| |
| report [2020/06/12 23:41] – [4.7 Budget] team2 | report [2021/03/23 11:14] (current) – external edit 127.0.0.1 |
|---|
| </WRAP> | </WRAP> |
| ==== - Sprint Evaluations ==== | ==== - Sprint Evaluations ==== |
| In order to make their working week more productive, Team 2 planned in advance what each team member would do in the following week.At the end of each week, they analysed the work that had been done and if it had not been done, it was postponed to the following week and so on until the end of the project. | In order to make their working week more productive, Team 2 planned in advance what each team member would do in the following week.At the end of each week, they analysed the work that had been done and if it had not been done, it was postponed to the following week and so on until the end of the project. To evaluate the sprints Team used Microsoft Planner and Microsoft OneNote. |
| ==== - Conclusion ==== | ==== - Conclusion ==== |
| The SCRUM methodology has undoubtedly been a valuable tool for the team to manage tasks as efficiently as possible. The team gives a very positive evaluation to SCRUM because it allowed each member to work in their area of knowledge, but it could also help another colleague if he needed help. However the team feels that the task divisions and analysis of the Sprints would have gone even better had the Covid-19 pandemic not occurred, as it allowed Team 2 members more time together which allowed for better task discussions. | The SCRUM methodology has undoubtedly been a valuable tool for the team to manage tasks as efficiently as possible. The team gives a very positive evaluation to SCRUM because it allowed each member to work in their area of knowledge, but it could also help another colleague if he needed help. However the team feels that the task divisions and analysis of the Sprints would have gone even better had the Covid-19 pandemic not occurred, as it allowed Team 2 members more time together which allowed for better task discussions. |
| |
| ==== - Introduction ==== | ==== - Introduction ==== |
| In this chapter, the development of the project, including logo, names, and the development of the product itself will be reviewed. The tests will also be reviewed what has been used so far to complete this project. In 7.2 the architecture of the product and how it works with the use of diagrams will be explained. Then the components will be discussed that will be used and why these components are needed, including cost and the necessary information. Part 7.4 and 7.5 compile of Functionalities and the tests and results of the Robot. And finally concluding with the overall conclusion of the chapter. \\ | In this chapter, the development of the project, including logo, names, and the development of the product itself will be reviewed. The tests will would be presented and the components. In 7.2 the architecture of the product and how it works with the use of diagrams will be explained. Part 7.4 and 7.5 compile of Functionalities and the tests and results of the Robot. \\ |
| |
| |
| ==== - Architecture ==== | ==== - Architecture ==== |
| |
| After many hours of research, drawings and brainstorming, the team decided how the robot should work and be designed. The MopBot was designed to be bigger than autonomous vacuum systems for houses because the target is to clean big public spaces. MopBot has the less amount of parts as possible to reduce costs and facilitate the maintenance. The bigger parts of the robot are the ones that people can see, the chassi and the storage box. The chassis is designed to be as beautiful and functional as possible, as is the storage box that is where the collected garbage will stay before it is collected. To make the garbage go from the floor to the storage box there is a hole in the chassis, to make this passage. Because the Mopbot needs heavy batteries to be capable to work at least 2 hours, the chassi will have an area bellow where the storage box is located to put the batteries on the lowest part as possible to decrease the center of gravity to prevent any falls. \\ So, to clean the trash and dust , the robot has a vacuum system and two vertical brushes . The vacuum system consists in a high-speed DC motor attached to a fan located on the storage box. This will create an air flow powerful enough that will push the trash inside to the storage box and in the top of the box there is air vents so the air can go out and the trash stays in. To remove the trash when the full capacity is reached, the storage box needs to be removal from the chassi by a person and then the trash gets out using a door located on the back of the box. In the front of the chassi there is space that is protected with a small door on the top where the brushes and other components will be. The other important pieces that help to catch the trash are the brushes. This parts are located in the front of the chassi. Each brush is connected to a shaft and each shaft is connected to DC motor and both will spin outwards into the middle. The shafts are housed in a part that needs to be purpose-built to the MopBot, called Shaft Suport. This part, will also lodge and hold a bearing on the top that will act as a radial support for the shaft spinning on the internal face. In the cylindrical part of the Shaft Suport there will be another bearing and this one will be held by 2 elastic rings one on top and one on the bottom. With these supports it is possible to prevent a bending problem if the brushes hit some obstacle. The assembly and maintenance of these parts has also been taken into account to be as easy and fast as possible. As the shafts are subject to a torsor moment, the safety coefficients of the shafts to yield and fatigue were calculated and with the result obtained, it can be concluded that they will have an infinite life as you can see on **Figures** {{ref>co1}} to {{ref>co3}}. | After many hours of research, drawings and brainstorming, the team decided how the robot should work and be designed. The MopBot was designed to be bigger than autonomous vacuum systems for houses because the target is to clean big public spaces. MopBot has the less amount of parts as possible to reduce costs and facilitate the maintenance. The bigger parts of the robot are the ones that people can see, the chassi and the storage box. The chassis is designed to be as beautiful and functional as possible, as is the storage box that is where the collected garbage will stay before it is collected. To make the garbage go from the floor to the storage box there is a hole in the chassis, to make this passage. Because the Mopbot needs heavy batteries to be capable to work at least 2 hours, the chassi will have an area bellow where the storage box is located to put the batteries on the lowest part as possible to decrease the center of gravity to prevent any falls. \\ So, to clean the trash and dust, the robot has a vacuum system and two vertical brushes. The vacuum system consists in a high-speed DC motor attached to a fan located on the storage box. This will create an air flow powerful enough that will push the trash inside to the storage box and in the top of the box the air vents would keep the trush inside. To remove the trash when the full capacity is reached, the storage box needs to be removed from the chassi by a person and then the trash gets out using a door located on the back of the box. In the front of the chassi there is space that is protected with a small door on the top where the brushes and other components will be. The other important pieces that help to catch the trash are the brushes. The brushes are located in the front of the chassi. Each brush is connected to a shaft and each shaft is connected to a DC motor and both will spin outwards into the middle. The shafts are housed in a part that needs to be purpose-built to the MopBot, called Shaft Suport. This part will also lodge and hold a bearing on the top that will act as a radial support for the shaft spinning on the internal face. In the cylindrical part of the Shaft Suport there will be another bearing and this one will be held by 2 elastic rings one on top and one on the bottom. With these supports it is possible to prevent a bending problem if the brushes hit some obstacle. The assembly and maintenance of these parts has also been taken into account to be as easy and fast as possible. As the shafts are subject to a torsor moment, the safety coefficients of the shafts to yield and fatigue were calculated and with the result obtained, it can be concluded that they will have an infinite life as is presented in the **Figures** {{ref>co1}} to {{ref>co3}}. |
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| In **Figure** {{ref>blackbox}} you can see the Black Box Diagram. | In **Figure** {{ref>blackbox}} is presented the Black Box Diagram. |
| |
| <WRAP centeralign> | <WRAP centeralign> |
| </WRAP> | </WRAP> |
| |
| The **Figure** {{ref>paperd}} is the first draw on paper of MopBot. | **Figure** {{ref>paperd}} is the first draw on paper of MopBot. |
| |
| <WRAP centeralign> | <WRAP centeralign> |
| </WRAP> | </WRAP> |
| |
| **Figure** {{ref>figure1}} represents the schematic of the robot. Arduino Uno would be the "brain” of the robot . The wheels will be controled by 2 DC motors with the help of L298N bridge . The vacuum system and the 2 brushes would are controlled with 3 DC motors. When the storage box is full , an ultrasonic sensor will detect it. To avoid obstacles, MopBot uses an VL53Lox sensor. The robot has a voltage divider to detect when the battery is low. | **Figure** {{ref>figure1}} represents the schematic of the robot. Arduino Uno would be the "brain” of the robot. The wheels will be controled by 2 DC motors with the help of L298N bridge. The vacuum system and the 2 brushes would are controlled with 3 DC motors. When the storage box is full, an ultrasonic sensor will detect it. To avoid obstacles, MopBot uses an VL53Lox sensor. The robot has a voltage divider to detect when the battery is low. |
| |
| <WRAP centeralign> | <WRAP centeralign> |
| <figure figure1> | <figure figure1> |
| {{:schematic1.jpg?1000|}} | {{{{:schematic.jpg?1000|}} |
| <caption> Schematic of the robot </caption> | <caption> Schematic of the robot </caption> |
| </figure> | </figure> |
| <figure co1> | <figure co1> |
| {{ :co1.jpg?800 |}} | {{ :co1.jpg?800 |}} |
| <caption> Diameter Sizing </caption> | <caption>Using Python to sizing the Diameter of the shaft</caption> |
| </figure> | </figure> |
| </WRAP> | </WRAP> |
| <figure co2> | <figure co2> |
| {{ :co2.jpg?800 |}} | {{ :co2.jpg?800 |}} |
| <caption> Yield Safety Coefficient </caption> | <caption>Using Python to determine the Yield Safety Coefficient </caption> |
| </figure> | </figure> |
| </WRAP> | </WRAP> |
| <figure co3> | <figure co3> |
| {{ :co3.jpg?800 |}} | {{ :co3.jpg?800 |}} |
| <caption> Fatigue Safety Coefficient </caption> | <caption>Using Python to determine the Fatigue Safety Coefficient </caption> |
| </figure> | </figure> |
| </WRAP> | </WRAP> |
| ==== - Components ==== | ==== - Components ==== |
| |
| In order to make more easy to read the components list, the components are divided in 3 different lists. The Mechanical Components, in **table** {{ref>mecka}} , where we show the parts responsible of the robot structure like the chassi and the wheels. The Eletrical Componets, in **table** {{ref>eltro}}, are the parts that control all the movements of the robot, like maiking the motors work or avoid the obstacles with sensors. The last list, in table{{ref>otherss}} is where we show important componets that don't fit in the other 2 categories. | In order to make more easy to read the components list, the components are divided in 3 different lists. The Mechanical Components, in **Table** {{ref>mecka}}, where is showed the parts responsible of the robot structure like the chassi and the wheels. The Eletrical Components, in **Table** {{ref>eltro}}, are the parts that control all the movements of the robot, like maiking the motors work or avoid the obstacles with sensors. |
| |
| === - Mechanical Components === | === - Mechanical Components === |
| |11|1 x Eletric Motor for the Fan|{{:motor_high_rpm.jpg?200|}} ((botnroll2))|12 V Dc Motor \\ 0.18 A \\ 2.16 W \\ 11500 RPM|Unkown|51 x 28 mm|3.5 €|https://www.botnroll.com/pt/motores-dc/2198-motor-dc-12v-dc-180ma-11500rpm-6-14v-dc-.html| | |11|1 x Eletric Motor for the Fan|{{:motor_high_rpm.jpg?200|}} ((botnroll2))|12 V Dc Motor \\ 0.18 A \\ 2.16 W \\ 11500 RPM|Unkown|51 x 28 mm|3.5 €|https://www.botnroll.com/pt/motores-dc/2198-motor-dc-12v-dc-180ma-11500rpm-6-14v-dc-.html| |
| |12|L298N Motor Driver|{{:unnamed.jpg?200|}}((romania))| Inexpensive way to control DC motors|36.28 g|43 x 43 x 27 mm|4 €|https://www.amazon.com/Controller-H-Bridge-Stepper-Mega2560-Duemilanove/dp/B01BWLICV4?ref_=fsclp_pl_dp_2| | |12|L298N Motor Driver|{{:unnamed.jpg?200|}}((romania))| Inexpensive way to control DC motors|36.28 g|43 x 43 x 27 mm|4 €|https://www.amazon.com/Controller-H-Bridge-Stepper-Mega2560-Duemilanove/dp/B01BWLICV4?ref_=fsclp_pl_dp_2| |
| | |13|Wires|{{ :wires.jpg?200 |}} ((amazon))|6.9 €|https://www.amazon.com/Elegoo-EL-CP-004-Multicolored-Breadboard-arduino/dp/B01EV70C78?ref_=fsclp_pl_dp_1| |
| | |14|Breadboard|{{ :breadboard.jpg?200 |}} ((pololu))|6 €|https://www.electrofun.pt/prototipagem/breadboard-arduino-830-pontos| |
| | |15|PCB|{{ :pcb.jpg?200 |}} ((protosupplies))|3.5 €|https://www.electrofun.pt/prototipagem/placa-de-circuito-impresso-pcb-9-15-cm| |
| | |16|USB 2.0 CABLE TYPE A/B|{{ :cable.jpg?200 |}} ((officeworks))|2.5 €| https://store.arduino.cc/usb-2-0-cable-type-a-b| |
| | |17|4 x Resistance |{{:electronic-axial-lead-resistors-array.jpg?200|}} ((electrofun3))|4 x 0.05 €|https://www.electrofun.pt/componentes-eletronicos/resistencia-14w-selecionar-valor| |
| | |18|2 x Diode|{{:diodo-energia-1n4004.jpg?200|}} ((electrofun2))|2 x 0.30 €|https://www.electrofun.pt/componentes-eletronicos/diodo-p600k-800v-6a| |
| | |19|2 x NPN Transistor|{{:transistor-tip120-npn.jpg?200|}} ((electrofun1))|2 x 0.49 €|https://www.electrofun.pt/componentes-eletronicos/transistor-tip120-npn| |
| | |20|Battery|{{:41rcgtozxbl._sl500_ac_ss350_.jpg?200|}}((tenergy))|17.56 €|https://mauser.pt/catalog/product_info.php?cPath=74_1017_1014&products_id=115-1561| |
| | |21|Battery Charger|{{:71rlfe6zlpl._ac_sx425_.jpg?200|}}((rechargeablebattery))|17.48 €|https://www.amazon.com/BONAI-Universal-Rechargeable-Batteries-Discharge/dp/B075MBQMFJ/ref=sr_1_2?dchild=1&keywords=charger+for+battery+C&qid=1586348210&sr=8-2| |
| |
| </WRAP> | </WRAP> |
| </WRAP> | </WRAP> |
| |
| | In **Table** {{ref>powerc}}, it´s showed the components that consume power that are used for MopBot. |
| <WRAP > | |
| <table otherss> | |
| <caption>Other Components List</caption> | |
| <WRAP box x> | |
| | |
| ^List^Name^Picture^Price^Product Link^ | |
| |1|Wires|{{ :wires.jpg?200 |}} ((amazon))|6.9 €|https://www.amazon.com/Elegoo-EL-CP-004-Multicolored-Breadboard-arduino/dp/B01EV70C78?ref_=fsclp_pl_dp_1| | |
| |2|Breadboard|{{ :breadboard.jpg?200 |}} ((pololu))|6 €|https://www.electrofun.pt/prototipagem/breadboard-arduino-830-pontos| | |
| |3|PCB|{{ :pcb.jpg?200 |}} ((protosupplies))|3.5 €|https://www.electrofun.pt/prototipagem/placa-de-circuito-impresso-pcb-9-15-cm| | |
| |4|USB 2.0 CABLE TYPE A/B|{{ :cable.jpg?200 |}} ((officeworks))|2.5 €| https://store.arduino.cc/usb-2-0-cable-type-a-b| | |
| |5|4 x Resistance |{{:electronic-axial-lead-resistors-array.jpg?200|}} ((electrofun3))|4 x 0.05 €|https://www.electrofun.pt/componentes-eletronicos/resistencia-14w-selecionar-valor| | |
| |6|2 x Diode|{{:diodo-energia-1n4004.jpg?200|}} ((electrofun2))|2 x 0.30 €|https://www.electrofun.pt/componentes-eletronicos/diodo-p600k-800v-6a| | |
| |7|2 x NPN Transistor|{{:transistor-tip120-npn.jpg?200|}} ((electrofun1))|2 x 0.49 €|https://www.electrofun.pt/componentes-eletronicos/transistor-tip120-npn| | |
| |8|Battery|{{:41rcgtozxbl._sl500_ac_ss350_.jpg?200|}}((tenergy))|13.17 €|https://www.amazon.com/Tenergy-Battery-Capacity-Rechargeable-Flashlights/dp/B07YF3L1KF?th=1| | |
| |9|Battery Charger|{{:71rlfe6zlpl._ac_sx425_.jpg?200|}}((rechargeablebattery))|17.48 €|https://www.amazon.com/BONAI-Universal-Rechargeable-Batteries-Discharge/dp/B075MBQMFJ/ref=sr_1_2?dchild=1&keywords=charger+for+battery+C&qid=1586348210&sr=8-2| | |
| | |
| </WRAP> | |
| </table> | |
| </WRAP> | |
| | |
| In **table** {{ref>powerc}}, it´s showed the efficiency of the Mopbot with the power consumption of each eletrical component. | |
| |
| <WRAP > | <WRAP > |
| 46.5 + 50 + 15 + 40 + 2 x 350 + 2 x 200 + 180 = 1431.1 mA | 46.5 + 50 + 15 + 40 + 2 x 350 + 2 x 200 + 180 = 1431.1 mA |
| |
| This final list, showed on table {{ref>finall}}, is where the price of each component of the Mobot and total price is showed. Because the team allready has some of this compoents the total budget needed to build the prototype will be lower. | This final list, showed on table {{ref>finalcomponents}}, is where the price of each component of the Mobot and total price is showed. Because the team already has some of this components the total budget needed to build the prototype will be lower. |
| |
| <WRAP > | <WRAP > |
| |10|Breadboard|6 €|Yes| | |10|Breadboard|6 €|Yes| |
| |11|PCB|3.5 €|Yes| | |11|PCB|3.5 €|Yes| |
| |12|Resistance|0.20 €|Yes| | |12|Resistance 2 x 220,5k,12k|0.20 €|Yes| |
| |13|Cable type A/B|2.5 €|No| | |13|Cable type A/B|2.5 €|No| |
| |14|Battery|13.17 €|No| | |14|Battery|17.56 €|No| |
| |15|Polystyrene|22 €|No| | |15|Polystyrene|22 €|No| |
| |16|4x Elastic Ring|3.8 €|No| | |16|4x Elastic Ring|3.8 €|No| |
| |
| |
| |-|**Total with the components that we already have**|**153.65 €**|-| | |-|**Total with the components that we already have**|**158.04 €**|-| |
| |-|**Total without the components that we have**|**194.55**|-| | |-|**Total without the components that we have**|**194.55**|-| |
| </WRAP> | </WRAP> |
| * **supporting long-term human and ecological health** - to spread good practices among the society | * **supporting long-term human and ecological health** - to spread good practices among the society |
| |
| Team decided to create packaging solution that can support its mission. Main focus was put on litters collections. As a "second-life" of the packaging, it can be transformed into storage box for empty batteries or other electric equipment which is no longer in usage. Used batteries and accumulators are a source of valuable recyclable materials. Their proper collection allows not only to neutralize toxic heavy metals, but also to recover some of the raw materials and save energy needed to extract the elements necessary, for the production of new batteries. Storage box can be located in the location where Mopbot is working, where many people are expected to go through. Collected batteries can be later passed to appropriate services. | Team decided to create packaging solution that can support its mission. Main focus was put on creating a packing solution that can be also used as a liters collections. As a "second-life" of the packaging, it can be transformed into storage box for empty batteries or other electric equipment which is no longer in usage. Used batteries and accumulators are a source of valuable recyclable materials. Their proper collection allows not only to neutralize toxic heavy metals, but also to recover some of the raw materials and save energy needed to extract the elements necessary, for the production of new batteries. Storage box can be located in the location where Mopbot is working, where many people are expected to go through. Collected batteries can be later passed to appropriate services. |
| |
| In case of product packaging, there is a need to have box with inner dimensions(length, width, height) 590x300x320 mm. Team decision was to choose automatically closing box with reference number 0215 in FEFCO system. Material to create such box will be 5-layers BC-waved cardboard because it is organic, ethical, sustainable and reusable. Because Mopbot is quite heavy (around 45 kg) usage of cardboard bracing element with dimensions 590x300 mm at the bottom of the box was necessary in order to secure packaging from breakdown. Overview of the box is shown in **Table** {{ref>pack}} | In case of product packaging, there is a need to have a box with inner dimensions(length, width, height) 590x300x320 mm. Team decision was to choose automatically closing box with reference number 0215 in FEFCO system. Material to create such a box will be 5-layers BC-waved cardboard because it is organic, ethical, sustainable and reusable. Because Mopbot is quite heavy (around 45 kg) usage of cardboard bracing element with dimensions 590x300 mm at the bottom of the box was necessary in order to secure packaging from breakdown. Overview of the box is shown in **Table** {{ref>pack}} |
| |
| <WRAP centeralign> | <WRAP centeralign> |
| </WRAP> | </WRAP> |
| |
| Mopbot reusable possibility need several actions from the customers side. They should cut the slot to insert the batteries and also put the bracing element in vertical way and lock it on one of the walls of the box that it can signal the purpose of the box. The way that Team see reused packaging is shown in **Figure** {{ref>finvis}} | Mopbot reusable package need several actions from the customers side. They should cut the slot to insert the batteries and also put the bracing element in vertical way and lock it on one of the walls of the box that it can signal the purpose of the box. The way that Team see reused packaging is shown in **Figure** {{ref>finvis}} |
| |
| <WRAP centeralign> | <WRAP centeralign> |
| ==== - Functionalities ==== | ==== - Functionalities ==== |
| |
| During the operation of the MopBot, it´s very likely to get some obstacles on his way like tables or chairs, so the robot has to detect the obstacle, stop the wheels motors and then decide if it goes to the left or the right in order to overpass the obstacle. \\ The robot brain, also needs to send the information to the brushes motors and the vacuum system motor to be working all the time. \\ So, the key features of the MopBot is to be self-autonomous and clean the trash and dust of the floor. | During the operation of the MopBot, it´s very likely to get some obstacles on his way like tables or chairs, so the robot has to detect the obstacle, stop the wheel motors and then decide if it goes to the left or the right in order to overpass the obstacle. \\ Arduino also needs to send the information to the brush motors and the vacuum system motor to be working all the time. \\ So, the key features of the MopBot is to be self-autonomous and clean the trash and dust of the floor. |
| |
| |
| ==== - Tests and Results ==== | ==== - Tests and Results ==== |
| The following chapter will approach the types of simulation that were performed for MopBot. Due to COVID-19 the robot would not be implemented physically and the use of a simulator was needed. The robot was simulated in CoppeliaSim. CoppeliaSim is a very efficient robot simulator that contains integrated development environment. The programming language used for simulating Mopbot is LUA. | The following chapter will approach the types of simulation that were performed for MopBot. Due to COVID-19 the robot is not implemented physically and the use of a simulator was needed. The robot was simulated in CoppeliaSim. CoppeliaSim is a very efficient robot simulator that contains integrated development environment. The programming language used for simulating Mopbot is LUA. |
| |
| |
| * Arduino Uno was not used and the robot was programmed through a LUA script | * Arduino Uno was not used and the robot was programmed through a LUA script |
| * Ultrasonic Module HC-SR04 needed for the detection of the garbage inside the storage box could not be implemented | * Ultrasonic Module HC-SR04 needed for the detection of the garbage inside the storage box could not be implemented |
| * VL53L0X Time-of-Flight Distance Sensor that suppose to detect and avoid all the obstacles from that room was replaced by a user interface, a line, a proximity sensor and by a LIDAR. | * VL53L0X Time-of-Flight Distance Sensor that should detect and avoid all the obstacles from that room was replaced by a user interface, a line, a proximity sensor and by a LIDAR. |
| |
| |
| 2 environments were used for showing the functionality of Mopbot. One of them is represented by a corridor that Mopbot has to clean and another one is represented by a hall. In the corridor is used a following the line approach and in the hall Mopbot is controlled using a user interface. | Two environments were used for showing the functionality of Mopbot. One of them is represented by a corridor that Mopbot has to clean and another one is represented by a hall. In the corridor the robot was following the line and in the hall Mopbot is controlled using a user interface. |
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| In the figures below MopBot is presented in the hall. | In the figures below MopBot is presented in the hall. |
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| ==== - Conclusion ==== | ==== - Conclusion ==== |
| In conclusion, Mopbot will be built to function on its own without much help from humans. However, it will still need help when it comes to removing the rubbish and fixing the robot itself. Our robot is continuing to develop throughout the project and most likely will continue to do so long after the prototype like any good product does. In the next and final chapter, the Team shall see the conclusion of the whole report. | In conclusion, Mopbot will be built to function on its own without much help from humans. However, it will still need help when it comes to removing the rubbish and fixing the robot itself. The robot was developed throughout the project and most likely will continue to improve long after the prototype like any good product does. In the next and final chapter, the Team shall discuss the conclusion of the whole report. |
| ===== - Conclusions ===== | ===== - Conclusions ===== |
| ==== - Discussion ==== | ==== - Discussion ==== |
| The goal embraced in February of 2020 by the Team was to develop an eco-friendly cleaning robot with a constrained budget. The team managed to design and simulate an autonomous cleaning robot within 5 months. The MopBot is a design based on specific background research, proper project management, a marketing plan, eco-friendly considerations, and ethical decisions. The robot is equipped with two front horizontal brushes and an inside vacuum cleaner. By using these two systems, small rubbish is collected inside the MopBot. The robot has a 25 L containment and the battery life is over 180 minutes. For the containment of the robot, a packaging solution is designed. It is called a ‘second-life’ packaging, it can be transformed into a storage box for empty batteries or other electronic equipment. The robot is able to move without any human help. A signal is given when the storage box is full and the robot will be emptied by the owner. After emptying, the robot is ready to be used again. Since the COVID-19 outbreak in March 2020, a prototype was not realistic to build. A simulation is made instead. | The goal embraced in February of 2020 by the Team was to develop an eco-friendly cleaning robot with a constrained budget. The team managed to design and simulate an autonomous cleaning robot within 5 months. The MopBot is a design based on specific background research, proper project management, a marketing plan, eco-friendly considerations, and ethical decisions. The robot is equipped with two front horizontal brushes and an inside vacuum cleaner. By using these two systems, small rubbish is collected inside the MopBot. The robot has a 25 liter containment and the battery life is over 180 minutes. For the containment of the robot, a packaging solution is designed. It is called a ‘second-life’ packaging, it can be transformed into a storage box for empty batteries or other electronic equipment. The robot is able to move without any human help. A signal is given when the storage box is full and the robot will be emptied by the owner. After emptying, the robot is ready to be used again. Since the COVID-19 outbreak in March 2020, a prototype was not realistic to build. A simulation is made instead. |
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| The MopBot still has some improvements to make. An improvement that can be made is on emptying the rubbish inside the robot. A storage point can be made and when the storage box is full, the MopBot returns to its storage place and empties the rubbish their in a container. Another improvement can be made on the robot its brushes. By putting the brushes in a specific angle, the rubbish would still be collected from the ground, but the friction of the brushes would be less. The motor can be smaller and the brushes would wear less quickly. Also, a water system and other following systems can be added to the MopBot to give the robot even more improvements. | The MopBot still has some improvements to make. An improvement that can be made is that the robot can empty the rubbish by himself. A storage point can be made and when the storage box is full, the MopBot returns to its storage place and empties the rubbish their in a container.The robot can have improved also the brushes. By putting the brushes in a specific angle, the rubbish would still be collected from the ground, but the friction of the brushes would be less. The motor can be smaller and the brushes would wear less quickly. Also, a water system and other systems can be added to the MopBot to give the robot even more improvements. |
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| ==== - Future Development ==== | ==== - Future Development ==== |
| The first design of the MopBot is quite basic and functional. The robot has the functionalities to work as a waste cleaning robot. Besides the functions that the robot now has, there is space for improvement. There are a few extra functions that can be added to give it an extra touch. The reason that these functions are not in the product, for now, is because of two reasons. One is the price, this has to be under a hundred euros to build a prototype and with the extra functionalities, this is not possible. The second reason is that the robot is going to be complicated to build and with limited skills, it wouldn’t be possible to build the prototype within the time to build it. So if there are a bigger budget and no limit of skills or time, the robot can improve. | The first design of the MopBot is quite basic and functional. The robot has the functionalities to work as a waste cleaning robot. Besides the functions that the robot now has, there is space for improvement. There are a few extra functions that can be added to give it an extra touch. The reason that these functions are not in the product, for now, is because of two reasons. One is the price, this has to be under a hundred euros to build a prototype and with the extra functionalities, this is not possible. The second reason is that the robot is going to be complicated to build and with limited skills, it wouldn’t be possible to build the prototype within the time to build it. So if there is a bigger budget and no limit of skills or time, the robot can be improved. |
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| One of the improvements concerns releasing the rubbish. The rubbish in the robot has to be removed manually. This is a disadvantage for the product. To improve it, a storage point can be made. The robot receives a signal that the rubbish area is full and drives to the storage point. When arriving, the robot can empty the rubbish by lifting the rear part. An angle is created and the waste is removed due to gravity. This system creates a system that only needs to be emptied a few times and not every time the storage box is full. | One of the improvements concerns releasing the rubbish. The rubbish in the robot has to be removed manually. This is a disadvantage for the product. To improve it, a storage point can be made. The robot receives a signal that the rubbish area is full and drives to the storage point. When arriving, the robot can empty the rubbish by lifting the rear part. An angle is created and the waste is removed due to gravity. This system creates a system that only needs to be emptied a few times and not every time the storage box is full. |
| To improve the robot even further, a change to the cleaning program can be made. The robot has two vertical brushes. A water system can be added to the robot to improve the cleaning. By adding the water system, a little bit of water would be sprayed out in the front of the robot. The floor can be sticky and this will come loose. Also, the dust will be better collected. The brushes brush over the water spots and clean the sticky floor and the dust. | To improve the robot even further, a change to the cleaning program can be made. The robot has two vertical brushes. A water system can be added to the robot to improve the cleaning. By adding the water system, a little bit of water would be sprayed out in the front of the robot. The floor can be sticky and this will come loose. Also, the dust will be better collected. The brushes brush over the water spots and clean the sticky floor and the dust. |
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| The last adjustment that can be made to the robot, is changing the path system. The robot has to be pre-programmed to the plan where it will be driving. This makes that every location and plan requires time to be pre-programmed. To improve this, more sensors can be added to the robot whereby the robot knows where he has been cleaning, where the walls will be, and know where to turn. | The last adjustment that can be made to the robot, is finding a better way to do the indoor positioning system. The robot has to be pre-programmed to the plan where it will be driving. This makes that every location and plan requires time to be pre-programmed. To improve this, more sensors can be added to the robot whereby the robot knows where he has been cleaning, where the walls will be and can avoid all the obstacles in a more effective way. |
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| By improving the MopBot, it will be more expensive to build and buy. Also, the programming of the sensors takes allot of time and skills. If someone would continue building and programming the robot, this is the advice to adjust these functions to the robot. | By improving the MopBot, it will be more expensive to build and buy. Also, the programming of the sensors takes a lot of time and skills. If someone would continue building and programming the robot, this is the advice to adjust these functions to the robot. |
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| ===== Bibliography ===== | ===== Bibliography ===== |
