Introduction
Having a robot that can clean your house while you relax or do other things sounds like a dream come true. With the rise of smart home devices and affordable robotics components, this dream can become a reality by building your own simple cleaning robot powered by Arduino.
In this comprehensive guide, I will walk you through the entire process of constructing an Arduino-based cleaning robot from the ground up, including the parts you need, how to assemble it, coding it to navigate and clean autonomously, and troubleshooting any issues that arise. With just some basic robotics skills and coding knowledge, you can construct your own intelligent cleaning assistant to handle household chores for you.
Parts Needed
Building a cleaning robot requires various electronic components that work together to mobilize it and provide automation. Here are the key components needed:
Arduino Microcontroller
The Arduino microcontroller is the brain of the robot, controlling its movements and actions. I recommend the Arduino Uno as a beginner-friendly option that is inexpensive but capable.
Chassis and Motors
The chassis provides the frame and body of the robot. A compact chassis with 2-3 wheels and DC motors allows the robot to move around. Motor drivers are needed to control the motors with the Arduino.
Sensors
Ultrasonic sensors and infrared sensors are necessary for the robot to detect obstacles and navigate around your home. The sensors provide critical input to the Arduino to prevent collisions.
Cleaning Mechanism
A vacuum pump, sweeping brushes, or mop can be attached to clean as the robot navigates your home autonomously.
Battery Pack
A rechargeable battery pack provides the power needed for the motors, Arduino, and other components. A 7.4V or 11.1V pack with at least 1000mAh capacity is ideal.
Assembly
With the components ready, it's time to assemble them into the full cleaning robot. This requires mechanical assembly as well as electrical wiring:
Constructing the Chassis
-
Acquire a robot chassis kit or 3D print your own custom chassis to provide the body and frame of the robot. Make sure the chassis is suitable in size for your cleaning mechanism.
-
Attach two driven wheels on either side towards the back. Attach a front caster wheel or ball wheel in the front to balance the robot.
-
Mount the Arduino, motor drivers, and battery pack securely onto the chassis using screws or adhesive. The Arduino should be accessible for reprogramming.
Wiring up the Electronics
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Connect the motors to the motor drivers, which are then wired to the Arduino. This allows the Arduino to control the motors.
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Solder wires from the sensors to the Arduino's input pins. This enables the Arduino to read values from the sensors.
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Power the Arduino, motor drivers, and other components using the battery pack.
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Verify all connections and polarities to avoid short circuits before powering on!
Attaching the Cleaning Mechanism
Based on your cleaning method - vacuum, sweeper, or mop - securely mount the cleaning device onto the front or bottom of the chassis. Make sure it does not obstruct the wheels or sensors. Some brackets or clamps can help attach the cleaning mechanism firmly.
Programming the Arduino
Now it's time to give the robot a brain! The Arduino microcontroller needs to be programmed to make the robot fully autonomous.
Importing Required Libraries
To start, we need to import the libraries used for the various components:
```c++
#include <Servo.h> //for controlling servo motors
#include <NewPing.h> //for ultrasonic sensor
```
Initializing Pins, Variables and Objects
Next, we initialize the input and output pins, variables, and objects to store sensor data:
```c++
//Initialize trigger and echo pins for ultrasonic sensor
const int trigPin = 9;
const int echoPin = 10;
//sensor object
NewPing sonar(trigPin, echoPin);
//variables for storing distance values
int distanceRight;
int distanceLeft;
//Servo motor objects
Servo servoLeft;
Servo servoRight;
```
Setup Code
In the setup() section, we configure the pin modes and initiate the servo objects:
```c++
void setup() {
//configure trig and echo pins as inputs and outputs
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
//attach servos to pins
servoLeft.attach(6);
servoRight.attach(5);
}
```
Main Control Loop
In the loop(), the main logic continuously runs to control the robot:
- Ping ultrasonic sensor to check distance on both sides
- Read distance values from sensor into variables
- Detect obstacles by checking if distance is under 20 cm
- Trigger avoidance maneuver by backing up and turning away
- Move forward slowly if path is clear after avoidance
- Activate cleaning mechanism while moving
```c++
void loop() {
//take ultrasonic distance readings
distanceRight = sonar.ping_cm(trigPin, echoPin);
distanceLeft = sonar.ping_cm(trigPin, echoPin);
//check right side distance
if(distanceRight < 20){
//if obstacle detected on right, back up and turn left
driveBackward();
turnLeft();
}
//check left side distance
else if(distanceLeft < 20){
//if obstacle detected on left, back up and turn right
driveBackward();
turnRight();
}
//otherwise, move forward slowly
else{
driveForward();
activateCleaning();
}
}
```
The full code can be found on my GitHub.
Troubleshooting Issues
Despite the best efforts in assembly and coding, issues can arise that prevent the robot from working properly. Here are some common problems and their solutions:
Robot veering off course: Recheck wheel alignment and verify code logic for turning. Consider adding stabilizer wheels.
Sensors not detecting obstacles: Adjust sensor positioning and sensitivity. Check connections. Increase detection threshold distance.
Cleaning mechanism not working: Ensure attachment is secured. Check power connections. Test mechanism separately by giving direct power.
Battery drains quickly: Get a higher capacity battery rated for high discharge. Reduce motor demands in code. Ensure no short circuits.
Motors or servos not responding: Verify wiring between Arduino, motor drivers and motors. Check power connections. Re-upload code to Arduino.
Arduino becomes unresponsive: Rule out short circuit. Check for loose connections. Reset Arduino by disconnecting and reconnecting power.
Conclusion
Building your own Arduino-powered cleaning robot is a fulfilling project that requires planning, technical skills, troubleshooting ability and patience. The result is an intelligent automated assistant that can vacuum, sweep or mop for you while you put your feet up! I hope this guide has provided you a thorough overview of the entire process from components to coding. Let me know if you have any other questions as you embark on your robot-building journey!