{"id":76,"date":"2018-04-25T19:08:00","date_gmt":"2018-04-25T19:08:00","guid":{"rendered":"https:\/\/blogs.etsii.urjc.es\/dseytr\/?p=76"},"modified":"2019-05-04T11:12:54","modified_gmt":"2019-05-04T11:12:54","slug":"rambo-robot-aspiradora","status":"publish","type":"post","link":"https:\/\/blogs.etsii.urjc.es\/dseytr\/rambo-robot-aspiradora\/","title":{"rendered":"RAMBO, robot aspiradora.(Grupo 10)."},"content":{"rendered":"

<\/p>\n

\n
\nRAMBO, <\/span>Robot
\naspirador .<\/span><\/div>\n


<\/span><\/div>\n

\n<\/div>\n
\n<\/p>\n
\n<\/a><\/a><\/div>\n<\/div>\n
\nIntroducci\u00f3n:<\/span><\/span><\/b><\/div>\n
\n
<\/span><\/span><\/b><\/div>\n
\nHemos
\nrealizado un robot aspirador con una placa Arduino que detecta y evita
\nobst\u00e1culos. El robot se enciende conectando el cable al positivo de la pila y
\nempieza a avanzar hasta que detecta un obst\u00e1culo, en ese momento gira para el
\nlado contrario al obst\u00e1culo, si el obst\u00e1culo esta justo enfrente de \u00e9l y a
\nmenos de 20 cm el RAMBO retrocede y gira a la izquierda. Para pararlo hay que quitar
\nel cable.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nComponentes:<\/span><\/span><\/b><\/div>\n
\n
<\/span><\/span><\/b><\/div>\n
\nUna placa
\nArduino (prestado por el centro).<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nUna protoboard
\n(hemos usado tres, pero para organizar mejor los cables).<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nUna bater\u00eda
\nde 12V y 5 AH. Coste:20 euros.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nUna
\naspiradora de coche de 12V. Coste:18 euros.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nUn tabl\u00f3n de
\nmadera de 30.5×24 cm.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\n4 motores de
\ncorriente continua con caja reductora con sus respectivas ruedas. Coste:15
\neuros.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nUn sensor de
\nultrasonidos. Coste: 2 euros.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nDos sensores
\nde infrarrojos. Coste: 8 euros.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nUn
\ncontrolador <\/span>L293D Motor
\nDriver IC.<\/span><\/strong> Coste: 2
\neuros.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\n12 bridas de
\npl\u00e1stico.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nCinta de
\ndoble cara. (Se va a utilizar una peque\u00f1a cantidad).<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nCinta
\namericana. (Se va a utilizar una peque\u00f1a cantidad).<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nCables.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nCoste
\naproximado: 65 euros.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nMontaje:<\/span><\/span><\/b><\/div>\n
\n
<\/span><\/span><\/b><\/div>\n
\nPrimero cogemos
\nla tabla y a 8 cm de la esquina cortamos hasta 5 cm hacia el interior de la
\ntabla, y lo mismo desde la esquina contraria. Despu\u00e9s realizamos una serie de
\ntaladros donde se van a colocar los motores (tres por motor y uno opcional para
\nintroducir los cables al motor) para poder introducir las bridas. El siguiente
\npaso es usar la cinta de doble cara para pegar la bater\u00eda a la tabla y usar la
\ncinta americana para pegar el cable de la aspiradora a la bater\u00eda (este \u00faltimo
\npaso hacerlo al final para poder hacer m\u00e1s f\u00e1cilmente el cableado).<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\n
Ahora viene
\nla parte del circuito, para realizar el circuito tenemos que conectar dos motores
\nal controlador y el controlador a los puertos 11 y 10 , y los otros dos motores
\nal otro lado del controlador en sentido inverso y a los puertos 9 y 8 , una vez
\nrealizado eso conectar los infrarrojos a los puertos 6 el derecho y 7 el
\nizquierdo y el pin VCC al positivo y GND a tierra , despu\u00e9s conectar el sensor
\nde ultrasonidos a tierra, a 5 V y a los puertos 12 el pin TRIG y 13 el pin ECHO.
\n<\/span><\/span><\/div>\n
\nEn el
\nsiguiente dibujo se puede ver de forma <\/span>gr\u00e1fica las conexiones entre los motores,
\nlos sensores, el controlador y el Arduino.<\/span><\/span><\/span><\/div>\n
\n<\/div>\n
\n<\/div>\n
\n
\n<\/a><\/a><\/div>\n

<\/div>\n

\n
<\/span><\/span><\/div>\n
\nPara unirlo
\na la aspiradora el conectar el final del cargador al positivo de la bater\u00eda y
\nuna de las piezas de hierro de los lados al negativo (es importante no conectar
\nuna pieza de hierro de un lado al positivo y la del otro lado al negativo) . <\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/b><\/div>\n
\nC\u00f3digo para el Arduino.<\/span><\/span><\/b><\/div>\n
\n
<\/span><\/span><\/b><\/div>\n
\n#define
\ntrigPin 12<\/span><\/span><\/div>\n
\n#define
\nechoPin 13<\/span><\/span><\/div>\n
\n#define ir1
\n7<\/span><\/span><\/div>\n
\n#define ir2
\n6<\/span><\/span><\/div>\n
\n<\/div>\n
\nvoid setup()<\/span><\/span><\/div>\n
\n{<\/span><\/span><\/div>\n
\n  <\/span>Serial.begin(9600);<\/span><\/span><\/div>\n
\n  <\/span>pinMode(8,OUTPUT);<\/span><\/span><\/div>\n
\n  <\/span>pinMode(9,OUTPUT);<\/span><\/span><\/div>\n
\n  <\/span>pinMode(10,OUTPUT);<\/span><\/span><\/div>\n
\n  <\/span>pinMode(11,OUTPUT);<\/span><\/span><\/div>\n
\n  <\/span>pinMode(trigPin,OUTPUT);<\/span><\/span><\/div>\n
\n  <\/span>pinMode(echoPin,INPUT);<\/span><\/span><\/div>\n
\n  <\/span>pinMode(ir1,INPUT);<\/span><\/span><\/div>\n
\n  <\/span>pinMode(ir2,INPUT);<\/span><\/span><\/div>\n
\n}<\/span><\/span><\/div>\n
\n<\/div>\n
\nvoid loop(){<\/span><\/span><\/div>\n
\n  <\/span>int duration, distance;<\/span><\/span><\/div>\n
\n  <\/span>int flag,valIzq,valDcha;<\/span><\/span><\/div>\n
\n  <\/span>valIzq=digitalRead(ir1);<\/span><\/span><\/div>\n
\n  <\/span>valDcha=digitalRead(ir2);<\/span><\/span><\/div>\n
\n  <\/span>Serial.println(valIzq);<\/span><\/span><\/div>\n
\n  <\/span>Serial.println(valDcha);<\/span><\/span><\/div>\n
\n  <\/span>digitalWrite(trigPin,LOW);<\/span><\/span><\/div>\n
\n  <\/span>delayMicroseconds(100);<\/span><\/span><\/div>\n
\n  <\/span>digitalWrite(trigPin,HIGH);<\/span><\/span><\/div>\n
\n  <\/span>delayMicroseconds(100);<\/span><\/span><\/div>\n
\n  <\/span>digitalWrite(trigPin,LOW);<\/span><\/span><\/div>\n
\n  <\/span>duration = pulseIn(echoPin,HIGH);<\/span><\/span><\/div>\n
\n<\/div>\n
\n  <\/span>distance = (duration\/2\/29);<\/span><\/span><\/div>\n
\n  <\/span>if (distance >= 400 || distance <= 0){<\/span><\/span><\/div>\n
\n    <\/span>Serial.println(\u00abOut of range\u00bb);<\/span><\/span><\/div>\n
\n    <\/span>Serial.print(distance);<\/span><\/span><\/div>\n
\n    <\/span>Serial.println(\u00bb cm\u00bb);<\/span><\/span><\/div>\n
\n  <\/span>}else {<\/span><\/span><\/div>\n
\n    <\/span>Serial.print(distance);<\/span><\/span><\/div>\n
\n    <\/span>Serial.println(\u00bb cm\u00bb);<\/span><\/span><\/div>\n
\n  <\/span>}<\/span><\/span><\/div>\n
\n  <\/span>delay(1000);<\/span><\/span><\/div>\n
\n<\/div>\n
\n  <\/span>if (valIzq==0){  <\/span><\/span><\/span><\/div>\n
\n    <\/span>Serial.println(\u00abGIRA A LA DERECHA\u00bb);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(8,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(9,HIGH);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(10,HIGH);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(11,LOW);<\/span><\/span><\/div>\n
\n    <\/span>delay(50\u00e70);<\/span><\/span><\/div>\n
\n    <\/span>Serial.println(\u00abSTOP\u00bb);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(8,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(9,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(10,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(11,LOW);<\/span><\/span><\/div>\n
\n  <\/span>}else if (valDcha==0){<\/span><\/span><\/div>\n
\n    <\/span>Serial.println(\u00abGIRA A LA IZQUIERDA\u00bb);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(8,HIGH);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(9,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(10,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(11,HIGH);<\/span><\/span><\/div>\n
\n    <\/span>delay(500);<\/span><\/span><\/div>\n
\n    <\/span>Serial.println(\u00abPARA\u00bb);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(8,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(9,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(10,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(11,LOW);<\/span><\/span><\/div>\n
\n  <\/span>}else if (distance >=20 || distance
\n<=0){<\/span><\/span><\/div>\n
\n    <\/span>Serial.println(\u00abAVANZA\u00bb);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(8,HIGH);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(9,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(10,HIGH);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(11,LOW);<\/span><\/span><\/div>\n
\n    <\/span>delay(150);<\/span><\/span><\/div>\n
\n    <\/span>Serial.println(\u00abPARA\u00bb);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(8,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(9,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(10,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(11,LOW);<\/span><\/span><\/div>\n
\n  <\/span>}else{<\/span><\/span><\/div>\n
\n    <\/span>Serial.println(\u00abRETROCEDE Y  <\/span>GIRA\u00bb);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(8,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(9,HIGH);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(10,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(11,LOW);<\/span><\/span><\/div>\n
\n    <\/span>delay(500);<\/span><\/span><\/div>\n
\n    <\/span>Serial.println(\u00abPARA\u00bb);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(8,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(9,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(10,LOW);<\/span><\/span><\/div>\n
\n    <\/span>digitalWrite(11,LOW);<\/span><\/span><\/div>\n
\n    <\/span>}<\/span><\/span><\/div>\n
\n  <\/span>}<\/span><\/span><\/div>\n
\n}<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nProblemas encontrados.<\/span><\/span><\/b><\/div>\n
\n
<\/span><\/span><\/b><\/div>\n
\nLos
\nmateriales no llegaban o llegaban muy justos, hemos tenido que ir a alguna
\ntienda o volver a pedir otros que llegasen antes.<\/span><\/span><\/div>\n
\nLos motores
\nque compramos no ten\u00edan caja reductora por lo que al poner algo de resistencia
\nse paraba y no recupera su velocidad, es decir ten\u00edan muchos rpm, pero no
\nten\u00edan potencia.<\/span><\/span><\/div>\n
\nLos sensores
\nde ultrasonidos dejaron funcionar, lo supimos ya que el sensor devolv\u00eda todo el
\nrato 0, hubo que comprar otro.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\nEl
\ncontrolador L293 se quem\u00f3 debido a una mala conexi\u00f3n en los cables y hubo que
\ncomprar otro.<\/span><\/span><\/div>\n
\nLos sensores
\ninfrarrojos son muy sensibles a la luz y estaban detectando obst\u00e1culos cuando
\nno los hab\u00eda y tuvimos que manipularlos a mano, giran una especie de rueda que
\ntienen en una caja peque\u00f1a azul.<\/span><\/span><\/div>\n
\n<\/div>\n
\nMEJORAS POSIBLES.<\/span><\/span><\/b><\/div>\n
\n<\/div>\n
\n\u2022    <\/span><\/span><\/span>A\u00f1adir
\nun bot\u00f3n de encendido y apagado o permitir hacerlo de manera remota.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\n\u2022     
\n<\/span><\/span><\/span>Programar
\nuna hora para que se ponga en funcionamiento.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\n\u2022     <\/span><\/span><\/span>Poner
\nun tiempo para que se pare sola despu\u00e9s de que se termine ese tiempo y que te
\navise de manera sonora al terminar.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\n\u2022     
\n<\/span><\/span><\/span>A\u00f1adir
\nuna aspiradora con mayor potencia de absorci\u00f3n.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\n\u2022     
\n<\/span><\/span><\/span>A\u00f1adir
\nuna bater\u00eda que dure m\u00e1s.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\n\u2022     
\n<\/span><\/span><\/span>Hacer
\nposible cargar la bater\u00eda conect\u00e1ndola a la red.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\n\u2022      <\/span><\/span><\/span>A\u00f1adir
\nuna carrocer\u00eda o carcasa para proteger el cableado y hacer a RAMBO m\u00e1s
\nelegante.<\/span><\/span><\/div>\n
\n
<\/span><\/span><\/div>\n
\n\u2022     
\n<\/span><\/span><\/span><\/span>Mejorar
\nel algoritmo de desplazamiento para que limpie por toda la casa de manera
\nadecuada.<\/span><\/span><\/div>\n
\n<\/div>\n

V\u00cdDEO.<\/b><\/span>
\n
<\/b><\/span>
\n
<\/b><\/span>
\n<\/p>\n

\n