Proposal

Nowadays in a production line where is required different kinds of pieces, the challenge is getting the right parts to the right place just in time for the assembly. That is the purpose of this robot.

This robot consists in pick up different pieces in different places and bring it back to the line production depending on the assembler command. Also, it is going to be a line following robot with an ultrasonic sensor and an emergency stop button to provide safe during the process.

Its design will be a 3 or 4 wheels car chassis, using Arduino, color sensor, ultrasonic sensor and buttons.

CODE

#include  "Ultrasonic.h"

#include<Servo.h>

#include<FastIO.h>

#include<I2CIO.h>

#include<LCD.h>

#include<LiquidCrystal.h>

#include<LiquidCrystal_I2C.h>

#include<LiquidCrystal_SR.h>

#include<LiquidCrystal_SR2W.h>

#include<LiquidCrystal_SR3W.h>

#include<Wire.h>

#define I2C_ADDR    0x3F  // Define I2C Address where the PCF8574A is

#define BACKLIGHT_PIN     3

#defineEn_pin  2

#defineRw_pin  1

#defineRs_pin  0

#define D4_pin  4

#define D5_pin  5

#define D6_pin  6

#define D7_pin  7

int n = 1;

LiquidCrystal_I2C lcd(I2C_ADDR,En_pin,Rw_pin,Rs_pin,D4_pin,D5_pin,D6_pin,D7_pin);

Servo myservo;

//#defineleftPin = tag1

//#definerightPin = tag10

intpos = 0;

intdelayPeriod = 1000;  // increasing this slows down the servo movement

intRFIDResetPin = 13;

int distance = 0;

int detector = 0;

Ultrasonic ultrasonic (10,12);

constint IN1=3;

constint IN2=5;

constint IN3=6;

constint IN4=11;

constintirLeft = 2; //Left line sensor is on pin A2

constintirRight = 3; //Right line sensor is on pin A3

constint buttonPin1 = 2;// the number of the pushbutton pin

constint buttonPin2 = 4;

constint buttonPin3 = 8;

constint buttonPin4 = 9;

int buttonState1 = 0;

int buttonState2 = 0;

int buttonState3 = 0;

int buttonState4 = 0;

int aux_pin1;

int aux_pin2;

int aux_pin3;

int aux_pin4;

intaux_pin_choose;

boolean Rotate=true;

//Register your RFID tags here

char tag1[13] = "FE0070368D35";

char tag2[13] = "FE0070E21975";

char tag3[13] = "FE007086ABA3";

char tag4[13] = "FE0070E21975";

char tag5[13] = "FE00714637FE";

char tag6[13] = "01023C000E31";

char tag7[13] = "01023C0A3207";

char tag8[13] = "FE007145E329";

char tag9[13] = "FE0070CCA8EA";

char tag10[13] = "FE0071564D94";

void setup()

{

lcd.begin (20,4);

// Switch on the backlight

lcd.setBacklightPin(BACKLIGHT_PIN,POSITIVE);

lcd.setBacklight(HIGH);

lcd.home ();                   // go home

lcd.print("CargoRobot"); 

lcd.setCursor ( 0, 1 );        // go to the 2nd line

lcd.print("Version 1.0");

lcd.setCursor ( 0, 2 );        // go to the third line

lcd.print("Test & demonstration");

lcd.setCursor ( 0, 3 );        // go to the fourth line

lcd.print("...: ");

delay(5000);

myservo.attach(7);  // attaches the servo on pin 9 to the servo object

myservo.write(pos); // center the servo

  // initialize the pushbutton pin as an input:

pinMode(buttonPin1, INPUT);

pinMode(buttonPin2, INPUT);

pinMode(buttonPin3, INPUT);

Serial.begin(9600);

pinMode(RFIDResetPin, OUTPUT);

digitalWrite(RFIDResetPin, HIGH);

  //ONLY NEEDED IF CONTROLING THESE PINS - EG. LEDs

 // pinMode(2, OUTPUT);

  //pinMode(23, OUTPUT);

  //pinMode(4, OUTPUT);

  //pinMode(25, OUTPUT);

  //pinMode(26, OUTPUT);

  //pinMode(27, OUTPUT);

  //pinMode(8, OUTPUT);

  //pinMode(29, OUTPUT);

  //pinMode(30, OUTPUT);

  //pinMode(31, OUTPUT);

  // fIRST , define the Motor's pin as an OUTPUT

pinMode( IN1 ,OUTPUT);// Right Motor 1st wire

pinMode( IN2 ,OUTPUT);// Right Motor 2nd wire

pinMode( IN3 ,OUTPUT);// left Motor 1st wire

pinMode( IN4 ,OUTPUT);// left Motor 2nd wire

//Here we set up variable that will hold the ADC value representing the line sensor values

intleftSees = 0; //A2 ADC value (0 to 1023)

intrightSees = 0; //A3 ADC value (0 to 1023)

}

void forward(int Speed){

  //When we want to let Motor To Rotate clock wise

  // just void this part on the loop section .

analogWrite(IN1,0);

analogWrite(IN2,Speed);

analogWrite(IN3,Speed);

analogWrite(IN4,0);

}

void backward(int Speed){

  //When we want to let Motor To Rotate Counter clock wise

  // just void this part on the loop section .

analogWrite(IN1,Speed);

analogWrite(IN2,0);

analogWrite(IN3,0);

analogWrite(IN4,Speed);

}

void left(int Speed){

  //When we want to let Motor To Rotate Counter clock wise

  // just void this part on the loop section .

analogWrite(IN1,0);

analogWrite(IN2,Speed);

analogWrite(IN3,0);

analogWrite(IN4,Speed);

}

void right(int Speed){

  //When we want to let Motor To Rotate Counter clock wise

  // just void this part on the loop section .

analogWrite(IN1,Speed);

analogWrite(IN2,0);

analogWrite(IN3,Speed);

analogWrite(IN4,0);

}

void Stop(){

  //When we want to let Motor To Rotate clock wise

  // just void this part on the loop section

analogWrite(IN1,0);

analogWrite(IN2,0);

analogWrite(IN3,0);

analogWrite(IN4,0);

}

void loop(){

  //delay(5000);

   //Start by reading the left sensor on A2

intleftEye = analogRead(irLeft);

 //next read the right sensor connected A3

intrightEye = analogRead(irRight);

  //delay a little bit

delay(5);

distance=ultrasonic.Ranging(CM);

delay(20);

if (distance<=20){

Stop(); 

delay(20);

Serial.println("Sai da frente");

delay(150);

lcd.clear();

lcd.print("Get out the way");

lcd.setCursor ( 0, 2 );

}

  //Next, we run the motors based on the sensor reading

  //If both sensors see black (ADC value greater than 1000), then back up

  //else if ((leftEye>= 500)&&(rightEye>= 500)) right(105);

  //Otherwise, if only the left sensor sees black, then turn off the left motor

  //so the robot veer to the left

else if ((leftEye>= 500)&&(rightEye< 500)) left(80);

  //Otherwise, if only the right sensor sees black, then turn off the right motor

  //so the robot veer to the right

else if ((leftEye< 500)&&(rightEye>= 50)) right(80); 

  //Otherwise, move forward

else forward(75);

lcd.clear();

lcd.print("forward");

lcd.setCursor ( 0, 2 );

chartagString[13];

int index = 0;

boolean reading = false;

while(Serial.available()){

intreadByte = Serial.read(); //read next available byte

if(readByte == 2) reading = true; //begining of tag

if(readByte == 3) reading = false; //end of tag

if(reading &&readByte != 2 &&readByte != 10 &&readByte != 13){

      //store the tag

tagString[index] = readByte;

index ++;

    }

  }

checkTag(tagString); //Check if it is a match

clearTag(tagString); //Clear the char of all value

resetReader(); //eset the RFID reader

}

voidcheckTag(char tag[]){

///////////////////////////////////

//Check the read tag against known tags

///////////////////////////////////

buttonState1 = digitalRead(buttonPin1);

buttonState2 = digitalRead(buttonPin2);

buttonState3 = digitalRead(buttonPin3);

buttonState4 = digitalRead(buttonPin4);

if (buttonState4 == LOW)

 {

Serial.println("#4");

lcd.clear();

lcd.print("Emergency!!");

aux_pin4=1; 

lcd.setCursor ( 0, 2 );

Stop();

}

if(strlen(tag) == 0) return; //empty, no need to contunue

if(compareTag(tag, tag1))

{

Serial.println(tag);

forward(90);

delay(500);

Stop();

 //  lcd.clear();

lcd.print("waiting comand"); 

lcd.setCursor ( 0, 1 );  

if( pos> 0) pos = 0;

myservo.write(pos);  // tell servo to go to position in variable 'pos'

delay(delayPeriod);

aux_pin1=0;

aux_pin2=0;

aux_pin3=0;

while(1)

 {

buttonState1 = digitalRead(buttonPin1);

buttonState2 = digitalRead(buttonPin2);

buttonState3 = digitalRead(buttonPin3);

if (buttonState1 == LOW)

 {

Serial.println("#1");

lcd.clear();

lcd.print("Going to #1");

aux_pin1=1; 

lcd.setCursor ( 0, 2 );

//  delay(2000);

break;

 }

else if (buttonState2 == LOW)

 {

Serial.println("#2");

lcd.clear();

lcd.print("Going to #2");

aux_pin2=1; 

lcd.setCursor ( 0, 2 );

//  delay(1000);

break;

 }

else if (buttonState3 == LOW)

 {

Serial.println("#3");

lcd.clear();

lcd.print("Going to #3");

aux_pin3=1; 

lcd.setCursor ( 0, 2 );

 // delay(2000);

break;

 }

  } 

  }

 // buttonState1 = digitalRead(buttonPin1);

 // if (buttonState1 == HIGH)

else if((compareTag(tag, tag3))&& (aux_pin1 == 1))

  {

Serial.println("#1");

lcd.clear();

lcd.print("This is #1"); 

lcd.setCursor ( 0, 2 );

  //delay(2000);

left(100);

while(1)

  {

intleftEye = analogRead(irLeft);

 //next read the right sensor connected A3

intrightEye = analogRead(irRight);

  //delay a little bit

delay(5);

    (leftEye>= 500);

break;

  //  delay(2000);

  }

  }

else if ((compareTag(tag, tag4))&& (aux_pin2 == 1))

  {

Serial.println("#2");

lcd.clear();

lcd.print("This is #2"); 

lcd.setCursor ( 0, 2 );

  //delay(2000); 

left(100);

while(1)

  {

intleftEye = analogRead(irLeft);

 //next read the right sensor connected A3

intrightEye = analogRead(irRight);

  //delay a little bit

delay(5);

    (leftEye>= 500);

break;

   // delay(2000);

  }

}else if ((compareTag(tag, tag5))&& (aux_pin3 == 1))

  {

Serial.println("#3");

lcd.clear();

lcd.print("Going to #3"); 

lcd.setCursor ( 0, 2 );

  //delay(2000);

left(100);

while(1)

  {

intleftEye = analogRead(irLeft);

 //next read the right sensor connected A3

intrightEye = analogRead(irRight);

  //delay a little bit

delay(5);

    (leftEye>= 500);

break;

    //delay(2000);

  }

  }

else if (compareTag(tag, tag6)){

lightLED(27);

}else if(compareTag(tag, tag7)){

lightLED(28);

}else if(compareTag(tag, tag8))

{ 

  //delay(500);

Serial.println("#1");

right(120);

// while(1)

// 

//  {

//   

//  intleftEye = analogRead(irLeft);

//

// //next read the right sensor connected A3

//  intrightEye = analogRead(irRight);

// 

//  //delay a little bit

//    delay(5);

//  if(rightEye>= 500)

//    break;

//    delay(2000);

//    

//  }

delay(2000);

if( pos< 180)

pos = 100;

myservo.write(pos);    // tell servo to go to position in variable 'pos'

delay(delayPeriod);

lcd.clear();

lcd.print("tolling");

delay(1000);

  }

else if(compareTag(tag, tag9))

{ 

Stop();

Serial.println("#2");

right(120);

while(1)

  {

intleftEye = analogRead(irLeft);

 //next read the right sensor connected A3

intrightEye = analogRead(irRight);

  //delay a little bit

delay(5);

    (rightEye>= 500);

break;

delay(2000);

  }

delay(2000);

if( pos< 180)

pos = 100;

myservo.write(pos);    // tell servo to go to position in variable 'pos'

delay(delayPeriod);

lcd.clear();

lcd.print("tolling");

delay(1000);

  }

else if(compareTag(tag, tag10))

{ 

Stop();

Serial.println("#3");

delay(1000);

right(120);

while(1)

  {

intleftEye = analogRead(irLeft);

 //next read the right sensor connected A3

intrightEye = analogRead(irRight);

  //delay a little bit

delay(5);

    (rightEye>= 500);

break;

delay(2000);

  }

delay(2000);

if( pos< 180)

pos = 100;

myservo.write(pos);    // tell servo to go to position in variable 'pos'

delay(delayPeriod);

lcd.clear();

lcd.print("tolling");

delay(1000);

  }

else if (Serial.println(tag)); //read out any unknown tag

  }

voidlightLED(int pin){

///////////////////////////////////

//Turn on LED on pin "pin" for 250ms

///////////////////////////////////

Serial.println(pin);

digitalWrite(pin, HIGH);

delay(250);

digitalWrite(pin, LOW);

}

voidresetReader(){

///////////////////////////////////

//Reset the RFID reader to read again.

///////////////////////////////////

digitalWrite(RFIDResetPin, LOW);

digitalWrite(RFIDResetPin, HIGH);

delay(150);

}

voidclearTag(char one[]){

///////////////////////////////////

//clear the char array by filling with null - ASCII 0

//Will think same tag has been read otherwise

///////////////////////////////////

for(inti = 0; i<strlen(one); i++){

one[i] = 0;

  }

}

booleancompareTag(char one[], char two[]){

///////////////////////////////////

//compare two value to see if same,

//strcmp not working 100% so we do this

///////////////////////////////////

if(strlen(one) == 0) return false; //empty

for(inti = 0; i< 12; i++){

if(one[i] != two[i]) return false;

  }

return true; //no mismatches

}

Arduino Pins

Track

This image shows what is the track that the robot need to follow.

Tags: each tag represents the place and the movement that the robot must do.

Tag1: Stop, lift and waiting for the operator command

Tag2, Tag3 and Tag4: depending on the button that was pressed the robot must turn to the respective tag.

Tag5, Tag6 and Tag7: turn 180 degrees and down the servo arm to star tolling.

Materials

1 - Arduino Uno = The Arduino Uno is a microcontroller board based on the ATmega328. It has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz ceramic resonator, a USB connection, a power jack, an ICSP header, and a reset button. It contains everything needed to support the microcontroller and contains all the functions and the systems to control our robot

2 - LCD monitor = It was used as a feed-back, describing every function that the robot is doing.

3 - Ultrasonic sensor = It was used to avoid obstacles.

4- Line following sensor = We used two line following sensors, one on each side of the robot, to make it follow the black line on the floor.

5- Momentary Push-button Switch = We used four Momentary Push-button Switches to allow the operator to choose different pieces in different places.

6- RFID reader = Radio-frequency identification (RFID) is the wireless non-contact use of radio-frequency electromagnetic fields to transfer data, for the purposes of automatically identifying and tracking tags attached to objects. We used to read specific points during the track, avoiding any kind of mechanical contact.

RFID tag = The tags contain electronically stored information. They act as a passive transponder to emit microwaves or UHF radio waves. We used seven different tags to point the specific places where the robot must take different actions.

An RFID reader transmits an encoded radio signal to interrogate the tag. The RFID tag receives the message and then responds with its identification and other information. This may be only a unique tag serial number, or may be product-related information such as a stock number, lot or batch number, production date, or other specific information.

* Resistors = We used four resistors of 330 ohms to drain the power to the ground, avoiding the high signal to arduino.

7- Servo motor = This device is used to act as a hoist to toll the car containing the selected pieces.

8- H-brigde = we used two different H-bridge to control four wheels.

9- Battery(5V, 2.1 mAh) = We used a battery with 5V power on the arduino, LCD screen, the servo, as well all the sensors.

* Battery (9V )= We used the battery with 9V to power on the H-brigde  with de DC motors.

* DC motor = We used four DC motor to spin the wheels, giving movement to the robot.

* 4 wheels chassis = We used the four wheels chassis to support all the devices used in the robot.

Third Milestone

Second Milestone