Team NinjaTeam Ninja

Intelligent VacuumIntelligent Vacuum

Introduction/OverviewIntroduction/Overview

Project description and motivationBlock diagram of approachImplementation of subsystemsScheduleDivision of laborRisk and contingency plan

Project Description and Project Description and MotivationMotivation

Self-controlled device– Intelligently navigates entire room

while vacuuming– Detects proximity and avoids

collision with walls and obstacles– Battery Powered

Assist disabled persons keep their living space clean

Physical DescriptionPhysical Description

Small enough to get under coffee tables, beds

Round, approximately 1 ft in diameter

Lightweight as possible

Block Diagram of Block Diagram of ApproachApproach

User InterfaceUser Interface

Limited user interfaceOn/off switchMode selection

– Continuous, trash detection, ghost mode, room mapping

– Room sizeDisplays

– Battery life, mode, etc.

VacuumVacuum

Commercial vs. “Homemade”

Integration with the rest of the system

Constraints– Battery powered– Lightweight– Quiet

Mobility FunctionsMobility Functions

Steer, move, brake– All three functions

implemented with stepper motors

– Ball bearing castors to help with movement/support

Requirements – Two-way motoring– Two independent

motors (Right and Left)

BrainBrain

Motorola HC11K4 Microcontroller

“Intelligence” of our system– Receive and analyze

data from the peripheral sensors

– Control the vacuum’s movement

– Implementation of the different modes

Peripheral SensorsPeripheral Sensors

IR sensors– Sharp GP2D120

Analog output 4-30 cm detection

range

– Detects when an object is close

– Sends an output back to the brain

Peripheral SensorsPeripheral Sensors

Limit switch– “Pressure sensor”– Detects when you

touch an object– Sends an output

back to the brain

Peripheral SensorsPeripheral Sensors

IR vs. limit switch– IR limitations– Limit switch limitations– Implementation of both types

Sensor/Brain InterfaceSensor/Brain Interface

Sensor output to brain input

A/D converter

Battery PowerBattery Power

Requirements– Sufficient power for vacuum, motor,

etc.– Power converters

Max232 chip

– Rechargeable

ScheduleSchedule

Division of LaborDivision of Labor

Kevin – Microcontroller programming, communication between devices

Tim – Communication with peripheral sensors, power supply

Simone – Mobility functions, vacuum integration

Risk and Contingency Risk and Contingency PlanPlan

Potential problems– Group inexperience– Sensor limitations– Communication between devices– Vacuum integration

Weight, power consumption

– Small group Division of work

Risk and Contingency Risk and Contingency PlanPlan

Contingency plan– Move to Mexico and become scuba

instructors– If vacuum integration isn’t possible

Sneaky, ninja-like alarm clock

ConclusionConclusion

Project description and motivationBlock diagram of approachImplementation of subsystemsScheduleDivision of laborRisk and contingency plan

Questions?Questions?

Kevin Riegner kevin.riegner@gmail.comTim Palagi timothy.palagi@gmail.comSimone Shen simone.shen@gmail.com