Dr. Umesh Dutta, Texas Instruments University Program, Energia, devdutt

Published June 26, 2019 © GPL3+

Floor Cleaning Robot

Employ a robot to take care of your floor cleaning jobs.

IntermediateFull instructions provided2 days1,438

Things used in this project

Hardware components

Texas Instruments MSP-EXP430G2 MSP430 LaunchPad

Seeed Studio Grove - 2-Channel SPDT Relay

DC motor (generic)

Software apps and online services

Texas Instruments Energia

Story

Overview

The floor cleaning robot is basically a means to ease people’s daily lives exempting them from the tiring process of cleaning their institutions, households and industrial compounds since the robot is autonomous and is controlled through the ENERGIA code uploaded on MSP430 provided by Texas Instruments.

Goals

To ease the everyday process of cleansing the premises.
To provide a cheap of cost, easy to use and easily maintained device for everyone’s use.
To use MSP430 microcontroller as an interface between humans and machines.

Specifications

It uses MSP430 microcontroller (from Texas Instruments) as the interface between human and the robot.
6x 5V DC relay modules are used to carry out the movement of the water pump, mop rotors and wheels.
The two mops are connected with 2x75 rpm plastic motors.
The wheels are controlled with 2x100 rpm plastic geared motors.
A 12V water pump is used to pump water.
A 12V 1.3Ah battery is used for efficient and proper working.
Connections are made via jumping wires.

CONNECTIONS

The MSP430 microcontroller is connected to a battery and two sets of two and four relay modules separately.
The set of four relays works as a motor driver for the 100 rpm motors, two relays for each motor so as to control both forward and reverse motion of the wheels.
One relay controls the water pump and the other controls mop motors.
The mop motors are connected to one another and both are controlled via a single relay module

Working:

Right after the code is uploaded on the MSP430 microcontroller and the battery is attached, the microcontroller starts sending signals to the relay modules.
The modules in turn start the movement of the mops, pump and wheels.
The pump sprays water for five turns before the device starts the cleansing action.
The device pauses for few moments to let the pump spray some more water and the process continues.

Block Diagram:

Block Diagram

Milestones:

I. Cheap of cost and efficient

The device is made out of majorly scrap material and maintenance is low. The rechargeable battery makes it easy to use it for a longer period.

II. Can be used by almost anyone

No previous knowledge of any kind is needed to control the robot since it is fully autonomous.

III. Throws light on future possibilities

The MSP430 provided by Texas Instruments paves way for future improvements in the model and narrows the gap between technology and humans.

Demo Video:

Floor Cleaning robot

Robot Motion Control Code

// 9th and 10th for left motor

int op1=9;
int op2=10;

// 11th and 12th are for right motor

int op3=11;
int op4=12;

// relay for mop

int relay1=5;

//relay for pump

int relay2=6;

void setup() {
  // put your setup code here, to run once:
pinMode(op1,OUTPUT);
pinMode(op2,OUTPUT);
pinMode(op3,OUTPUT);
pinMode(op4,OUTPUT);
pinMode(relay1,OUTPUT);
pinMode(relay2,OUTPUT);
digitalWrite(op1,LOW);
digitalWrite(op2,LOW);
digitalWrite(op3,LOW);
digitalWrite(op4,LOW);
digitalWrite(relay1,LOW);
digitalWrite(relay2,LOW);
}

void forward()
{
  digitalWrite(op1,HIGH);
  digitalWrite(op2,LOW);
  digitalWrite(op3,HIGH);
  digitalWrite(op4,LOW);

}

void stop_robo()
{
  digitalWrite(op1,LOW);
  digitalWrite(op2,LOW);
  digitalWrite(op3,LOW);
  digitalWrite(op4,LOW);

}

void backward()
{
  digitalWrite(op1,LOW);
  digitalWrite(op2,HIGH);
  digitalWrite(op3,LOW);
  digitalWrite(op4,HIGH);

}

void left()
{
  digitalWrite(op1,HIGH);
  digitalWrite(op2,LOW);
  digitalWrite(op3,LOW);
  digitalWrite(op4,LOW);

}

void right()
{
  digitalWrite(op1,LOW);
  digitalWrite(op2,LOW);
  digitalWrite(op3,HIGH);
  digitalWrite(op4,LOW);

}

void pump_on()
{
  digitalWrite(relay2,HIGH);
  delay(3000);
  digitalWrite(relay2,LOW);
}

void clean()
{
  digitalWrite(relay1,HIGH);
  
}

void stop_clean()
{
  digitalWrite(relay1,LOW);
}

void start()
{
  pump_on();
  clean();
}

void loop() 
{
  start();
  forward();
  delay(3000);
  stop_clean();
  stop_robo();
  delay(1500);
}

Floor Cleaning Robot

Things used in this project

Hardware components

Software apps and online services

Story

Overview

Goals

Specifications

CONNECTIONS

Working:

Block Diagram:

Milestones:

Demo Video:

Code

Robot Motion Control Code

Credits

Dr. Umesh Dutta

Texas Instruments University Program

Energia

devdutt

Comments

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Floor Cleaning Robot

Floor Cleaning Robot

Things used in this project

Hardware components

Software apps and online services

Story

Overview

Goals

Specifications

CONNECTIONS

Working:

Block Diagram:

Milestones:

Demo Video:

Code

Robot Motion Control Code

Credits

Dr. Umesh Dutta

Texas Instruments University Program

Energia

devdutt

Comments

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