Search Words: ROBOT, ROBOTICS, ROBOTIC VISION, ARTIFICIAL INTELLIGENCE,
| Here is the results of several
months of work on a new floor cleaning mechanism for the long
lasting Sweepbot. This robot has been in operation for years
now, sweeping up excess cat litter that manages to escape the
litter box in the bathroom. But maintenance of the sweep mechanism
was getting tedious, and Ive decided to make a new lower maintenance
(I hope!) cleaning unit. Since I built the robot with a huge
cutout in the center to put in any type of sweeper I wanted,
it was not too bad to modify it to accept the new design. |
Shown at left is
the final results of many months of experimentation, and assembly.
Ive labeled the key components. The suction fan is from a toy
"wall walking" spider from Radio Shack, which used
suction to stick to the walls as you drove it around with a remote
IR unit. I sacrificed this $10 toy to get the suction motor and
The unit glides
on the bathroom tile floor on Teflon guides and the dirt bin
can be emptied while on the robot from the bottom.
of the canister. It is spring mounted to float on the floor independent
of the robot. The robot basically "pulls" it along
as it slides on the floor. The entire top of the robot has been
removed here for clarity.|
Top view showing
the fit of the final assembly. While the air intake of the sweeper
is small, it passes over the floor many times each run which
lasts 5 minutes. Any longer sucks the batteries down since this
sweep motor draws 2 amps at 3 volts. To the sweepers upper left
is the voltage controller I made from a huge NPN power transistor.
It drops the batteries 13v down to 3.0 volts. Not an easy task
for a 2 amp draw!
The NPN which is
a 2N3055 is used as an emitter follower configuration to do this
task. The heat sink keeps it from overheating from the 20W load.
the bin, which is done about every two weeks, the cover plate
on the bottom of the canister is connected by two neodymium magnets
seen here on each side of the label. You simply pull the bottom
off, dump it in the waste basket and snap the cover back on which
totally seals the bottom. |