Embedded Files
Performance Specifications
(1) Robots must be able to visit each step of the staircase testbed and collect the maximum amount of debris across the width of each step. Scoring for suction ability will be determined by the volume collected of debris in comparison to the original volume laid out. Scoring for this will be described further on.
(2) Robots must be able to traverse to each staircase step in the testbed without leaving the testbed area.
(3) There should be no damage caused to any devices and/or the testbed.
(4) During the inspection period by the instructors, the device should be in an end state, thereby not trying to move and/or collect more debris.
Coolness Factors:
(1) Plug itself into a charging station once finished.
(2) Keep track of the number of steps it climbs and take user input at the end to go and redo a stair that is still dirty.
(3) Work completely on stairs that do not have a back panel.
(4) Differentiate between stairs and wall; can approach stairs from flat ground.
Functional Architecture
There are 4 High Level Subsystems in our Vacuum Bot:
1 - Actuation
2 - Processing
3 - Sensors
4 - Power
The actuation and sensors subsystems rely heavily on the direction of mechanical design. Considering the end-user of this machine will be consumers in houses, the main goal for the actuation is elegance, efficiency, and robustness.
The central processing on this bot mainly contributes to actuator control and localization. The processing power required by localization of the bot will vary widely, as we narrow down the scope of the project to maybe include computer vision.
The entire bot will run on an on-board battery. In the complex environment that this bot has to navigate, a power cord can easily get stuck or push around debris.
Cyber-physical Architecture
Here is an updatedoverview of our cyber-physical architecture. The Arduino Microcontroller will be the main component that powers each subsystem.
System Design Depiction /Description
Here's a basic rendition of our current design in CAD. It is made of a 2' x 1' board with omnidirectional wheels to scale. The vacuuming system is depicted by clear cylinders and are placed beyond the wheels to avoid obstruction. The elevating system will utilize a linear actuator to push the robot up from the rear with the aid of the front wheels, which protrude slightly from the front of the robot. This iteration of our CAD design also includes many of the electrical components we'll need, excluding the voltage regulators.
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