An Autonomous Robot With Many Capabilities

Hi friends, in this instructable I am going to introduce a new version of my previous instructable that can do the following tasks:

1- It can move autonomously by Arduino UNO and L298N motor driver

2- It can do cleaning as a vacuum cleaner

3- It can play songs by Bluetooth

4- It can change the states of its eyes and mouth by Arduino

5- It has flashing LED

6- Its eyebrow and its skirt 's margin is made of strip LED

So this unique instructable is a very good class for those who want a simple but multi functioned robot. I must add, many features of this robot is taken from articles in Instructables site and I am acknowledging this by quoting the article in every relevant section.

1- General Dimensions of the robot :

-The dimensions of base : 50 * 50 cm , height from the ground 20 cm including wheels

- The dimension of wheels : Front wheels diameters : 5 cm, Rear wheels 12 cm

- The dimensions of vacuum cleaner tank : 20 *20 * 15 cm - The pipes diameters: 35 mm

- The battery compartment dimensions: 20 * 20 * 15 cm

- The Istructables robot dimensions: 45 * 65 * 20 cm Features:

- movement by two motors rotating the rear wheels and two front wheels without power, the rotation of motors is controlled by a unit which is controlled by Bluetooth and a software which can be installed in smart phone.

- Vacuum cleaning function with a switch

- Flashing LED strips with red and blue colors - Changing the states of eyes and mouth every 10 seconds - Eyebrows and the margin of skirt of robot red LED with constant light could be switched on-off

-Bluetooth speakers switched on-off on robot body and could be operated by android smart phone through Bluetooth.

Materials, modules and components used in this robot are as follows:

1- Two Motor-Gearbox ZGA28 (Fig. 1):

Model - ZGA28RO (RPM) 50, Manufacturer : ZHENG, Shaft diameter : 4 mm , Voltage: 12 V, shaft length 11.80 mm, No load current : 0.45 A, gearbox diameter : 27.90 mm, max. torque: 1.7 kg.cm, gearbox height : 62.5 mm, constant torque: 1.7 kg.cm, length : 83 mm, speed ratio : 174, Diameter : 27.67 mm

2- One Arduino Uno module and One L298N module motor driver(Fig 2)

3- Three ultrasonic module SRF05

4- One 12 V, 4.5 A-h lead-acid battery (Fig.5)

5- Two motor brackets 28 * 23 * 32 mm (Fig. 6, Fig 7)

6- Two motor couplings 10*10*(4-6) mm (Fig. 8)

7- Two motor shafts 6 mm diameter * 100 mm length

8- Two drive rear wheels each 12 cm diameter(Fig 9)

9- Two front wheels each 5 cm diameter (Fig. 10)

10- A 50 cm * 50 cm, square piece of PC (Poly Carbonate ) sheet with 6 mm thickness

11- Electrical duct made of PVC is used for reinforcing and framing the base the dimensions are 3*3 cm

12- PVC pipe with 35 mm diameter for vacuum cleaner pipes (including elbow)

13- Vacuum cleaner tank or container is plastic container I had in my scraps with the dimension of 20* 20* 15 cm 14 - Vacuum cleaner motor-fan, 12 V motor with a centrifugal fan direct coupled to it

15- One Arduino Uno module

16- One amplifier module green PAM8403 https://www.win-source.net/en/search?q=PAM8403

17- Two speakers, each 8 Ohm, 3 W

18- Five 8*8 dot matrix modules with Max7219 chip and SPI connector(Fig. 12) https://www.win-source.net/en/search?q=PAM8403

19- Two power transistors 7805

20- two diodes 1N4004 https://www.win-source.net/en/search?q=PAM8403

21- Two capacitors 3.3 uF

22- Two capacitors 100 uF

23- Two transistors BC547 https://www.win-source.net/en/search?q=PAM8403

24- Two resistors 100Ohm

25- Two resistors 100 kOhm

26- Two capacitors 10 uF

27- Three project boards 6*4 cm

28- Enough breadboard wires and single core 1 mm wires

29- One female USB connector(I used a burned USB hub and take one of its female USB out!)

30- One Bluetooth receiver BT163

31- Six rocker switches

32- Electrical duct made of PVC 1*1 cm

33- Screws

34- Eight On board terminals

1- Cutter

2- Hand saw

3- Soldering Iron

4- Pliers

5- Wire cutter

6- Small drill with different heads(drill bits - grinders, cutters )

7- Ruler

8- Solder

9- super glue

10- small and medium size screw drivers

This is similar to my previous instructable:

https://www.instructables.com/editInstructable/edit/E5GS23TJ86HNH41/step/4

This is similar to my previous instructable:

https://www.instructables.com/editInstructable/edit/E5GS23TJ86HNH41/step/5

To make the electronic parts the steps are as follows:

1- Making flashing LED The circuit and components of this part is taken exactly from my previous instructable as follows: https://www.instructables.com/id/Amplifier-With-B...

2- Making the matrix dot LED for the state of eyes and mouth: All of what of I have done in this step was taken from the following instructable: https://www.instructables.com/id/Controlling-a-LE... except I have changed it's software and instead of controlling it through the serial monitor, I have added some codes to change the states of eyes and mouth every 10 seconds. In software section I will explain more about this and include the software for download. I have included a small circuit for converting 12 V battery Voltage to 5 Volts for Arduino UNO input connection, the detail of such circuit is in my previous instructable as follows: https://www.instructables.com/id/Controlling-a-LE...

3- Making driving motors parts:The connections of motors to the driving motor module is easy and according to the above figure, i.e. the right motor terminals to the right terminals of the driver and the the left motor terminals to the left terminals of the driver, and the power from battery to the power and ground terminals of the driver in which a rocker switch is installed on the battery compartment for on-off . The Arduino sketch of this part will be explained in software part.

4- Making the Bluetooth speakers This part is easy and is taken exactly from the following instructable: https://www.instructables.com/id/Controlling-a-LE... With two exceptions, firstly I have not torn up the Bluetooth receiver and I have used a female USB to connect it to my power supply (the same as item 2 above, i.e. 12 V/ 5 V circuit) and a female jack to connect it to my amplifier module. Secondly I have used amplifier module, green PAM8403 ( https://www.instructables.com/id/Controlling-a-LE... 3 W (Fig 11), instead of the amplifier used in that instructable, and I connected my left speaker to the left terminals of the PAM8403 and connect the right speaker to the right terminals of PAM8403( https://www.instructables.com/id/Controlling-a-LE... ), taking polarity in to consideration, I have used 5V input from the same power supply above and I have connected the three terminals of the PAM8403 to the output jack of the Bluetooth receiver according to the figure.

There are Two softwares in this instructable, 1- for Arduino and motor driver and 2) for Dot-matrix eyes and mouth

- The software for Arduino and motor driver is included here for download, I used those available Arduino sketches in instructibles and other sites but I have modified those to adapt it for my case.

- The software for the Arduino related to eyes and lips is the same as the software included in the above said instructable for changing the state of eyes and mouth by using Dot-Matrix LED-s, but I have changed some of the codes to cause Arduino change the states in every 10 seconds, and this software is included here for download too.

I hope this new version is impressing you, by the way the big size of this robots and its considerable weight is a kind of achievement, it can work as a vacuum cleaner so if you let it move autonomously in a room it can clean the rooms as well and while cleaning the room it plays music and it has flashing LEDs and changes it's eye and lips moods, I myself is very fond of this robot, I have called him "Donald" and I and Donald both wish you all a MERRY CHRISTMAS AND HAPPY NEW YEAR...LISTEN TO HIM HE IS SAYING THE SAME THING...