Project
| # | Title | Team Members | TA | Documents | Sponsor |
|---|---|---|---|---|---|
| 33 | Table Cleaning Robot: Autonomous Elevated Surface Cleaner |
Ann Luo Bolin Pan Yening Liu |
Jason Zhang | design_document1.pdf final_paper1.pdf grading_sheet1.pdf photo1.png presentation1.pptx proposal1.pdf video1.mp4 |
|
| Team Members: - Ann Luo (hluo12) - Bolin Pan (bolinp2) - Yening Liu (yeningl2) # Problem Cleaning tables is a repetitive and time-consuming chore that people usually do by hand. Tables often collect dust, crumbs, and spills, making regular cleaning necessary. While robots for cleaning floors are common, there aren't many options for robots designed to clean tables. The main challenges for such a robot include stopping it from falling off the table, avoiding objects like cups and plates, and making sure the surface is cleaned thoroughly. # Solution The Table Cleaning Robot is a small, self-operating device made to clean flat surfaces like tables. It is designed to handle challenges such as detecting edges to avoid falling, collecting dust and crumbs, and avoiding obstacles with the advanced functionality of cleaning space under objects like glasses and plates. Unlike floor-cleaning robots, this robot is built specifically for elevated surfaces, making it safe and effective. It works by using sensors to detect edges and prevent falls, rotating brushes to collect debris, and smart navigation to move around obstacles and clean the table. # Solution Components ## Subsystem 1: Edge Detection and Fall Prevention This part of the robot makes sure it doesn’t fall off the table. It uses sensors, like infrared or ultrasonic sensors, to detect the edge of the table. When the robot approaches the edge, the sensors send a signal to the robot’s microcontroller, which tells the wheels to stop or turn around depending on whether the robot finished cleaning. This way, the robot stays safe and doesn’t fall. ## Subsystem 2: Debris Collection This part is responsible for cleaning the table by picking up dust, crumbs, and small messes. It may have spinning brushes underneath that sweep the dirt into a small bin or a tiny vacuum fan can also suck up finer dust. The brushes are powered by a small motor, and the bin can be removed to empty out the dirt when it’s full.\ \ The robot should clean the table row by row, ensuring the coverage of the entire surface of the table. ## Subsystem 3: Obstacle Detection This part helps the robot navigate around obstacles and interact with objects like cups or plates. It uses sensors, like ultrasonic or LiDAR sensors, to detect objects in its way. To clean the surface under the object, we propose two potential methods, The first method is to lift objects up using a robotic arm and clean the area underneath. However, this method may struggle with smooth-surface objects like glass cups which are hard to grip securely. Also, this method may only work for lightweight objects since we plan to build a portable small-sized robot. Another way is to push the objects aside, clean the exposed area, and then push the objects back to their original positions. However, a concern of this method is that the robot might push things off the table if the objects is at the edge of the table. Therefore, we may consider combining these two methods. ## Subsystem 4: Size and Portability The robot is designed to be compact and portable, making it suitable for a wide range of table sizes and shapes. The robot should weigh no more than 2 kg to ensure easy portability and will be no more than 20 cm x 20 cm x 10 cm(L x W x H). # Criterion For Success 1. Edge Detection and Fall Prevention: \ The robot must detect and avoid edges with 100% reliability to prevent falls.\ It should stop or turn around within 2 cm of the edge. 2. Debris Collection:\ The robot should collect at least 90% of debris in a single cleaning cycle.\ The collection bin should hold debris from at least three cleaning cycles for a 60 cm x 60 cm table. 3. Object Interaction:\ The robot should avoid obstacles as small as 5 cm in diameter and as large as 20 cm in diameter.\ It should successfully move objects weighing up to 500 grams without knocking them over.\ The navigation system should achieve a 95% success rate in avoiding obstacles and completing cleaning tasks. 4. Size and Portability:\ The robot should operate effectively on tables ranging from 60 cm x 60 cm to 120 cm x 80 cm.\ It should clean at least 90% of the table surface area, including under objects. |
|||||