, the
mobile robot need more powerful high torque motor applied with the lighter body
structure to improve the robot movement. Mohd Khairul,K (2008) identified that the
stability is important thing in the design of the robot to give better result of movement.
In addition improvement in programming will give better result in the mobility of the
robot.
2.4
Lifting Tire Mechanisms
Mobile robot has been introduced into the industry to do many tasks. Forecast indicates
that this trend of using mobile robot will continue for the foreseeable future. Early
research, the application research of mobile robots with forklift-driving-wheels capable
to ascend and descend stairs by the Hirofumi and Noriyoshi in 1999 was concern about
the mechanism in lifting the tire of mobile robot.
In a report on a specific case, Hirofumi and Noriyoshi (1999) state that mechanism of
lifting tire for mobile robot can be use to ascending the stair and descend stairs. The
mobile robot with Forklift-Wheels capable to ascend and descend stairs is shown in
figure 2. The FDW robot mobile robot with Forklift-Driving-Wheels capable to ascend
and descend stairs is divided into three parts (Body, Front Forklift-Wheels, and Rear
Forklift-Wheels).Those forklifts have driving wheels. The robot can move up and down
by the front and rear forklifts, and also it can be transferred by using these through the
stairs and the step.
7
This research in develop the mobile robot that can lift the tire is as an alternative method
to cross the obstacle. The Forklift system is a good mechanism to lift the tire. This
system can be useful to be use for the mobile robot to cross the obstacle.
Figure 2.1: Moving patterns on stairs. (Hirofumi and Noriyoshi 1999)
Figure 2.2 Mobile robot with Forklift-Wheels. (Hirofumi and Noriyoshi 1999)
Besides that, the research of a robot that capable to cross the obstacle when climbing the
wall describe by the Fischer, F. Tâche, and R. Siegwart (2007) under the title magnetic
wheeled robots that can pass difficult obstacles (ridge-type).For passing even more
difficult obstacles, some of these robots are equipped with special mechanisms within
their structure. This robot also uses linear movements, but needs fewer actuators and is
8