Final Year Project Report

Final Year Project Report
The Waiter Robot With Wireless Ordering System

B.S. Electronic Engineering, Batch 2007
Internal Adviser Engr. Muhammad Rafay Khan Lecturer Electronic Engineering Deppt. SSUET, KARACHI
Submitted by Malik Usama Waheed Ahsan Parwez Saghir Ahmed Huzaifa Saifuddin Muhammad Dawood Qamer Sajid Gul Amber Khan
External Adviser Mr. Abrash Parwez Masters Student Engg Management Stanford University
2007-EE-128 2007-EE-134 2007-EE-139 2007-EE-158 2007-EE-159 2007-EE-168
DEPARTMENT OF ELECTRONIC ENGINEERING Sir Syed University Of Engineering & Technology University Road, Karachi-75300
January, 2011
Sir Syed University Of Engineering & Technology
PREFACE
The creation of intelligent robots is surely one of the most exciting and challenging goals of Artificial Intelligence. A robot is, first of all, nothing but an inanimate machine with motors and sensors. In order to bring life to it, the machine needs to be programmed so as to make active use of its hardware components. This turns a machine into an autonomous robot. Since about the mid-nineties of the past century, robot programming has made impressive progress. State-of-the-art robots are able to orient themselves and move around freely in indoor environments or negotiate difficult outdoor terrains, they can use stereo vision to recognize objects, and they are capable of simple object manipulation with the help of artificial extremities. At a time where robots perform these tasks more and more reliably, we are ready to pursue the next big step, which is to turn autonomous machines into reasoning robots. A reasoning robot exhibits higher cognitive capabilities like following complex and long-term strategies, making rational decisions on a high level, drawing logical conclusions from sensor information acquired over time, devising suitable plans, and reacting sensibly in unexpected situations. All of these capabilities are characteristics of human-like intelligence and ultimately distinguish truly intelligent robots from mere autonomous machines.
Our interest in robots leaned more toward the popular concept of robots as humanlike friends and servants. We did not have the funds to build a computer-controlled robot that is why we used microcontrollers.
To increase the effectiveness and efficiencies of restaurants we have worked on Digitized Menu cards that will be installed on tables, that will eliminate any Queuing at the counter. Our theme is to create an organized environment that will facilitate all group ages. This thesis provides an in-depth look into THE WAITER ROBOT WITH WIRELESS ORDRING SYSTEM, providing complete knowledge of the project that describes the devices used in the formation and those associated with it. The text also elaborates the terminologies and factors related to the project.
Chapter 1: This chapter gives introduction about the types of service robots and the scope of robotics in different fields. Chapter 2: This chapter further gives background of the robotics and describe the types in more detail. Chapter 3: Provides indept knowledge about the RF module and wireless Communication. Chapter 4: This chapter describes the design phase and entire methodology of our project. Chapter 5: This chapter describes the hardware design of entire project. Chapter 6: Chapter includes description of components used in the project and how they were used. Chapter 7: Gives details about the softwares and their development process. Chapter 8: This chapter contains the flowcharts and the schematics of the project. Chapter 9: Conclusion and Future Enhancements are listed in this chapter. Appendices: Appendix A contains time and cost analysis and Appendix B contains datasheets of major components.
ACKNOWLEDGEMENTS
First and foremost we are thankful to Almighty Allah, through His guidance we have reach this point in our lives.
We are grateful to our parents who provided us with all the resources and luxuries, and supported us in every possible way during the duration of this project.
We are deeply indebted to Mr. Muhammad Rafay Khan (Lecturer, Electronics Dept), our internal advisor, who offered his valuable time whenever we needed. His full encouragement and even more cooperation was always with us, during the completion of this project. Finally yet importantly, we acknowledge the efforts of our teachers who have been our source of inspiration throughout the university years and have shared their knowledge and skills with us.
We are also deeply indebted to Mr. Abrash Pervaiz, our external advisor, who provided his valuable knowledge about the PIC micro-controller and its interfacing and programming. We are also grateful to Mr. Sohail Memon who provided his expertise about the mechanical design of robot.
SIR SYED UNIVERSITY OF ENGINEERING & TECHNOLOGY

University Road, Karachi-75300, Pakistan
Tel: 4988000-2,4982393, Fax: (92-21) 4982393
http://www.ssuet.edu.pk
The Faculty of Electronic Engineering
Project Approval
Project Title Internal Advisor External Advisor Academic Year Group Members:
Malik Usama Waheed Ahsan Parwez Saghir Ahmed Huzaifa Saifuddin Muhammad Dawood Qamer Sajid Gul Amber Khan 2007-EE-128 2007-EE-134 2007-EE-139 2007-EE-158 2007-EE-159 2007-EE-168
The Waiter Robot With Wireless Ordering System Engr. Muhammad Rafay Khan Mr. Abrash Parwez 2007-2010
The Department of Electronic Engineering Sir Syed University of Engineering & Technology has approved this Final Year Project. The project is submitted in partial fulfillment of the requirement for the degree of Bachelor of science in Electronic Engineering. Approval Committee:
Engr. Muhammd Rafay Khan Internal Advisor
Mr. Abrash Parwez External Advisor
Mr. Muhammad Sharif FYP Committee Incharge
Mr. Bilal Alvi Chairman EE Department
Synopsis
Through technical advances we humans have automated vast areas of our working lives. Apart from industrial and communication fields, fields like that of gardening, cleaning and cooking are also being automated, that are intelligent and can operate as per requirement with minimum of human interference.
Through our knowledge and observations we are designing a Robot based on PIC18 that can deliver food items inside a restaurant; our prototype will exhibit some level of intelligence as it navigates through the restaurant. This prototype will take orders\input wirelessly by the use of RF modules for reception and transmission.
Each table will be implanted\installed with our custom designed module containing PIC18 and RF transmitter and input buttons for selection, resetting and transmitting along with a LCD display for displaying information of selected items.
The inputs are processed by PIC18 and data is delivered to RF transmitter. The RF transmitter from the table directs the information to the Counter RF receiver where data is decoded by max232 IC and delivered through the serial port to a computer that has a GUI (designed in Visual Studio 2008-2010) along with a database based on SQL Management Server 2008.
The Robot receives its codes and orders from the Counter in the same way using RF transmitter receiver pair. When send order button is pressed in the GUI the codes are transmitted through a RF transmitter installed on the counter, the Robot receives the orders and acts accordingly. In its way to the table or back from table to the Counter the Robot may encounter an obstacle, to detect obstacles of any kind we have installed Ultrasonic sensors that will detect the obstructions, the Robot will stop and sound an alarm\beep.
TABLE OF CONTENTS
Preface..(ii) Acknowledgment.(iv) Certificate.....(v) Synopsis......(vi)
Chapter 1 Introduction
1.1 Introduction...2 1.2 Service Droids and Robots...2 1.3 Types of Service Robots.................................................................3 1.4 Problem Statement..........................................................................3 1.5 Scope Of Robotics..........................................................................4 1.6 Conclusion.4
Chapter 2 Background Of Robotics

2.1 History...........................................................................................6 2.2 Types Of Robot....6 2.2.1 Rectangular Robot.....6 2.2.2 Cylindrical Robot......6 2.2.3 Spherical Arm Robot........6 2.3 Selection Compliance Assembly Robot.....7 2.3.1 Articulated Robot..7 2.3.2 Mobile Robots...7 2.3.3 Rolling Robots...7
2.3.4 Walking Robots......8 2.3.5 Stationary Robots.......8 2.3.6 Autonomous Robots.......8 2.3.7 Remote-Control Robots..9 2.4 Beam Robots...............9 2.4.1 Biology......9 2.4.2 Electronics...10 2.4.3Aesthetics..........10 2.4.4 Mechanics...10 2.4.5 Robots As Waiters.......10 2.5 Conclusion..11
Chapter 3 RF Module And Wireless Communication

3.1 Wireless Communication...13 3.2 Modes Of Wireless Communication......13 3.3 RF.....13 3.3.1 The RF Advantage........14 3.4 RF In Warehouses And Distribution Centers.15 3.4.1 Shipping And Receiving.....15 3.4.2 Internal Transport....15 3.4.3 Stock And Location Management....16 3.4.4 Order Picking..16 3.4.5 Stock Control..16 3.4.6 Stock Replenishment......,17
3.5 RF Purchasing Considerations.....17 3.6 Conclusion,,..17
Chapter 4 Methodology And Procedure

4.1 Introduction.19 4.1.1 Design Phase.....19 4.1.2 Implementation Phase...20 4.1.3 Testing Phase.....20 4.2 Conclusion....20
Chapter 5 Hardware Design

5.1 Introduction.....22 5.2 Structural Design.22 5.3 Mechanical Consideration.......23 5.4 Material Selection....23 5.5 Conclusion.......23
Chapter 6 Electronic Components

6.1 PIC Microcontroller.....25 6.1.1 Use in Project....24 6.2 Transistor..26 6.2.1 Use in Project....26 6.3 7805 Regulators.......26 6.3.1 Features.....27 6.3.2 Use in Project....27
6.4 Push Button....28 6.4.1 Use in Project..28 6.5 16 X 2 Character LCD.......28 6.5.1 Use in Project..28 6.6 Ultrasonic Sensors......29 6.6.1 Use in Project..29 6.7 Relay..29 6.7.1 Operating Principles....29 6.7.2 Use in Project......30 6.8 Dry Cell Battery Rechargeable......30 6.8.1 Use in Project......30 6.9 Buzzer And crystal....31 6.9.1 Use in Project......31 6.10 RF Transmitter And Receiver..31 6.10.1 Use in Project....32 6.11 RS 232.....32 6.11.1 Use in Project...32 6.12 Dc Gear Motor........33 6.12.1 Use in Project...33 6.13 U-Shape Sensor...33 6.13.1 Use in Project...33 6.14 MAX232 IC....34 6.14.1 Use in Project...34
6.15 Conclusion...34
Chapter 7 Software Description

7.1 Software.....36 7.2 List Of Software Used...36 7.2.1 PIC Simulator And Compiler......36 7.2.1.1 Pic18 Simulator IDE Main Features....36 7.2.1.2 Pic18 Burner.....38 7.2.2 Visual Studio 2010..........38 7.2.2.1 Software Screenshots...38 7.3 Conclusion......43
Chapter 8 Flowcharts And Circuits

8.1 Power Supply.....45 8.2 Motor Driving....46 8.3 PIC18 General Circuit....46 8.4 Main Robot Circuit47 8.5 Table Circuit...48 8.6 PIC16 General Circuit....48 8.7 Ultra Sonic Circuit..49 8.8 LEDs Flashing Circuit....49 8.9 Counter Circuit...50 8.10 Flow Chart Of The System...51 8.10.1 Description Of The Process.......52
Chapter 9 Conclusion And Future Enhancement

9.1 Project Review.......54 9.2 Future Enhancements And Considerations...54 9.2.1 Adding Cameras (Sense Of Sight).....54 9.2.2 Multi-Purpose Single Robot...55 9.2.3 GPS Navigational Aid Robot.....55 9.2.4 Ability To Respond To Verbal Commands....55 9.2.5 Medical Robots...55 REFERENCES APPENDIX A (Time and Cost analysis) (Application of the project) (Cost of the project) APPENDIX B (Data sheets of all major components)
LIST OF FIGURES
Figure 1.1 Figure 2.1 Figure 2.2 Figure 2.3 Figure 2.4 Figure 2.5 Figure 2.6 Figure 2.7 Figure 2.8 Figure 6.1 Figure 6.2 Figure 6.3 Figure 6.4 Figure 6.5 Figure 6.6 Figure 6.7 Figure 6.8 Figure 6.9 Figure 6.10 Figure 6.11 Figure 6.12 Figure 6.13 Scope Of Robotics Mars Explorer Guidance Robot Spider Robot Robotic Arm Robotic Nurse Mining Robot Beam Robot Waiter Robot PIC 18 NPN Transistor Regulator Push Button 16x2 LCD Ultra Sonic Sensor Relay Battery Buzzer & Crystal RF Transmitter RF Receiver Serial Port DC Motor 04 07 07 08 08 08 09 09 10 25 26 27 28 28 29 29 30 31 31 31 32 33
Figure 6.14 Figure 7.1 Figure 7.2 Figure 7.3 Figure 7.4 Figure 7.5 Figure 7.6 Figure 7.7 Figure 7.8 Figure 8.1 Figure 8.2 Figure 8.3 Figure 8.4 Figure 8.5 Figure 8.6 Figure 8.7 Figure 8.8 Figure 8.9 Figure 8.10 Figure 8.11 Figure 8.12
U-Shaped Sensor Visual Studio 2010 Main Order Form Main Order Form Updated Order Details Order Details Updated Database Without Data Database With Data Database Form 9V and 12V Batteries Motor Driver Circuit PIC18 Initializing Circuit Main Robot Circuit U-Shape Sensor RF Input Circuit Main Table Circuit PIC16 General Circuit Ultrasonic Sensor LED Flashing Circuit Counter Circuit System Flow Chart
33 38 40 41 41 42 42 43 43 45 45 46 47 47 47 48 48 49 49 50 51
INTRODUCTION
1.1 INTRODUCTION:
What is a robot? The word robot comes from the Czech word Robota, which means obligatory work or servitude. The word robot was first used in a Czech play called R.U.R.(Rossums Universal Robots) by Karl Capek. Robotics is the science and technology of robots and their designs, manufacture and their applications. Robotics comprises of not only the mechanical structure but also the electronics and software in order to function according to the desired input. Now a days Robotics has become a very vast and broad field and robots are distinguished in various categories according to their structure and functions they perform. Robot is defined as a mechanical design that is capable of performing human tasks or behaving in a human-like manner. Building a robot requires expertise and complex programming. Its about building systems and putting together motors, solenoids, and wires, among other important components. There are a number of subsystems that must be designed to fit together into an appropriate package suitable for carrying out the robots task. Wireless Ordering System reduces the flow of work, simplifies the complex orders, receives accurate orders, provides pleasant environment & speedy service, prevents monetary loss, & increases customer reliability in ordering. Moreover, it's also an integrated system that automatically controls business by connecting to POS system at the counter. 1.2 SERVICE OF DROIDS AND ROBOTS: Service robots have no strict internationally accepted definition, which, among other things, delimits them from other types of equipment, in particular the manipulating industrial robot. IFR, however, have adopted a preliminary definition: A service robot is a robot which operates semi- or fully autonomously to perform services useful to the well-being of humans and equipment, excluding manufacturing operations. With this definition, manipulating industrial robots could also be regarded as service robots, provided they are installed in non-manufacturing operations. Service robots may or may not be equipped with an arm structure as is the industrial robot. Often, but not always, the service robots are mobile. In some cases, service robots consist of a mobile platform on which one or several arms are attached and controlled in the same mode as the arms of the industrial robot.[1]
1.3 TYPES OF SERVICE ROBOTS: a- Industrial Robots. b- Mobile Robots. c- Agricultural Robots. d- Service Robots. e- Social Robots. f- Entertainment Robots. g- Tele robots.
1.4 PROBLEM STATEMENT: Today in this modern world era many jobs are undesirable by skilled workers such as sewerage cleaners, toll collectors at the highways, high tension wire repairman, crime scene decontaminators, and even butlers and waiters at the fast food restaurants. Many developed countries of the world depend on cheap unskilled labor from other 3rd world countries to provide the manpower to do these jobs while the population of that country do the skilled jobs. In order to fill the gap and eliminate the need of manpower from other countries many specialized robots have been built to perform the tasks that humans normally dont prefer to do. Being a waiter at a restaurant is also one kind of job that humans dont prefer to do, at least the skilled labor doesnt want to do, that is why we have set out our goal to build a robot and an entire system a model and a prototype for such tasks. Our design will greatly reduce the reliance on manpower and unskilled labor that sometimes become a nuisance.[2]
1.5 SCOPE OF ROBOTICS:
1.6 CONCLUSION: This chapter was the introduction to robotics .in which robot was briefly discussed and also its application and also the advantages for using the robot were briefly explained.
BACKGROUND OF ROBOTICS
2.1 HISTORY: Stories of artificial helpers and companions and attempts to create them have a long history. In 1837, the story of the Golem of Prague, a humanoid artificial intelligence
activated by inscribing Hebrew letters on its forehead, based on Jewish folklore, was created by Jewish German writer Berthold Auerbach for his novel Spinoza. In 1921, Czech writer Karel apek introduced the word "robot" in his play R.U.R. (Rossum's Universal Robots). The word "robot" comes from the word "robota", meaning, in Czech, "forced labour, drudgery". In 1927, the Maschinenmensch (machinehuman), a ganoids humanoid robot, also called "Parody", "Futura", "Robotics", or the "Maria impersonator" (played by German actress Brigitte Helm), the first and perhaps the most memorable depiction of a robot ever to appear on film, was depicted in Fritz Lang's film Metropolis.[3] 2.2 TYPES OF ROBOT:
2.2.1 RECTANGULAR ROBOT
Rectangular arms are sometimes called "Cartesian" because the arms axes can be described by using the X, Y, and Z coordinate system. It is claimed that the Cartesian design will produce the most accurate movements.
2.2.2 CYLINDRICAL ROBOT
A cylindrical arm also has three degrees of freedom, but it moves linearly only along the Y and Z-axes. Its third degree of freedom is the rotation at its base around the two axes. The work envelope is in the shape of a cylinder.
2.2.3 SPHERICAL ARM ROBOT
The spherical arm, also known as polar coordinate robot arm, has one sliding motion and two rotational, around the vertical post and around a shoulder joint. The spherical arm's work envelope is a partial sphere, which has various length radii.
2.3 SELECTION COMPLIANCE ASSEMBLY ROBOT:
The SCARA (Selection Compliance Assembly Robot Arm) is also known as a horizontal articulated arm robot. Some SCARA robots rotate about all three axes, and some have sliding motion along one axis in combination with rotation about another.
2.3.1 ARTICULATED ROBOT
The last and most used design is the jointed-arm., also known as an articulated robot arm. The arm has a trunk, shoulder, upper arm, forearm, and wrist. All joints in the arm can rotate, creating six degrees of freedom. Three are the X, Y, and Z-axes. The other three are pitch, yaw, and roll. Pitch is when you move your wrist up and down. Yaw is when you move your hand left and right. Rotate your entire forearm, this motion is called roll.
2.3.2 MOBILE ROBOTS
Mobile robots are able to move, usually they perform task such as search areas. A prime example is the Mars Explorer, specifically designed to roam the mars surface. Mobile robots are a great help to such collapsed building for survivors Mobile robots are used for task where people cannot go. Either because it is too dangerous for people to reach the area that needs to be searched.
2.3.3 ROLLING ROBOTS
Rolling robots have wheels to move around. These are the type of robots that can quickly and easily search move around. However they are only useful in flat areas, rocky terrains give them a hard time. Flat terrains are their territory.
2.3.4 WALKING ROBOTS
Robots on legs are usually brought in when the terrain is rocky and difficult to enter with wheels. Robots have a hard time shifting balance and keep them from tumbling. Thats why most robots with have at least 4 of them, usually they have 6 legs or more.
2.3.5 STATIONARY ROBOTS
Robots are not only used to explore areas or imitate a human being. Most robots perform repeating tasks without ever moving an inch. Most robots are working in industry settings.
2.3.6 AUTONOMOUS ROBOTS
Autonomous robots are self

supporting
or
in
other
words
self
contained. In a way they rely on their own brains. Autonomous robots run a program that give them the opportunity to decide on the action to perform depending on their surroundings. At times these robots even learn new behavior. They start out with a short routine and adapt this routine to be more successful at the task they perform. The most successful routine will be repeated as such their behavior is shaped. Autonomous robots can learn to walk or avoid obstacles they find in their way. Think about a six legged robot, at first the legs move ad random, after a little while the robot adjust its program and performs a pattern which enables it to move in a direction.
2.3.7 REMOTE-CONTROL ROBOTS
An autonomous robot is despite its autonomous not a very clever or intelligent unit. The memory and brain capacity is usually limited, an autonomous robot can be compared to an insect in that respect. In case a robot needs to perform more complicated yet undetermined tasks an autonomous robot is not the right choice. Complicated tasks are still best performed by human beings with real brainpower. A person can guide a robot by remote control. A person can perform difficult and usually dangerous tasks without being at the spot where the tasks are performed.To detonate a bomb it is safer to send the robot to the danger area. 2.4 BEAM ROBOTS:
BEAM is short for Biology, Electronics, Aesthetics and Mechanics. BEAM robots are made by hobbyists. BEAM robots can be simple and very suitable for starters.
2.4.1 BIOLOGY
Robots are often modeled after nature. A lot of BEAM robots look remarkably like insects. Insects are easy to build in mechanical form. Not just the mechanics are in inspiration also the limited behavior can easily be programmed in a limited amount of memory and processing power.
2.4.2 ELECTRONICS
Like all robots they also contain electronics. Without electronic circuits the engines cannot be controlled. Lots of Beam Robots also use solar power as their main source of energy.
2.4.3 AESTHETICS
A BEAM Robot should look nice and attractive. BEAM robots have no printed circuits with some parts but an appealing and original appearance.
2.4.4 MECHANICS
In contrast with expensive big robots BEAM robots are cheap, simple, built out of recycled material and running on solar energy.
2.4.5 ROBOTS AS WAITERS
As we can see that the use of robots is widespread they are also being used as butlers and waiters around the world to do basic jobs such as waiters, and interestingly
enough robots perform the job effectively, they are very handy too except for their need to be recharged at regular intervals. [3]
2.5 CONCLUSION:
In this chapter we have discussed that why robot was introduced and what was the history behind it. Also the general structure and working principle of robot has been discussed briefly and also the major types of robots have been discussed in this chapter which will give an idea that how robots have been used in different areas to perform different task.
RF AND WIRELESS COMMUNICATION
3.1 WIRELESS COMMUNICATION:
Wireless communication is the transfer of information over a distance without the use of enhanced electrical conductors or "wires". The distances involved may be short (a few meters as in television remote control) or long (thousands or millions of kilometers for radio communications). When the context is clear, the term is often shortened to "wireless". Wireless communication is generally considered to be a branch of telecommunications. [4] 3.2 MODES OF WIRELESS COMMUNICATION: radio frequency communication, microwave communication, for example long-range line-of-sight via highly directional antennas, or short-range communication, or infrared (IR) short-range communication, for example from remote controls or via Infrared Data Association (IrDA). 3.3 RF: RF is the wireless transmission of data by digital radio signals at a particular frequency. It maintains a two-way, online radio connection between a mobile terminal and the host computer. The mobile terminal, which can be portable, even worn by the worker, or mounted on a forklift truck, collects and displays data at the point of activity. The host computer can be a PC, a minicomputer or a much larger mainframe. The end result is a seamless flow of information to and from the host, allowing workers to go wherever they need to go to get their job done without fear of being out of touch with the data they need. RFDC improves the timeliness of information, and therefore the value of information, especially in time-sensitive operating environments like cross-dock, make-to-order manufacturing and just-in-time replenishment. RF itself has become synonymous with wireless and high-frequency signals, describing anything from AM radio between 535 kHz and 1605 kHz to computer local area networks (LANs) at 2.4 GHz. However, RF has traditionally defined frequencies from a few kHz to roughly 1 GHz. If one considers microwave frequencies as RF, this range extends to 300 GHz. The following two tables outline the various nomenclatures for the frequency bands. The third table outlines some of the applications at each of the various frequency bands.
RF measurement methodology can generally be divided into three major categories: spectral analysis, vector analysis, and network analysis. Spectrum analyzers, which provide basic measurement capabilities, are the most popular type of RF instrument in many general-purpose applications. Specifically, using a spectrum analyzer you can view power-vs-frequency information, and can sometimes demodulate analog formats, such as amplitude modulation (AM), frequency modulation (FM), and phase modulation (PM).
Vector instruments include vector or real-time signal analyzers and generators. These instruments analyze and generate broadband waveforms, and capture time, frequency, phase, and power information from signals of interest. These instruments are much more powerful than spectrum analyzers and offer excellent modulation control and signal analysis. Network analyzers, on the other hand, are typically used for making S-parameter measurements and other characterization measurements on RF or high-frequency components. Network analyzers are instruments that correlate both the generation and
analysis on multiple channels but at a much higher price than spectrum analyzers and vector signal generators/analyzers.[8]
3.3.1 THE RF ADVANTAGE
The advantages of a RF communication system are many. Start with the simple fact that if it is wireless, you don't have to lay cable all over your facility. Cable is expensive, less flexible than RF coverage and is prone to damage. For new facilities, implementing a wireless infrastructure may be more cost effective than running cable through industrial environments, especially if the space configuration may change to support different storage space allocation or flexible manufacturing stations. Accessibility is a key benefit. If workers are within range of the system and they always should be if a proper site survey is performed (as explained on page 8) they are always in touch with their data. This advantage cannot be overstated. To always have your data literally at your fingertips whenever needed means there is no break in productivity and no empty or deadhead trips to a stationary terminal, docking station or dispatch location to receive pick or putaway instructions. Critical decisions can be made and action taken immediately at the point of activity. Less wasted time means you can do significantly more, faster, without adding additional employees. Would that make a difference in your business?
Other general advantages of real-time RF communication include a significant improvement in order accuracy (>99%), the elimination of paperwork, replacement of time-consuming batch processing by rapid real-time data processing, prompt response times and improved service levels. Complementing a real-time data collection system with automated data entry by bar code scanning or another automatic data collection technology improves the accuracy of information and eliminates the need for redundant data entry, which provides another set of time- and cost-saving advantages. Many points in the supply chain can realize important advantages of accurate, realtime data that RF provides. Here are some examples of RF applied to a few common environments. 3.4 RF IN WAREHOUSES AND DISTRIBUTION CENTERS:
3.4.1 SHIPPING AND RECEIVING
When goods arrive at receiving, the bar code on the pallet is scanned and the data is sent to the host computer. At virtually the same moment, the quantity of goods received can be compared with the quantity ordered to immediately determine if there is any disparity. If goods received are different from the order, or are damaged, immediate action can be the warehouse, production department or shipping/staging area. Whether outgoing goods are cross-docked or simply transported from storage and loaded onto the truck, shipments can be directed efficiently to trucks and confirmed via the RF system. Invoices, advanced ship notices (ASNs) and other necessary forms and reports can be initiated the moment truck doors are closed.[9]
3.4.2 INTERNAL TRANSPORT
Goods don't sit when instructions are sent wirelessly direct to the mobile terminal. Forklift truck operators no longer have to go somewhere specific to get their instructions; rather, the instructions come to them, saving time, eliminating deadhead trips and making more productive use of personnel and materials. Also, a RF system allows stock retrieval and replenishment to be combined, dramatically reducing the number of movements involved in the internal transport of material and the number of empty runs.
3.4.3 STOCK AND LOCATION MANAGEMENT
The moment palletized goods are put away, forklift operators can use their computer to notify the host system of their location and that they are ready for another job. This allows warehouse space and workers' time to be used in a more efficient manner. Users typically report significant gains in the number of picks or putaways processed per hour after implementing RF-directed operations.
3.4.4 ORDER PICKING
RF supports all possible order picking principles: individual selection, batch selection or splits between articles and packaging. Picking information is received by the terminal, and inquiries and transaction/activity data are sent from the terminal to the host, all in real time. Once the order is picked, a forklift truck operator can then be given delivery instructions from a warehouse management system (WMS) via RF. Providing real-time updates of picking activity and order status enables the WMS to continually recalculate the most efficient pick/putaway routes and order assignments.
3.4.5 STOCK CONTROL
Using RF for stock control offers huge savings in time and money. Because all events are recorded in real time, the computer is continually aware of the current inventory. This high level of monitoring essentially makes separate cycle counting unnecessary. Many companies reduce the number of formal inventory counts they conduct each year, and in some cases eliminate them altogether, because the RF system provides accurate, real-time inventory information. Depending on the order picking method, RF offers a range of possibilities for speedy verification of previous activities/transactions. For example, after a certain number of transactions, the remaining stock at the pick-up location can be counted for extra verification. If the physical stock is not the same as the administrative stock, those mistakes can be rectified before the goods are moved or shipped.
3.4.6 STOCK REPLENISHMENT
Each time stock is removed, the transaction is recorded by the mobile terminal and sent to the host. When stock reaches minimum, preset levels, the system can be set to
alert a supervisor or automatically generate a replenishment request. When bulk stock reaches order level, a purchase order is automatically created and an order placed. Reordering is instantaneous; stocks can be kept low.
3.5 RF PURCHASING CONSIDERATIONS: A wireless system is a serious investment. It's important to consider all factors before making your decision. Following is a brief guide to the major topics and purchasing considerations that must be evaluated before committing to a system, including site planning, wireless technology options and standards, and an overview of the computers and input technologies commonly used in industrial radio frequency network applications. 3.6 CONCLUSION: This chapter is based on wireless communication which describes the principle of communication wirelessly and the history and purpose for introducing this way of communication .its types and its applications are also discussed in this chapter.
METHODLOGY AND PROCEDURE
4.1 INTRODUCTION: Our setup of the project consists of hardware of both mechanical and electrical/electronic natures. The mechanical part mainly consists of the two driving DC Gear Motors, that will be interfaced with the microcontroller. The design of entire robot will be such that to meet the requirements of the environment in a restaurant.
The electronic and electrical sides consists of microcontrollers, power supplies sensors and R.F. modules, other components maybe considered as secondary. The other requirements for our project are building materials like sheets of Aluminum and wooden planks for reinforcement of the structure of the robot, tables and chairs are also going to be setup. On the counter a Computer will be setup to view the orders coming from the table, software implemented will be visual basic.
4.1.1 DESIGN PHASE
We will setup an entire restaurant-like environment with tables, chairs, counter and a waiter. The Waiter will be fully mechanical and will work without the interference of any human being, once all is set the waiter will await the instructions from the tables or the counter. On the tables we will install digitized menus featuring the offers of the restaurant, once a customer selects any deal from the menu the microprocessor will store the information process it and send it to an RF transmitter, that will transmit the exact Table number with Deal selected to the counter, on the counter a RF receiver will receive the data and send it to the microprocessor installed on counter, The microcontroller on the counter will be interfaced with a computer and the exact data will show up on the computer screen. Our first task will be to interface our microcontroller with the DC Gear Motors that will drive the robot, then we will design the base of the robot upon which entire frame of the body of the robot will be built. The Circuit boards will be soldered on to a veroboard and then checked and installed on to wooden base inside the robot. The batteries will be placed and the structure of the robot will be sealed. For the tables, pushbuttons will be placed and upon them a transparent sheet containing the list of food and drink items will be printed and then pasted on the surface of table, the microcontroller units will be installed under or at the sides of the tables with their respective RF transmitter.
4.1.2 IMPLEMENTATION PHASE
The robot structure will be equipped with electronic circuits, power supplies, controller, sensors, RF receiver and DC gear motors. Everything will need to be secured in their right places, eliminating the possibilities of hardware damage. The proximity sensors will be installed on the front of the robot in order to detect the obstacles in front of it. A tray will also be installed on the arms of the robot to carry the food items to the tables.
4.1.3 TESTING PHASE
Testing will be done throughout the working of our project. Our project consists of many individual parts each in the end will make up the entire environment of a restaurant. Each part of our project will be tested individually at first, like transmitters on our tables and the receiver on the counter will be checked and tested with proper programmed microcontrollers. The Waiter Robot is based on many electronic and mechanical components, starting with motors driven by microcontroller then to sensors, each will be properly tested and checked over and over again until entire objective of the project is complete. 4.2 CONCLUSION: This chapter gave the overview on how we planned our journey to complete our project. This chapter also gave a short introduction to the working of our project. In later chapters we will define more about each component and software.
HARDWARE DESIGN
5.1 INTRODUCTION: The main feature in the mechanical design is to construct such a structure, which is capable of carrying in itself the entire circuitry, driving mechanism, power source. It should be stable at the same time and should be strong enough to serve our purpose. 5.2 STRUCTURAL DESIGN: The structure of the robot is divided into different sections based on the requirements. The details of these sections are as follows:
Starting from the base, it is strong and heavy metallic base so that it provides strong support when robot carrying the food or meal for the customers.
The DC gear motor should be able to produce enough power to carry entire weight of its structure.
The robot will turn around at 180 degree angle to add to its mobility.
The arms should be strong enough that it can bear the weight of food and drink items along with the tray.
The grip between the floor and the tacks should be high enough that it can move easily any type of floor.
The structure of the robot is tightly fitted on the base that when it move the items or the meal should be balance and not fall over.
The robot should have enough power that it push any object which height is less than the half feet.
5.3 MECHANICAL CONSIDERATION: The importance of Mechanical Aspects within a system can never be denied as they so very often determine the final Outcome and Overall Performance of the system and in our case, it is a very important aspect because there are a lot of things are to be considered so make our system not only fusible but also successful. 5.4 MATERIAL SELECTION:
Perhaps the most important consideration was the type of the material to be chosen for the system. In order to make our system practically fusible we require such a material that should be light weight but also strong enough to hold the system together and a very strong base so that it can provide support to the system, it can work very effectively. 5.5 CONCLUSION: This chapter gave the overview of the Robot which we planned to make by keeping its task in consideration we are going to design it mechanical structure.
ELECTRONICS COMPONENTS
6.1 PIC MICROCONTROLLER:
PIC is a family of architecture microcontrollers made by Microchip Technology, derived from the PIC1640. Originally developed by General Instrument's
Microelectronics Division. The name PIC initially referred to "Programmable Interface Controller". PICs are popular with both industrial developers and hobbyists alike due to their low cost, wide availability, large user base, extensive collection of application notes, availability of low cost or free development tools, and serial programming (and reprogramming with flash memory) capability. Microchip announced on February 2008 the shipment of its six billionth PIC processor.[11]
6.1.1 USE IN PROJECT
We have used the PIC18F452 microcontroller in our project. The prime purpose of this controller in our project is to control and sustain the entire process and give the precise result.
6.2 TRANSISTOR:
A transistor is a semiconductor device used to amplify and switch electronic signals. It is made of a solid piece of semiconductor material, with at least three terminals for connection to an external circuit. A voltage or current applied to one pair of the transistor's terminals changes the current flowing through another pair of terminals. Because the controlled (output) power can be much more than the controlling (input) power, the transistor provides amplification of a signal. Today, some transistors are packaged individually, but many more are found embedded in integrated circuits. The transistor is the fundamental building block of modern electronic devices, and is ubiquitous in modern electronic systems. Following its release in the early 1950s the transistor revolutionized the field of electronics, and paved the way for smaller and cheaper radios, calculators, and computers, amongst other things.[12]
We have used two NPN transistors in our motor driver circuit for switching purpose. The transistor base is connected with controllers output pin to ON/OFF the transistors. With the help of this transistor we are able to run our dc motor in both directions (forward/reverse).
6.3 7805 REGULATORS:
The KA78XX/KA78XXA series of three-terminal positive regulator are available in the TO-220/D-PAK package and with several fixed output voltages, making them useful in a wide range of applications. Each type employs internal current limiting, thermal shut down and safe operating area protection, making it essentially indestructible. If adequate heat sinking is provided, they can deliver over 1A output current. Although designed primarily as fixed voltage regulators, these devices can be used with external components to obtain adjustable voltages and currents.[13] 6.3.1 FEATURES Output Current up to 1A Output Voltages of 5, 6, 8, 9, 10, 12, 15, 18, 24V Thermal Overload Protection Short Circuit Protection Output Transistor Safe Operating Area Protection
6.3.2 USE IN OUR PROJECT
As we know that our PIC18f452 is CMOS controller which operates in 5V dc to supply the constant 5V dc we have used a regulated IC 7805 which give the exact 5v dc output.
6.4 PUSH BUTTON:
A push-button (also spelled pushbutton) simply buttons a simple switch mechanism for controlling some aspect of a machine or a process.
We have used momentary push buttons in our project for ordering the menu and as well as the manual command in the body of the robot in case of wireless transmission malfunction. 6.5 16 X 2 CHARACTER LCD:
These LCD screens are limited to text only and are often used in copiers, fax machines, laser printers, industrial test equipment, networking equipment such as routers and storage devices.[14]
We have used the 16x2 LCD just only for display the orders which is given by the customer.
6.6 ULTRASONIC SENSORS:
Ultrasonic sensors have an acoustic transducer which is vibrating at ultrasonic frequencies. The pulses are emitted in a cone-shaped beam and aimed at a target object. Pulses reflected by the target to the sensor are detected as echoes. The device measures the time delay between each emitted and echo pulse to accurately determine the sensor-to-target distance. Distance-Sensors detect echoes from objects and evaluate their propagation time and amplitude. Examples are distance meters and presence detectors. By intelligent algorithms based on signal theory models or heuristic approaches (synthetic aperture, pulse holography, fuzzy or neural network etc.) the resolution and detection range were increased, the radial and lateral resolution significantly enhanced and objects recognized.[15][16]
In our project Ultrasonic senor is used to sense the obstacle in front of the Robots path. By the help of this sensor we are capable to detect any obstacle for collision avoidance. 6.7 RELAY:
6.7.1 OPERATING PRINCIPLES
There are really only two fundamentally different operating principles: Electromagnetic attraction Electromagnetic induction.
Electromagnetic attraction relays operate by virtue of a plunger being drawn into a solenoid, or an armature being attracted to the poles of an electromagnet. Such relays may be actuated by d-c or by a-c quantities.
Two 12V dc electromechanical relay have been used by in the motor driver circuit as a switch. 6.8 DRY CELL BATTERY RECHARGEABLE:
Dry cell batteries, regardless of their size, have the same components. At the center of each dry cell battery is a rod called a cathode, which is generally made of metal or graphite and is surrounded by an electrolyte paste. The cathode and electrolyte paste are wrapped in paper or cardboard. One or more of these cells are sealed into a metal cylinder called an anode, which is typically made of zinc or alkaline.
6.8.1 USE IN PROJECT We use 12 volt dry Cell Battery as the main power source for the Waiter robot.
6.9 BUZZER AND CRYSTAL: A buzzer or beeper is an audio signaling device, which may be mechanical,
electromechanical, or electronic. Typical uses of buzzers and beepers include alarms, timers and confirmation of user as a mouse click or keystroke. input such
When ultrasonic sensor detects any objects in front of the robot than the controller sends the high signal to buzzer. The buzzer is simple a transducer which convert the electrical signal into sound due to this the buzzer produce the sound. 6.10 RF TRANSMITTER AND RECEIVER:
A transmitter is an electronic device which, usually with the aid of an antenna, propagates an electromagnetic signal such as radio, television, or other telecommunications Generally in communication and information processing, a transmitter is any object (source) which sends information to an observer (receiver). When used in this more general sense, vocal cords may also be considered an example of a transmitter. In industrial process control, a "transmitter" is any device which converts measurements from a sensor into a signal, conditions it, to be received, usually sent via wires, by some display or control device located a distance away. Typically in process control applications the "transmitter" will output an analog 4-20 mA current loop or digital protocol to represent a measured variable within a range. A radio receiver is an electronic circuit that receives its input from an antenna, uses electronic filters to separate a wanted radio signal from all other signals picked up by this antenna, amplifies it to a level suitable for further processing, and finally converts through demodulation and decoding the signal into a form usable for the consumer,
such as sound, pictures, digital data, measurement values, navigational positions, etc.[18]
In our project RF transmitter and receiver are used for wireless transmission of the data we have used 4 transmitters and 2 receivers each table contains 1 transmitter and one transmitter is attached in the counter circuit to give the wireless command to the robot. 6.11 RS 232:
RS-232 (Recommended Standard 232) is a standard for serial binary singleended data and control signals connecting between a DTE (Data Terminal Equipment) and a DCE (Data Circuit-terminating Equipment). It is commonly used
in computer serial ports. The standard defines the electrical characteristics and timing of signals, the meaning of signals, and the physical size and pinout of connectors.[19][20]
We have used the RS-232 protocol to transmit and receive data serially by the way of computer. 6.12 DC GEAR MOTOR:
Gear motor is a motor that has a gear reduction system or the gearbox integrally built into the motor. The gearbox increases the torque generating ability of the motor while simultaneously reducing its output speed.
We have used the two dc gear motors in our robot to drive the four wheels of the robot and motor is controlled by programming of controller. 6.13 U-SHAPE SENSOR:
This device has a compact construction where the emitting-light sources and the detectors are located face-to-face on the same optical axis. The detector consists of a phototransistor Transmitter is positioned opposite the receiver used for small distances and narrow objects.
In our project we are using the u-sensor for motion detection across the wheels. We have divided the wheels into four steps when each step cut the line of sight of usensor than the output of the u sensor become high which is read by the microcontroller.
6.14 MAX232 IC:
The MAX232 is an integrated circuit that converts signals from an RS-232 serial port to signals suitable for use in TTL compatible digital logic circuits.
We have used the MAX232 in our counter receiver circuit to as a level converter. The output signal from the RS-232 is not compatible for TTL logic circuits therefore we have used this MAX232 IC to convert the signal into TTL logic. 6.15 CONCLUSION: This chapter contains the brief description of the components which are used in the project and how we use it.
SOFTWARE DESCRIPTION
7.1 SOFTWARE: This project contains a lot of mechanical designing and electronic circuitry and wiring, major component of electronics is the PIC microcontroller that we used, it needs to be programmed and also one of them is to be interfaced with a Computer running Visual Basic 2010.
Software side of this project took a lot of hard work and dedication throughout day and night, and it holds a much greater importance than few other aspects of the project. 7.2 LIST OF SOFTWARES USED: 1- PIC Simulator. 2- Visual Studio 2010. 3- SQL Management Server 2008. 4- Windows Operating System.
7.2.1 PIC SIMULATOR AND COMPILER
PIC18 Simulator IDE is powerful application that supplies PIC18 developers with user-friendly graphical development environment for Windows with integrated simulator (emulator), Basic compiler, assembler, disassemble and debugger. PIC18 Simulator IDE currently supports the following microcontrollers from the Microchip PIC micro 18F product line: 18F242, 18F248, 18F252, 18F258, 18F442, 18F448, 18F452, 18F458.
7.2.1.1 PIC18 SIMULATOR IDE MAIN FEATURES
- Main simulation interface showing internal microcontroller architecture, - FLASH program memory editor, EEPROM data memory editor, hardware stack viewer, - Microcontroller pinot interface for simulation of digital I/O and analog inputs, - Variable simulation rate, simulation statistics, - Breakpoints manager for code debugging with breakpoints support, - PIC18 assembler, interactive assembler editor for beginners, PIC18 disassemble, - Powerful PIC18 Basic compiler with smart Basic source editor, - PIC18 Basic compiler features: three basic integer data types (1-bit, 1-byte, 2-byte), optional 4-byte (32-bit) integer data type with 32-bit arithmetics, arrays, all standard
PIC Basic language elements, optional support for structured language (procedures and functions), optional USB support, high level language support for using internal EEPROM memory, using internal A/D converter module, using interrupts, serial communication using internal hardware UART, software UART implementation, I2C communication with external I2C devices, Serial Peripheral Interface (SPI) communication, interfacing character LCDs, interfacing graphical LCDs with 128x64 dot matrix, R/C servos, stepper motor control, 1-Wire devices, DS18S20, using internal PWM modules. - Configuration bits editor, - PC's serial port terminal for communication with real devices connected to serial port, - LCD module simulation interface for character LCD modules, - Graphical LCD module simulation interface for 128x64 graphical LCD modules, - Stepper motor phase simulation interface for stepper motor driving visualization, - Simulation module for external I2C EEPROMs from 24C family, - Hardware UART simulation interface, - Software UART simulation interface for software implemented UART routines, - Oscilloscope (with Zoom feature) and signal generator simulation tools, - 7-segment LED displays simulation interface, - Support for external simulation modules, - Extensive program options, color themes. Through this software we were able to compile and test our programs before burning it into the PIC18 memory, also .hex files were obtained after compilation and later burned into the memory of PIC18.
7.2.1.2 PIC18 BURNER:
We managed to buy a pic18 and pic16 burner from the local market, along with the software, Q200be. 7.2.2 VISUAL STUDIO 2010: On April 12, 2010, Microsoft released Visual Studio 2010, codenamed Dev10, and .NET Framework 4. [22]
Visual Studio 2010 features a new UI developed using WPF. Visual Studio 2010 IDE has been redesigned which, according to Microsoft, clears the UI organization and "reduces clutter and complexity." The new IDE better supports multiple document windows and floating tool windows, while offering better multi-monitor support. The IDE shell has been rewritten using the Windows Presentation Foundation (WPF), whereas the internals have been redesigned using Managed Extensibility Framework (MEF) that offers more extensibility points than previous versions of the IDE that enabled add-ins to modify the behavior of the IDE. The new multi-paradigm ML-variant F# forms part of Visual Studio 2010; as do M, the textual modeling language, and Quadrant, the visual model designer, which are a part of the Oslo initiative. Visual Studio 2010 comes with .NET Framework 4 and supports developing applications targeting Windows 7. It supports IBM DB2 and Oracle databases, in addition to Microsoft SQL Server. It has integrated support for developing Microsoft
Silver light applications, including an interactive designer. Visual Studio 2010 offers several tools to make parallel programming simpler: in addition to the Parallel Extensions for the .NET Framework and the Parallel Patterns Library for native code, Visual Studio 2010 includes tools for debugging parallel applications. The new tools allow the visualization of parallel Tasks and their runtime stacks. Tools for profiling parallel applications can be used for visualization of thread wait-times and thread migrations across processor cores. Intel and Microsoft have jointly pledged support for a new Concurrency Runtime in Visual Studio 2010 and Intel has launched parallelism support in Parallel Studio as an add-on for Visual Studio. The Visual Studio 2010 code editor now highlights references; whenever a symbol is selected, all other usages of the symbol are highlighted.It also offers a Quick Search feature to incrementally search across all symbols in C++, C# and VB.NET projects. Quick Search supports substring matches and camelCase searches. The Call Hierarchy feature allows the developer to see all the methods that are called from a current method as well as the methods that call the current one.IntelliSense in Visual Studio supports a consume-first mode which developers can opt into. In this mode, IntelliSense will not auto-complete identifiers; this allows the developer to use undefined identifiers (like variable or method names) and define those later. Visual Studio 2010 can also help in this by automatically defining them, if it can infer their types from usage. [23]
7.2.2.1 SOFTWARE SCREENSHOTS: The GUI was developed entirely in Visual Studio 2010. Following are the important features and commands that were used in the development of the software. Form1 is by default the main form in the project, we have renamed it to Main Order Form using the properties panel. Labels are added to define the details of the
placement of textboxes. From 1 to 9 textboxes are the queues of the table orders, there are three tables, so the textboxes are programmed to display Table 1 , Table 2 , Table 3. The textboxes on the left corner are unused and were used during the development of the software, therefore dont be concerned about them they can be removed. In the Main Order Form three buttons are added View Database to view the database or history of the orders that were received. Close Program is used to shutdown the software. Show Order Details button is used to view the detail of the orders, when this button is clicked it will open up a new form and display the details of the orders in the 1st textbox of the Main Order Form. Two more features are required by the software and both are added into the Main Order Form, they are Serail Port and Timer_Tick function. Serial Port is added to receive the data from the serial port of the computer and display it on the textbox fields in the main order form, serial port settings include, selecting the COM port of the computer and setting the baud rate to 2400. Timer_Tick function repeatdly checks the status and updates the textboxes. The following is a screenshot of the Main Order Form at the start of the program.
When data is received through the serial port the Main Order Form is updated. Following is the screenshot taken after it was updated.
Order Details form is the Form2 in the Visual Studio 2010, it is renamed to Order Details and it shows the details of each and every table order, in this form we can view the selections that were made by the customer at the tables. In this form three buttons are added to add functionality to it, Close button closes the form, Database button will insert the new entry into the database, Transmit button will transmit the command to the Robot, it will send the Table number to the robot. This form also displays the names of the items that are being offered by us. Following is the screenshot of the Order Details form without any orders displayed on it.
Following is the screenshot showing the details of selections made by the customers.
Database form is the Form3 in Visual Studio 2010, we have edited it and its purpose is to show the history/database of the orders that have been served by the Robot. Database form is connected to a database maintained in SQL Management Server 2008, it has been linked. This form will show entire history of the previous orders. Binding Navigator is used on the top of the form to navigate back and forward in the database. Following is the screenshot of Database form without any data.
Following is the screenshot of Database form showing the history and database of previous orders.
SQL Management Server 2008 is used to create a table, this table stores the database and entire history of the orders, and this table is binded with our software, and is accessible using the Database form in our software. [24]
7.3 CONCLUSION: In this chapter we have discussed 4 softwares which we used including ( PIC
Simulator ,Visual Studio 2010, SQL management server 2008 and Windows Operating System) . we gave the brief introduction to these softwares and also have briefly discussed those areas of the software, which we used and how we used.
FLOW CHARTS AND CIRCUITS
8.1 POWER SUPPLY:
Rechargeable 12v, 9v batteries were the power supply use for the project. This gives the running time of approximately two hours. They are capable of providing 7 ampere of current per hour each. The rechargeable batteries provide clean, reliable power and allowed reuse of the batteries when depleted. The selection between different types of batteries was made based on size and power requirements. Power supply provides biasing to the different components of the system and activates the sensors, motors. 8.2 MOTOR DRIVING:
Motor is a device that converts electrical energy into mechanical energy. Its principle is because when a current carrying conductor is placed in a magnetic field, it experiences a mechanical force whose direction is given by Flemings Left Hand Rule and magnitude by F = B I L In this circuit we use two relays to operate the Dc gear motor and use two transistor as a switch. In this circuit motors are grounded through the relay, when the controller send the logic to the transistor base the emitter and collector become short and 12 volt through the battery is appear around the motor. When we controller send the logic to both transistor the motor will move forward direction, to turn the robot we one motor operates while other is off. 8.3 PIC18 GENERAL CIRCUIT:
PIC18 is the main component of our project and it is central to all the processing and data collection and handling of the system by using PIC18 we have given life to this system and all the decisions made by the robot are also handle by this chip. to initialize the PIC chip we have to provide 5V at pin number 11, 32 and 1 with 4.7k ohms resistor, also place a crystal of 4.00MHz at pin numbers 13 and 14 and pin numbers 12 and 31 should be grounded.
8.4 MAIN ROBOT CIRCUIT:
This circuit is the main circuit of the robot, this circuit also connected with two motors, ultra sonic sensor circuit, U-shape sensor circuit and RF receiver. This circuit drives the motor and according the programming and U-shape sensor count the rotation of the wheel and gives the rotation values to the controller. During the robot in the motion any obstacle come in its path send the signal to the controller and controller stop the motor. When the controller receive the signal through the RF receiver it goes to its destination table to deliver the order, when it receive the the signal it come back to is position. The u-shape sensor is used for counting the rotation of the wheels we use LM324 with U-shape sensor because u-shape gives continuous output and it use as a level trigger.
8.5 TABLE CIRCUIT:
this is the circuit of table, in this circuit we attach 7 push buttons, 5 push buttons is use to insert the values of the order and 1 button is use to send the order to the counter and one button is use to reset the order if u enter the wrong values, one LCM is connected to the controller which shows orders. 8.6 PIC16 GENERAL CIRCUIT:
This is the initializing circuit of PIC16f84, to initializing the circuit we provided 5V at pin numbers 4 and 14. The pin number 5 should be grounded and 4.00MHz crystal at pin numbers 15 and 16.
8.7 ULTRA SONIC CIRCUIT:

We use ultrasonic sensor to detect any obstacle which come in the path of robot ultrasonic sensor transmit the sound waves when sound waves hit any obstacle reflect back and the receiver receive catch it, the range of ultra sonic sensor is about 21 meter but we set its range about 1 feet by the help of PIC 16F848 8.8 LEDS FLASHING CIRCUIT:
This circuit is use for LEDS flashing we use 12 LEDS and glow them first to last again and again through the programming.
8.9 COUNTER CIRCUIT:
The counter circuit has both RF
receiver and transmitter, this circuit receives
data from tables and send it to the computer through max232 and serial port, and displayed on the GUI. From the GUI we send the transmit table number command to the robot through the RF transmitter.
8.10 FLOW CHART OF THE SYSTEM:
8.10.1 DESCRIPTION OF THE PROCESS:

The operation or the process of our entire project can be divided into three parts.
Part 1 (Placing an Order by Customer)
The Customer will take a seat at one of three tables, menu card will be printed on the custom designed modules, selections are made using 5 pushbuttons on the module, and last 2 pushbuttons are for Reset and Send respectively. Liquid Crystal Display will display the selections made by the customer, when he has made his selections he can press the Send button to transmit the order wirelessly to the Counter. Selections can be reset by using the Reset button.
Part 2 (Receiving and Displaying at the Counter)
All the data transmitted from the module at the tables is received by a RF receiver at the Counter, the receiver is directly connected to the MAX232 IC that converts the logic of data and sends it to serial port of the computer, the software is designed in such a way that it displays exact information about the order that was placed by the customer from the tables. The GUI will display the Table number, and all the selections made by the customer, this way the order is placed.
Part 3 (Transmitting to the Waiter Robot)
All the details of the orders are displayed on the GUI and are saved into the database for later viewing. The items that are ordered are placed onto the tray of the robot and then Robot is given command to serve to the customers, using the GUI. Data is sent through the serial port of the computer to the MAX232 module that converts the logic and sends information to the RF transmitter. A RF receiver is installed in the Robot for reception of commands from the Counter. Recall command button can be used to call the robot back to the starting position, which is the Counter. The process will be repeated again for the next order.
CONCLUSION AND FUTURE ENHANCEMENT
9.1 PROJECT REVIEW:
The objective was to create a prototype of a fully functional environment with wireless transmission of orders and a semi-intelligent robot that will serve the meals to the customers. As the world advances and introduces new methods of automation, even in the daily aspects of life, like eating-out at restaurants with friends and family. We are glad to introduce first time in our university this kind of a prototype, it will attract many people towards the engineering side because of small wonders that can be made. We can say that our main component was the PIC18 that was used on each and every part of the project, tables, counter, and the robot itself. Mechanical design was also put in consideration as the prototype needs a proper shape and figure to look pleasant and designed for the task at hand. 9.2 FUTURE ENHANCEMENTS AND CONSIDERATIONS: During our research we have come across many models available doing the same job as waiters, cleaners, chefs, etcetera, each with entirely different criteria. Our robot is based on driving the robot on the fixed defined paths and only with intelligence of detecting objects or obstacles in front of it. Many features can be added to assist the robot and the operators for better management of task and functionality of the robot.
9.2.1 ADDING CAMERAS (SENSE OF SIGHT)
Many models we came across used cameras mounted typically on what is suppose to be the head of the robot. The camera would take real time images or real time video and store it or transmit it wirelessly to the control terminals and screens installed in control room or the counter. This feature not only gives sight to the robot, it also gives real time update on location of the robot on the terminals of operators and staff. With the use of complex programming the images from the cameras can be processed and identified by the robot as living or as a object. This technique is usually very advance and best left to big companies manufacturing and specializing in such hardware.
9.2.2 MULTI-PURPOSE SINGLE ROBOT

A robot of this style can be upgraded in the sense that it can be made to perform multiple jobs, such as a waiter, a cleaner a guide and even an entertainer. During our research we came one interesting model that would dance to the music to entertain the customers while it was idle (had no new order). Cleaner robots have been around for quite a long time now, they are mounted with brushes on their bases to clean away dust and other particles. With the help of complex programming the robot can keep track of the amount of work it has done. Multipurpose robots are most suitable for economic viable companies.
9.2.3 GPS NAVIGATIONAL AID ROBOT
GPS system can also be implemented to know the exact coordinates of the robot at all times and make the robot enable to know its own location and improve the A.I. level of the robot.
9.2.4 ABILITY TO RESPOND TO VERBAL COMMANDS (SENSE OF HEARING)
Many robot models and systems are equipped to recognize the human sound and voice and are able to understand the language and some key words. Sense of hearing is very useful and the ability of the robot to answer to commands is also a key to improving the A.I. of the robot.
9.2.5 MEDICAL ROBOTS
Many robots are designed to be used in field and prescribe medicine to the patients. Other robots are operated by a doctor who is in other country or remote location. Basic designs are the same, medical robots are usually equipped with LCD screens to show the status and other information.
REFERENCES
CHAPTER 1
[1] David R. Shircliff. Build a remote controlled robot. [2] http://www.wtec.org/robotics/report/05-Industrial.pdf CHAPTER 2 [3] http://www.electronicsteacher.com/robotics/type-of-robots.php CHAPTER 3 [4] http://en.wikipedia.org/wiki/Wireless [5] http://www.wirelesscommunication.nl/reference/chaptr07/history.htm [6] http://compnetworking.about.com/cs/wireless80211/a/aa80211standard.htm [7] http://en.wikipedia.org/wiki/Radio_frequency [8] http://searchnetworking.techtarget.com/definition/radio-frequency [9] http://www.smartturn.com/forums/blogs/kevin-collins/47-best-practices-settingup-warehouse-rf-network.html [10] http://www.electronics-manufacturers.com/info/rf/microwave-electronics/rfmicrowave-attenuator.html CHAPTER 6 [11] Muhammad Ali Mazidi. PIC Microcontroller And Embedded Systems : Using Assembly And C For PIC 18 [12] http://www.kpsec.freeuk.com/components/tran.htm [13] http://en.wikipedia.org/wiki/Voltage_regulator [14] http://www.sparkfun.com/products/255 [15] http://en.wikipedia.org/wiki/Ultrasonic_sensor [16] http://www.sensorsmag.com/sensors/acoustic-ultrasound/choosing-ultrasonicsensor-proximity-or-distance-measurement-825 [17] http://www.howstuffworks.com/relay.htm
[18] http://www.linxtechnologies.com/Products/RF-Modules/ [19] http://www.arcelect.com/rs232.htm [20] http://www.camiresearch.com/Data_Com_Basics/RS232_standard.html [21] http://www.directindustry.com/industrial-manufacturer/dc-gearmotor-65199.html CHAPTER 7: [22] http://www.microsoft.com/visualstudio/en-us [23] http://en.wikipedia.org/wiki/Microsoft_Visual_Studio [24] http://www.microsoft.com/express/Database/ BOOKS Muhammad Ali Mazidi. PIC Microcontroller And Embedded Systems : Using Assembly And C For PIC 18 David R. Shircliff. Build a remote controlled robot. Andrew Moore. Visual Studio 2010 All-in-One For Dummies. Nick Randolph, David Gardner. Professional Visual Studio 2008. VIDEO TUTORIALS: Microsoft Visual Studio 2008 Training. DATASHEETS http://www.electrokits.com/downloads/pdf/7805-datasheet-kec.pdf http://www.alldatasheets.com http://www.electrokits.com/Datasheets/7805-Datasheet
Applications of the Project
This design of robot is best suitable for a fast food restaurant. This type of robot can work 27/7 with 100% efficiency. This type of robot can be implemented in all those types of industry where there is a need to deliver stuff from place to another. This type of robot can cover wide areas of operations in different fields. Our robot can be reprogrammed to perform slightly different tasks. This type of robot can work in hazardous areas. This type of robot can work in hindrance without losing its efficiency. All the commands and controls are done wirelessly. Databases are also managed on a remote computer system that will show entire history of the orders.
COST OF PROJECT
Microcontrollers:
16F series 400Rs. * 5 = 2,000Rs. 18F series 470Rs. * 8 = 4,400Rs. Sensors (Ultrasonic and U-shape sensors) = 8,000Rs. DC Gear Motors with belts = 3,500Rs. Components installed on all circuits = 11,000Rs. Vero Boards = 1,200Rs. (15 boards) Compiler Programmer and Burner (all PIC families) = 7,000Rs. Mechanical Parts and design = 8,600Rs. Soldering wire + Soldering Iron and wiring = 4,300Rs. DC Batteries = 3* 1,200Rs. = 4,800Rs. Overheads (Food, Travelling, Cell phones) = 9,000 Plastic Boxes = 3,700Rs. Total = 67,500Rs. Note: Some of the calculations are approximations.
COST AND TIME ANALYSIS: Cost and time of Ownership can be defined as the amount it costs to maintain, fix, and guarantee a product and the time required for the competition of project. For instance, if a design change requiring hardware rework must be made to a few prototypes, the cost might be relatively small. However, as the number of units that must be changed increases, the cost can become enormous. The ease or difficulty of design changes can also affect opportunity costs. The total cost for the project is approx 72,000Rs. Engineers who spend time fixing old designs could be working on introducing new products and features ahead of the competition. . In a typical design, many different types have to be purchased and stocked. The total time duration of the completion of the project is about in the mid or end of November 2010
DATA SHEETS: Microcontroller (PIC18F) Microcontroller (PICF) Transistor LCD RF Transmitter RF Receiver MAX 232 Regulator

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Final Year Project Report

The Waiter Robot With Wireless Ordering System

Sir Syed University Of Engineering & Technology

Sir Syed University Of Engineering & Technology

Sir Syed University Of Engineering & Technology

SIR SYED UNIVERSITY OF ENGINEERING & TECHNOLOGY

The Faculty of Electronic Engineering

Engr. Muhammd Rafay Khan Internal Advisor

Mr. Abrash Parwez External Advisor

Mr. Muhammad Sharif FYP Committee Incharge

Mr. Bilal Alvi Chairman EE Department

Sir Syed University Of Engineering & Technology

Chapter 2 Background Of Robotics

Chapter 3 RF Module And Wireless Communication

3.5 RF Purchasing Considerations.....17 3.6 Conclusion,,..17

Chapter 4 Methodology And Procedure

Chapter 5 Hardware Design

Chapter 6 Electronic Components

Sir Syed University Of Engineering & Technology

Chapter 7 Software Description

Chapter 8 Flowcharts And Circuits

Sir Syed University Of Engineering & Technology

Chapter 9 Conclusion And Future Enhancement

Sir Syed University Of Engineering & Technology

Sir Syed University Of Engineering & Technology

Sir Syed University Of Engineering & Technology

Sir Syed University Of Engineering & Technology

1.5 SCOPE OF ROBOTICS:

Sir Syed University Of Engineering & Technology

Sir Syed University Of Engineering & Technology

Sir Syed University Of Engineering & Technology

2.3 SELECTION COMPLIANCE ASSEMBLY ROBOT:

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2.3.3 ROLLING ROBOTS

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Autonomous robots are self

Sir Syed University Of Engineering & Technology

Sir Syed University Of Engineering & Technology

Sir Syed University Of Engineering & Technology

RF AND WIRELESS COMMUNICATION

3.1 WIRELESS COMMUNICATION:

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Sir Syed University Of Engineering & Technology

Sir Syed University Of Engineering & Technology

3.4.6 STOCK REPLENISHMENT

Sir Syed University Of Engineering & Technology

Sir Syed University Of Engineering & Technology

METHODLOGY AND PROCEDURE

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4.1.2 IMPLEMENTATION PHASE

Sir Syed University Of Engineering & Technology

Sir Syed University Of Engineering & Technology

Sir Syed University Of Engineering & Technology

6.1 PIC MICROCONTROLLER:

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Sir Syed University Of Engineering & Technology

6.3 7805 REGULATORS:

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6.3.2 USE IN OUR PROJECT

6.4 PUSH BUTTON: