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Design of low cost cleaning robot using obstacle avoiding system without microchipSHAO YURUI
1899
Drawing of an
electrical floor cleaner
Trilobite by ElectroluxFirst commercial
cleaning robot2001
2002Roomba by iRobotThe standard of
cleaning machine
2013…Neato
Dyson 360eyeXiaomi…..
Joined the market
Images adapted from Wikipedia and Leiohonehttps://www.leiphone.com/news/201605/Sk3uvM8OedJr4btL.html https://ainerds.com/the-evolution-of-the-robovac-why-the-robot-vacuum-of-today-is-different/
Images adapted from Ezbuyhttps://ezbuy.sg/category?keywords=cleaning%20robot&sortCondition=3&ezspm=1.10000000.2.0.0
S$675.88 S$313.06 S$397.32 S$312.28
Icon adapted from Clker
http://www.clker.com/clipart-generic-microchip.html
Operation system
ObjectiveTo create an obstacle avoiding system without any microchip nor sensors, that is able to cover an area not free of obstacles, as efficiently as normal commercial design.
Material and Design
Obstacle avoiding systemwithout any microchip nor sensors
Material and Design
A extremely simple circuit design with only two switches.
The switch controls the wheel of the opposite side
Material and Design
A extremely simple circuit design with only two switches.
The switch controls the wheel of the opposite side
Material and Design
A extremely simple circuit design with only two switches.
The switch controls the wheel of the opposite side
Illustration of cleaning robot
Circuit Design
The switch will change the direction of the current when closed
Close Switch
Material and Design
A extremely simple circuit design with only two switches.
The switch controls the wheel of the opposite side
Material and Design
A extremely simple circuit design with only two switches.
The switch controls the wheel of the opposite side
Angle Adjustment to Wall
Normal commercial robot : use of random cleaning path
Bed
Closet
May result in
area not cover by the cleaning robot
Illustration of cleaning path phase 1
Bed
Closet
Illustration of cleaning path phase 2
Bed
Closet
Experiment: comparing efficiency
Fixed distance travelledCompare surface covered
Most efficient cleaning path?
266 S$
Icon adapted from Q10
https://www.qoo10.sg/item/GRUNN-GRUNN-ROBOT-VACUUM-CLEANER-I1/
Two-person hostel room
1.94m0.6m
2.3m
3m
1.0
3m
Normal Design
59.9%
1.94m0.6m
2.3m
3m
1.0
3m
Normal Design
59.9%
1.94m0.6m
2.3m
3m
1.0
3m
L=14894.211A=2775088C=1112405
P=59.9%
Normal Design
1.94m0.6m
2.3m
1.0
3m
3m
L=14894.211A=2775088C=1112405
P=59.9%
Normal Design
1.94m0.6m
2.3m
3m
1.0
3m
A=1641*1247+649*1065+547*334-181*549-303*151=2775088
Normal Design
1.94m0.6m
2.3m
1.0
3m
3m
L=14894.211A=2775088C=1112405
P=59.9%
Normal Design
Calculation C=183*238+514*753+145*312+359*1221+922*215+118*273
=1144619
P=1-(1144619/ 2775088)
=0.599146
=59.9%
1.94m0.6m
2.3m
3m
1.0
3m
68.5%
Low-cost Design
Experimental results
1.94m0.6m
2.3m
3m
59.9%
Normal Design
1.94m0.6m
2.3m
1.0
3m
68.5%
Low-cost Design
Experimental results: 4-person room
Normal Design Low-cost Design
293cm
230cm
229cm 13
3cm
66.3%
23
1cm
293cm
230cm
229cm 13
3cm
71.3%
10
6cm
Experiment: comparing efficiency
Icon adapted from lazada
https://www.lazada.sg/products/ecovacs-deebot-m81-pro-vacuum-cleaning-robo
90.6%
Normal Design
91.9%
Low-cost Design
90.6%
Normal Design
91.9%
Low-cost Design
Experimental results
Experimental results
68.5
71.3
91.9
59.9
66.3
90.6
Room 1
Room 2
Room 3
Nomral commercial Low Cost
Experimental results
266 S$
529 S$
Estimated cost of operation system
40-50 S$
Cost of Low cost obstacle avoiding system without microchip
2 S$
Future Work
Gap 1 : Unable to go back to charging station Gap 2: Angle of turning
Solution : Magnetic SwitchSolution : find average HDB width
AUTOMATION can be achieved even WITHOUT MICROCHIP.
Thank YouSHAO YURUI
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