chapter 4-5 addons
TRANSCRIPT
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CHAPTER 4
RESULTS AND DISCUISSION
This chapter confers about the description and the functionalities of the
components used in the circuits together with the results of the testing procedures that
compasses the capabilities and the limitation of the proposed project.
TECHNICAL DESCRIPTION OF THE PROJECT
The proposed Robotic Lawn Mower (Buggy) is made up of a Microcontroller
circuit, the hear t of the project, Bluetooth shield, power supply, DC motor driver circuit,
Lithium-Ion polymer Battery, Lead acid batter and grass cutter that may be replaced with
a nylon or a thin wire.
The Robotic Lawn Mower, having a mobile base, has a physical dimension of
29.5in. in length, 16.5in. in width and 14in. in height. It has a diameter of 10in. for the
rotating blade or nylon.
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FIGURE 7. Acutal Robotic Lawn mower
The proposed project has been researched to appeal to the innovating technology
in robotics in terms of lessening the work of human. Thus making their daily living easy
and entertained. The capability of the project is to be able to mow a lawn, for instance the
university field at a minimized time and effort. For the robotic lawn mower to operate, its
microcontroller must have the downloaded program the proponents have made and may
be interfaced with the created Graphical User Interface(GUI) via laptop through
Bluetooth connection where a choice of controlling the robot manually or start cutting the
grass in a programmed pattern may be chosen.
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HARDWARE DEVELOPMENT
In developing the Robotic Lawn Mower, various circuits are required to be used
to be able to fully operate the said project. These circuits include DC motor driver,
Microcontroller, Bluetooth shield Master and slave. Relay. Some modules were already
available on the market so as to minimize the work but some circuits including the input
of relay to control the switch for the blade has to be manually made using a PCB.
As mentioned above, the microcontroller is the heart of this project, thus being the
main hardware component of the Robotic Lawn Mower. This controls the mobile
together with the Graphical User Interface (GUI). The switch of the blade may be turned
on by pressing the installed switch in the mobile itself or may be controlled in GUI. Other
than the GUI, the Bluetooth device is also interfaced with the microcontroller which
serves as a wireless communication between the Robotic Lawn Mower and the user via
laptop. In addition to the GUI and the Bluetooth device, a DC motor driver is also
interfaced with the microcontroller to be able to control the gear motors in the front and
back wheel of mobile.
For the power, a power supply circuit is used to regulate a 5Vbattery which gives
the voltage and current for the microcontroller and the motors to work. Also, a 6V-
4Amperes lead acid battery is connected directly to the supply of DC motor for the grass
cutter. A lithium-ion polymer battery is also used to replace a battery for higher current
and bigger voltage to the power supply.
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HARDWARE COMPONENTS
Microcontroller Module
FIGURE 8. ZILOG Z8F0822PJ020SG IC ENCORE MCU FLASH 8K 28DIP
A microcontroller is a computer. Microcontrollers are "embedded" inside some
other device so that they can control the features or actions of the product. Another name
for a microcontroller, therefore, is "embedded controller." A microcontroller is a small
computer on a single integrated circuit containing a processor core, memory, and
programmable input/output peripherals. Microcontrollers are designed for embedded
applications, in contrast to the microprocessors used in personal computers or other
general purpose applications.
http://en.wikipedia.org/wiki/Integrated_circuithttp://en.wikipedia.org/wiki/Input/outputhttp://en.wikipedia.org/wiki/Microprocessorhttp://en.wikipedia.org/wiki/Personal_computerhttp://en.wikipedia.org/wiki/Personal_computerhttp://en.wikipedia.org/wiki/Microprocessorhttp://en.wikipedia.org/wiki/Input/outputhttp://en.wikipedia.org/wiki/Integrated_circuit -
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It has the ability to store and run user made programs thus making it extremely
versatile. It can be programmed to perform functions based on predetermined situations
like 1 and 0s line logic and selections. It can also perform mathematical and logical
abilities allow it to obtain sophisticated logical and electronic circuits.
Power Supply
FIGURE 9. Power Supply
A power supply is a device that supplies electrical energy to one or more electric
loads. Fgure 9 shows the actual power supply used in the project. This power supply
yields different voltages such as 5v for the microcontroller and the Bluetooth device.
http://en.wikipedia.org/wiki/Electricalhttp://en.wikipedia.org/wiki/Energyhttp://en.wikipedia.org/wiki/External_electric_loadhttp://en.wikipedia.org/wiki/External_electric_loadhttp://en.wikipedia.org/wiki/External_electric_loadhttp://en.wikipedia.org/wiki/External_electric_loadhttp://en.wikipedia.org/wiki/Energyhttp://en.wikipedia.org/wiki/Electrical -
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Bluetooth Device
FIGURE 10. Bluetooth Device
Figure 10 shows the Bluetooth device used for the project. This Bluetooth device
serves as the main communication of the robotic lawn mower to the user via laptop thus
having a wireless connection. The Bluetooth module is able to connect up to a 50.5 meter
distance away from the paired device. It can have a secured pairing by adding password
to serve as protection from other device to interfere with the connection.
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DC MOTOR
FIGURE 11. DC Motor
Figure 10 is the DC motor used for the project having high speed high torque for better
quality of the rotation of the blade/nylon.
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SOFTWARE DEVELOPMENT (Flow chat ni zeta)
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Software Development (Flow chat ni zeta)
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TESTING REULTS
The following are the results from the tests that have been conducted after
operating the modules, devices and the mobile itself for the task performed according to
capacity, performance and capabilities of the project.
Results from various tests of the completion of the whole process of theRobotic Lawn Mower
Testing results for Cutting the grass at 25m2
area of field.
Trials Time
1 11.39 sec
2 13.05 sec
3 13.76 sec
Table1. Time completion of the task at a given area of25m2
Table 1 shows the result from series of tests in finding the minimum time that a Robotic
Lawn mower can perform a task at a given area.
The proponents conducted 3 trials and recorded the average of the time completion of the
task in speed of 12.73 seconds.
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Results from series of tests of the maximum distance that a Robotic LawnMower can cover from the (Bluetooth connection) controller
Testing results for maximum distance covered via Bluetooth connection.
Distance(m) Connectivity
10 20 30 40 50
50.5 60
70
Table2 Range of Bluetooth connectivity
Table 2 shows the result from the series of tests made by the proponents in determining
the maximum distance the Bluetooth connection can hold from the Robotic Lawn
Mower. The farthest distance covered by the mobile is approximately 30-50 meters still
having a strong connection. In distance 50.5 meters the connection between the laptop
and the mobile weakened as it goes further. 50.5meters and further is the distance the
connection between the laptop and the mobile became fully disconnected.
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Testing results for the speed of Robotic Lawn Mower in a 6 meters distance
Trial
Time Speed
Forward Backward Forward Backward
1 14.8s 13.16s 40.54cm/sec 45.6cm/sec
2 15.02s 11.8 39.95cm/sec 50.84cm/sec
3 13.58s 12.89s 44.18cm/sec 46.55cm/sec
4 12.88s 11.04s 46.59cm/sec 54.35cm/sec
5 12.53s 10.92s 47.86cm/sec 54.95cm/sec
Table3. Speed of the Robotic Lawn Mower in a 6 meters distance
Table 3 shows the result from series of tests in finding the average speed of the
Robotic Lawn mower.
The proponents conducted 5 trials and recorded the average of the time
completion of the speed of the Robotic Lawn Mower. The speed in forward is almost
same as the speed when the mobile is in reverse based on our tests where a simple timer
was used to record the data.
As you can see, as we go further with the trial, the time and speed decreases
because the supply in the battery weakens thus resulting to an inaccurate result of the
speed and time. Also, the weight of the mobile affects the outcome of the speed test.
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PROJECT CAPABILITES AND LIMITATIONS
The Robotic Lawn Mower can perform the following task:
The Robotic Lawn mower can perform hideous task that could lessen manpowerby cutting grass in a massive area such as the university field.
The Robotic Lawn Mower can be controlled via Bluetooth at a distance of 50.5rs.
The Robotic Lawn Mower can be manually and automatically program controlledupon interfacing in the GUI
The Robotic Lawn Mower has a build in Speaker for entertainment purposes andcan be a warning for nearby humans that are within the area of operation.
In terms of financial, it is beneficial because its way cheaper than the gas andelectric supplied robotic lawn mower sold in the market.
The Robotic Lawn Mowers performance is limited with the following:
Bluetooth connectivity problem after 52 meters.
Cannot pass through smooth plane terrain with obstacles such as big rocks, water-filled area.
Having a difficulty accelerating in an inclined plane.
Difficulty turning in a precise U-turn.
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CHAPTER 5
SUMMARY OF FINDINGS, CONCLUSIONS AND RECOMMENDATIONS
This chapter discusses the findings of the tests done, conclusion and the
recommendation for the project done by the proponents.
SUMMARY OF FINDINGS
With the concept of innovative robotics, the proponents thought of a project that
will help ease the daily living of humans by lessening the manpower in terms of work.
This project can replace human efforts when it comes to trimming grass especially on a
spacious area such as the university field.
The proposed project was started by first conceptualizing the materials, design
and the overall package of the mobile. The microcontroller, being the heart of this design
was our first priority and decided to use a ZILOG Z8F0822PJ020SG 28pin, then a
separate DC motor for the grass cutter and a different motor for the front and back wheels
of the mobile. Some added features were later added like speakers and surface mount
LED to improve the packaging of the project.
After all the concepts have been finalized, we started to work on the project and
then started to develop a system for the execution of the program. We had our C# made
Graphical User Interface (GUI) interfaced together with the program in the Zilog Encore.
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As the proponents software engineer develops the program to be used for the
project, the conceptualized design had been constructed so as to cater to the proposed
packaging taking into consideration of the main objective of the project, that is, to cut
grasses. With everything put together, tests were made to attain the credibility of the
study and its results.
In Table 1, the completion of the whole task given 25m2 area have been recorded
giving the proponents the estimated time of a complete task the Robotic Lawn Mower
could do given a considerable area.
Testing results upon observing the range of the Bluetooth connection is recorded
in Table 2. Having a connection using a Bluetooth device gives proximity of 50.5 meters
as its maximum distance. Moving further than 50.5 gives a weak connection and may
have a connection loss any point from thereon.
The last area of to be tested was the speed of the Robotic Lawn Mower in moving
forward, backwards and turning sideways. The result shows that both moving forward
and backward has almost the same remarkable speed but has a limit on turning a U-point.
Also, it has been noted that the weight of the aluminum casing of the DC motor for grass
cutter massively affects the whole weight of the mobile thus slows down the acceleration
of the mobile.
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CONCLUSION
The main objective of this project entitled Robotic Lawn Mower aides to serve
as help to humans in lessening their task and work load. As part of evaluating the
capacity of the project, the proponents set tests and analyzed the results so as to improve
the quality and operations of the Robotic Lawn Mower. With these tests, the proponents
have made conclusions in ways of maximizing its capability.
The first test shows the maximum speed that the robot can attain in performing a
complete task given a considerable area. Averaging the test results gives us the figure that
is most likely the normal speed the robot can complete a task. The third test, on the other
hand, shows the result of speed the Robotic Lawn Mower does upon accelerating
forward and backward. Both tests give result pertaining to the projects speed. However,
tests show that factors such as obstruction, obstacle which includes medium sized rocks
that the wheels cannot pass through, incline plane, rough terrain, may affect the accuracy
of the speed test results. Another factor is the battery life. It is observed that as we go on
testing the project, the energy in the supply decreases therefore resulting to decrease in
speed also.
The last test confers with the Bluetooth connectivity. Results show that the
maximum coverage the Bluetooth device can hold has a remarkably long distance. In
terms of connection, the pairing of the device through the laptop had no problem since it
connected easily. The proponents thought of putting a password in the pairing so that
there would be no problem regarding interference in the connectivity. When it reaches its
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maximum distance and disconnects, we have observed that even as we try to reconnect, it
can no longer establish a connection. Thus, we have generalized that the easiest way to
connect the laptop with the mobile is if we do it within the coverage area.
RECOMMENDATION
As the project was being built and have been evaluated process by process, the
proponents have come up to some recommendations in ways of improving the project for
the future researchers so as to maximize its operation and capabilities.
The substitution of an RF module that could suffice greater distance coverage.Although the installed Bluetooth module contributes a remarkable distance, an
improved RF module will give an outstanding range and will improve the
transmission and reception of the input commands. Thus also improving the
reliability of the project on operating in a task in terms of distance.
The thickness of the steel used in holding the DC motor of the blade may belessened so that it would not contribute additional weight to the whole package
and thus increase the speed of the mobile.
The use of biodiesel a clean and safe fuel to replace the batteries and depletesthe use of charger and batteries and will improve the life of the mobile while it
works.
Replacement of a high torque, high speed motor for the back wheels to improveits speed.
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REFERENCES
The m
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APPENDICES
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APPENDIX A: Gantt Chart
The m
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APPENDIX B: Users Manual
The m
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APPENDIX C: Source Codes
The m
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APPENDIX D: Printed Circuit Board Design
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CURRICULUM
VITAE