Multi Purpose Robot Introduction

CHAPTER 1

INTRODUCTION

1.1 Introduction and Background of the project

Today robotics is no longer limited to laboratory experiments; they have found their way
into our homes. Being a physical entity itself. Several design ideas have been explored
and are presented in an attempt to maximize the user awareness of the robot’s interaction
with the environment. In this system the advanced monitoring of the home is done. This is
handling by the bluetooth controller software Apps and we are using bluetooth module for
the purposed of the interfacing of android Mobile and system. In this system uses sensor
which is used to detect gas leakage. We can detect thief or unwanted person who is enter
in home when owner is not present at home. In the sense it will helps to monitor the home
and capture the image of unwanted activities happened in home when owner is not
present at home. The advantage of this system is that we can monitor, pick-n-place object,
alert owner when gas leakage detected via buzzer, motion is detected by PIR sensor,
camera for the surveillance and IR sensor for obstacle detection.

In this system we are using microcontroller i.e. Arduino UNO microcontroller the main
purpose of Arduino UNO microcontroller is to interface with the sensor so we can
monitor gas leakage, flame and report the owner through the buzzer, motion is detected
by lighting on the red and green lights provided. This system is basically doing all
operations like well as pick up the material that present at here and there and put it on the
proper place, As well as it keeps eyes on the home as in the security mode, like gas is
detected.

This system will operate on the Bluetooth that functions in the android mobile, there is
application available in the mobile which will communicate with system and then will
operate the function user wants like forward, reverse, left, right, cleaning, grip, leave and
stop.

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1.2 Motivation For Research

Today, robotics is a rapidly growing field, as technological advances continue;
researching, designing, and building new robots serve various practical purposes, whether
domestically, commercially, or militarily. Robotics is a key technology in the modern
world. Many robots do jobs that are hazardous to people such as defusing bombs, mines
and exploring shipwrecks. Robotics’ is the branch of mechanical engineering, electrical
engineering and computer science that deals with the design, construction, operation, and
application of robots, as well as computer systems for their control, sensory feedback, and
information processing. Robotics can be defined as the science or study of the technology
primarily associated with the design, fabrication, theory, and application of robots. While
other fields contribute the mathematics, the techniques, and the components, robotics
creates the magical end product.

1.3 Problem Definition

As technology continues to advance, the demand for automation in various sectors has
never been higher. Industries such as manufacturing, logistics, healthcare, and agriculture
are seeking to enhance their operations by leveraging robotic systems that can perform
tasks more efficiently and safely. However, most current robots are designed with a very
narrow focus—each robot is typically built to carry out only one specific task, such as
assembling parts on a production line, cleaning floors, or performing medical procedures.
This specialized design makes it challenging to integrate robots across different areas or
applications, creating inefficiencies and limiting their potential.

One of the key limitations of these traditional robots is their inability to adapt to new
environments or contexts. For example, a robot built for assembling components in a
factory setting is unlikely to be useful in an agricultural setting where tasks vary from
harvesting crops to inspecting soil quality. Similarly, a cleaning robot in a household
would struggle to perform more complex tasks like assisting in elderly care or conducting
maintenance in an industrial facility.

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This lack of versatility not only hampers the ability of robots to perform a broad range of
functions but also means industries must invest in multiple, task-specific robots, each
requiring separate maintenance, programming, and integration into their existing systems.
This results in unnecessary complexity, increased costs, and missed opportunities for
broader automation.

1.4 Objectives

 Design and build a robotic system that can perform a variety of tasks across
multiple domains, including household chores, industrial processes, healthcare
assistance, and agricultural operations.
 Equip the Multi purpose robot with the ability to autonomously perceive,
interpret, and react to its environment without human intervention.
 Create a robot with a modular design that allows for easy adaptation and
reconfiguration for different tasks and environments.
 Design the Multi purpose robot to operate safely around humans and other living
beings, particularly in environments where it may collaborate directly with people
(e.g., healthcare, homes, workplaces).
 Optimize the robot’s ability to complete tasks quickly, efficiently, and with a high
degree of accuracy.
 Ensure that the Multi purpose robot can be easily integrated into existing
infrastructures, workflows, and technologies without requiring significant changes
or investment.
 Develop a system that is cost-effective and scalable to meet the needs of different
industries, from small-scale households to large-scale industrial applications.

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CHAPTER 2

LITERATURE SURVEY
Multi-purpose robot technology is becoming increasingly prominent in various industries,
offering the potential to streamline operations and reduce the need for extensive human
labour. These robots are designed to perform a wide range of tasks, from basic automation
to complex problem-solving, by integrating advanced technologies like artificial
intelligence (AI), machine learning, robotics, and data mining. The applications of multi-
purpose robots are diverse, spanning sectors such as e-commerce, analytics, customer
support, education, entertainment, finance, healthcare, human resources, marketing, news,
personal productivity, shopping, travel, and utilities.

The literature review or background of a multi-purpose robot project often involves

studying previous research and case studies. These studies can be categorized based on
the technologies and methodologies used, such as the software platforms, algorithms, and
datasets applied. Comparative surveys that assess existing multi-purpose robots offer
valuable insights into their capabilities, limitations, and potential for future development.

2.1 Review of Existing Research /Work

Methodology :- Multipurpose Adaptable Robot

The user must attach the relevant sensors in the slots provided (analog, digital or switches). The
outputs from the linked sensors will be collected from Arduino and transferred to Raspberry Pi
through Serial Communication after the robot is turned on and connected to the mobile
application. The data is transmitted to the mobile application using the HTTP protocol via a flask
server on the Raspberry Pi. And the robot can be operated using the joystick in the mobile app.
The mobile application has a section to run the autonomous tasks, which are programmed in the
Raspberry Pi according to the user's need.

Strengths: Autonomous robot vehicles can mov.e and operate intelligently without any
assistance.

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Weaknesses: Multipurpose adaptable robots can suffer from design complexity, leading to
reduced task efficiency and higher maintenance needs.

Accuracy: 90% to 95%

Methodology :- Material Handling Using Pick And Place Robot

The pick and place robot is used to pick the materials and place them in the correct
position and order. For industrial purposes, where the most complicated work or task is to
handle the material or product, this pick and place robot makes it easier and more
efficient. The arm is designed to reach different positions and locations to reach the object
and also perform the different tasks.

Strengths: Robotic pick and place systems can be programmed to function at a faster
speed than manual processes allow

Weaknesses: Pick-and-place robots have limited flexibility and may struggle with handling
irregular or delicate objects.

Accuracy: 99%

Methodology :- Intelligent Surveillance Robot

An Intelligent Surveillance Robot combines advanced sensors, AI, and autonomous

navigation to monitor environments efficiently. It uses cameras, thermal sensors, and
LIDAR for object recognition and anomaly detection, while machine learning algorithms
help it track and identify unusual behavior. The robot autonomously navigates using path-
planning algorithms and communicates real-time data to a central system via wireless
networks. With secure data transmission and battery management, it can operate for
extended periods, providing continuous surveillance while adapting to dynamic
conditions.

Strengths: Intelligent surveillance robots offer continuous, autonomous monitoring with

real-time data analysis, enhancing security and reducing human intervention.

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Weaknesses: Image spaces often lead to low recognition accuracy and expensive
computational cost.

Accuracy: 90-99%

Methodology :- Design of Solar-Panel Energy System

The solar panel is constructed by the solar cell (or photovoltaic cell), which belongs to a
wide multidisciplinary area. It converts solar energy into electricity by the photovoltaic
effect. Briefly to sort the solar cells into two groups: monocrystalline and multicrystalline
silicon wafer.

Strengths: They require minimal maintenance and have long lifespans, making them
cost-effective in the long term.

Weaknesses: Initial installation costs can be high, and energy production can be
inconsistent in regions with low sunlight.

Accuracy:15-22%

Methodology :- Design And Development Of A Fire Fighting Mobile Surveillance Robot

With Autonomous Collision Avoidance

Modern surveillance robots are generally connected to a motor driver which a hub that
connects all the sensors to control the robot. These types of robots are controlled by user
interference. And this interference is connected to the user's smartphone or computer. To
give detecting various occasions, for example, a passageway of unapproved individuals,
the design detects it by giving the picture and separation of the interloper up to the
beneficiary. In this way, various sorts of electronic sensors can give detecting of a few
kinds of security dangers. To move the robot, fuzzy logic is used with the MATLAB.

Strengths: The Fire Fighting Mobile Surveillance Robot can autonomously navigate
hazardous environments, detect fires, and extinguish them, reducing human risk. Its
collision avoidance system ensures safe navigation in complex or smoke-filled areas.

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Weaknesses: These robots may face limited operational time due to battery constraints
and can struggle with navigating environments with extreme heat or smoke. Their
effectiveness can also be reduced if the fire's size or intensity exceeds their design limits.

Accuracy: 85-95%.

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CHAPTER 3
METHODOLOGY

3.1 Discussion on Domain Specific Algorithms

Domain Specific Algorithms and tools:

3.1.1. Navigation (Path Planning Algorithm)

For a multi-purpose robot, navigation is crucial. A good path planning algorithm is

required for autonomous movement through various environments, avoiding obstacles
and ensuring efficiency.

A (A-star) Algorithm*

The A* algorithm is one of the most popular algorithms for grid-based path planning,
finding the shortest path from a start to a goal point while avoiding obstacles.

 Algorithm:
1. Initialization: Initialize an open list and closed list. The open list stores
nodes that need to be evaluated, and the closed list stores nodes that have
already been evaluated.
2. Evaluation: For each node, calculate the cost using the formula: f(n)=g(n)
+h(n)f(n) = g(n) + h(n)f(n)=g(n)+h(n) Where:
 g(n)g(n)g(n) is the cost to move from the start node to the current
node.
 h(n)h(n)h(n) is the heuristic estimate of the cost to reach the goal
node from the current node.
3. Neighbour Evaluation: For each node's neighbours, calculate the cost
f(n)f(n)f(n). If the neighbour is already in the closed list, skip it; otherwise,
add it to the open list.

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4. Termination: When the goal node is reached, trace the path back from the
goal to the start node.

Implementation Steps:

 Create a grid or map representation of the environment.

 Define the movement costs, including diagonal and non-diagonal movements.
 Implement the open and closed list with priority queues (heap-based).

3.1.2 Manipulation (Grasping & Object Handling)

For a robot that interacts with objects, the ability to grasp and manipulate objects is
essential. A domain-specific algorithm could optimize grasping based on the object’s
shape, size, and weight.

Grasp Planning Algorithm Using Geometric Models

Grasp planning involves selecting the best configuration of the robot's hand or gripper
based on the object’s geometry.

 Algorithm:
1. Object Segmentation: The robot first performs object segmentation using
sensors (e.g., cameras or LiDAR) to identify the 3D shape of the object.
2. Feature Extraction: Extract features like convexity, surface curvature,
and points of contact where the gripper will interact with the object.
3. Grasp Candidate Generation: Based on the object’s geometry, generate a
set of possible grasp points (e.g., fingers or robotic arms).
4. Feasibility Check: Evaluate each grasp using physics-based simulation,
checking the robot’s ability to maintain a stable grip without causing
slippage or deformation.
5. Optimization: Select the grasp configuration that maximizes stability and
minimizes energy expenditure or time to complete the task.

Implementation Steps:

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 Use algorithms like RANSAC for fitting the object model to observed data.
 Integrate a physics engine (e.g., Bullet or Gazebo) to simulate grasp and contact
forces.
 Optimize based on stability metrics like the center of mass and friction
coefficients.

3.1.3 Perception (Object Detection and Recognition)

For object detection and recognition, a robot must be able to interpret data from its
sensors (e.g., cameras, LiDAR) and identify objects.

Convolutional Neural Network (CNN) for Object Detection

CNNs can be used for high-accuracy object detection, such as recognizing objects in
complex environments.

 Algorithm:
1. Data Collection: Collect labeled images or point cloud data with the
objects of interest.
2. Preprocessing: Apply preprocessing steps like resizing, normalizing, and
augmenting images to increase robustness.
3. Model Training: Train a CNN on the dataset. Use architectures like
YOLO (You Only Look Once) or Faster R-CNN for real-time detection.
4. Object Localization: Use the trained model to detect and localize objects
in new, unseen images.
5. Post-processing: Apply techniques like non-maximum suppression (NMS)
to remove redundant detections and refine bounding boxes.

Implementation Steps:

 Use pre-trained models for rapid deployment, fine-tuning them on the robot's
environment.
 Consider hardware limitations (e.g., memory, computation) and use model
compression techniques or lighter architectures (e.g., MobileNet).

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3.1.4 Task Execution (Task Sequencing & Scheduling)

For multi-purpose robots, the ability to sequence and schedule tasks is crucial for
performing complex operations like assembly or cooking.

Task Planning using HTN (Hierarchical Task Network)

HTNs break down complex tasks into smaller sub-tasks, enabling the robot to plan and
execute tasks in a structured manner.

 Algorithm:
1. Task Decomposition: Break down a high-level goal (e.g., "assemble a
chair") into smaller tasks (e.g., "attach legs," "assemble seat").
2. Planning: Using a planner (e.g., SHOP2), plan the sequence of actions
required to achieve each sub-task, taking into account constraints like
resources, tool availability, and time.
3. Scheduling: Determine the best order to execute tasks, considering
dependencies and priorities.
4. Execution: Execute the tasks while monitoring progress, adjusting the
plan dynamically if new obstacles arise (e.g., a missing part or unexpected
environmental change).

Implementation Steps:

 Implement HTN planners or use a framework like ROS with MoveIt! for
manipulation tasks.
 Integrate sensors (e.g., force sensors) to monitor task progress and adjust plans if
necessary.

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CHAPTER 4

SOFTWARE SPECIFICATION
The following Tools & Technologies were used to implement this project:

4.1 Arduino IDE

The Arduino integrated development environment (IDE) is a cross-platform application
(for Microsoft Windows, macOS, and Linux) that is based on Processing IDE which is
written in Java. It uses the Wiring API as programming style and HAL. It includes a code
editor with features such as text cutting and pasting, searching and replacing text,
automatic indenting, brace matching, and syntax highlighting, and provides simple one-
click mechanisms to compile and upload programs to an Arduino board. It also contains a
message area, a text console, a toolbar with buttons for common functions and a hierarchy
of operation menus.

The Arduino IDE supports the languages C and C++ using special rules of code
structuring. The Arduino IDE supplies a software library from the Wiring project, which
provides many common input and output procedures. User-written code only requires two
basic functions, for starting the sketch and the main program loop, that are compiled and
linked with a program stub main() into an executable cyclic executive program with
the GNU toolchain, also included with the IDE distribution. The Arduino IDE employs
the program avrdude to convert the executable code into a text file
in hexadecimal encoding that is loaded into the Arduino board by a loader program in the
board's firmware. Traditionally, Arduino IDE was used to program Arduino's official
boards based on Atmel AVR Microcontrollers, but over time, once the popularity of
Arduino grew and the availability of open-source compilers existed, many more platforms
from PIC, STM32, TI MSP430, ESP32 can be coded using Arduino IDE.

Developer(s): Arduino Software

Stable release:1.8.19 / 21 December 2021; 2 years ago

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Written in: Java, C, C++

Operating system: Microsoft Windows, macOS, Linux

Platform: IA-32, x86-64, ARM

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CHAPTER 5

HARDWARE DESCRIPTION

5.1 Arduino Uno Microcontroller

Most Arduino boards consist of an Atmel 8-bit AVR microcontroller (ATmega8,
ATmega168, ATmega328, ATmega1280, or ATmega2560) with varying amounts of
flash memory, pins, and features. The 32-bit Arduino Due, based on the
Atmel SAM3X8E was introduced in 2012. The boards use single or double-row pins or
female headers that facilitate connections for programming and incorporation into other
circuits. These may connect with add-on modules termed shields. Multiple and possibly
stacked shields may be individually addressable via an I²C serial bus. Most boards
include a 5 V linear regulator and a 16 MHz crystal oscillator or ceramic resonator. Some
designs, such as the LilyPad, run at 8 MHz and dispense with the onboard voltage
regulator due to specific form factor restrictions.

Arduino microcontrollers are pre-programmed with a bootloader that simplifies the

uploading of programs to the on-chip flash memory. The default bootloader of the
Arduino Uno is the Optiboot bootloader. Boards are loaded with program code via a
serial connection to another computer. Some serial Arduino boards contain a level
shifter circuit to convert between RS-232 logic levels and transistor–transistor logic (TTL
serial) level signals. Current Arduino boards are programmed via Universal Serial
Bus (USB), implemented using USB-to-serial adapter chips such as the FTDI FT232.
Some boards, such as later-model Uno boards, substitute the FTDI chip with a separate
AVR chip containing USB-to-serial firmware, which is reprogrammable via its
own ICSP header. Other variants, such as the Arduino Mini and the unofficial Boarduino,
use a detachable USB-to-serial adapter board or cable, Bluetooth or other methods. When
used with traditional microcontroller tools, instead of the Arduino IDE, standard AVR in-
system programming (ISP) programming is used.

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The Arduino board exposes most of the microcontroller's I/O pins for use by other
circuits. The Diecimila, Duemilanove, and current Uno provide 14 digital I/O pins, six of
which can produce pulse-width modulated signals, and six analog inputs, which can also
be used as six digital I/O pins. These pins are on the top of the board, via female 0.1-inch
(2.54 mm) headers. Several plug-in application shields are also commercially available.
The Arduino Nano and Arduino-compatible Bare Bones Board and Boarduino boards may
provide male header pins on the underside of the board that can plug into
solderless breadboards.

5.2 ILN2003AN/IC-Pump Driver

HIGH-VOLTAGE HIGH-CURRENT DARLINGTON TRANSISTOR

ARRAYS

The ILN2003AN are monolithic high-voltage, high-current Darlington

transistor arrays. Each consists of seven n-p-n Darlington pairs that feature
high-voltage outputs with common-cathode clamp diodes for switching
inductive loads. The collector-current rating of a single Darlington pair is 500
mA. The Darlington pairs may be paralleled for higher current capability.
Applications include relay drivers, hammer drivers, lamp drivers, display
drivers (LED and gas discharge), line drivers, and logic buffers.

The ILN2003A has a 2.7-kΩ series base resistor for each Darlington pair for
operation directly with TTL or 5-V CMOS devices.

● 500-mA Rated Collector Current (Single Output)

● High-Voltage Outputs . . . 50 V
● Output Clamp Diodes
● Inputs Compatible With Various Types of Logic
● Relay Driver Applications

5.3 L298N/Motor Driver

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The L298N is a dual H-Bridge motor driver which allows speed and direction control of
two DC motors at the same time. The module can drive DC motors that have voltages

between 5 and 35V, with a peak current up to 2A. The module has two screw terminal
blocks for the motor A and B, and another screw terminal block for the Ground pin, the

VCC for motor and a 5V pin which can either be an input or output. This depends on the
voltage used at the motors VCC. The module have an onboard 5V regulator which is
either enabled or disabled using a jumper. If the motor supply voltage is up to 12V we can
enable the 5V regulator and the 5V pin can be used as output, for example for powering
our Arduino board. But if the motor voltage is greater than 12V we must disconnect the
jumper because those voltages will cause damage to the onboard 5V regulator. In this
case the 5V pin will be used as input as we need connect it to a 5V power supply in order
the IC to work properly.

5.4 PCA9685 16-Channel Servo Motor Driver Module

PCA9685 module is a 16 Channel Servo Motor Driver. It is used to control upto 16 servo
motors with just two pins of the Arduino, Raspberry Pi or any other microcontroller with
I2C. Controlling the servos is simple and easy. Servos can be plugged in directly to the
board with no additional circuits or connectors required. This board is great for building
humanoids, bipeds, hexapods, rc quadcopters and planes, etc. is a 16 Channel Servo
Motor Driver.

5.5 HW201 Infrared (IR) Sensor Module

An IR (infrared) sensor is an electronic component that detects and measures the infrared
radiation (IR signals are not observable by the human eye) in its environment. When a
human, object, or anything comes closer to the sensor, the IR from the LED reflects off of
the object and is detected by the receiver.

5.6 MQ2 Gas Sensor

MQ2 gas sensor is an electronic sensor used for sensing the concentration of gases in the
air such as LPG, propane, methane, hydrogen, alcohol, smoke and carbon monoxide.

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MQ2 gas sensor is also known as chemiresistor. It contains a sensing material whose
resistance changes when it comes in contact with the gas. This change in the value of
resistance is used for the detection of gas.

MQ2 is a metal oxide semiconductor type gas sensor. Concentrations of gas in the gas is
measured using a voltage divider network present in the sensor. This sensor works on 5V
DC voltage. It can detect gases in the concentration of range 200 to 10000ppm.

5.7 KY036 Metal Touch Sensor

The KY-036 Touch Sensor Module utilizes a floating lead on a Darlington transistor to
detect a touch. There are 2 LEDs on board. A red LED lights when power is applied. A
green or red LED lights when a touch is detected.

FEATURES:

1. Main chip: LM393

2. Working voltage: for DC 5V

3. Single-channel signal output

4. Low-level output signal used for human body touch sensor alarm

5. Adjustable sensitivity

6. Pin Connector to board: 4 Pins

5.8 Passive infrared sensor (PIR sensor)

A PIR sensor is an electronic sensor used in motion detectors such as automatically

triggered lighting devices and protection systems that measure devices
emitting infrared light in their field of view. Each body with a temperature above zero
releases heat energy, which is in the form of radiation. PIR sensors detect infrared

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radiation that is reflected or released from the target instead of measuring or sensing heat.
If the sensor detects an animal, insect, or a person, the temperature at that point in the
sensor’s field of view increases to the body temperature of the intruder from the ambient
temperature and then back accordingly. The resulting change in the received infrared
radiation is translated by the sensor into a change in the output voltage, which activates
detection. Usually, the PIR sensors detect general movement. They do not offer specifics
and information about what or who moved, but only movements of animals, people, or
some other thing. An active IR sensor can be used to get further details.

5.9 Flame sensor

A flame-sensor is one kind of detector which is mainly designed for detecting as well as
responding to the occurrence of a fire or flame. The flame detection response can depend
on its fitting. It includes an alarm system, a natural gas line, propane & a fire suppression
system. This sensor is used in industrial boilers. The main function of this is to give
authentication whether the boiler is properly working or not. The response of these
sensors is faster as well as more accurate compare with a heat/smoke detector because of
its mechanism while detecting the flame.

5.10 Robotic Arm

A robotic arm is a type of mechanical arm, usually programmable, with similar functions
to a human arm; the arm may be the sum total of the mechanism or may be part of a more
complex robot. The links of such a manipulator are connected by joints allowing either
rotational motion (such as in an articulated robot) or translational (linear) displacement.
The links of the manipulator can be considered to form a kinematic chain. The terminus of
the kinematic chain of the manipulator is called the end effector and it is analogous to the
human hand.

5.11 Servo Motor

A servo motor (servomotor) is a highly specialized motor designed for precise

control of rotary or linear motion. It’s a rotational or translational motor that

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employs a feedback mechanism to ensure exact positioning, typically using a

control signal that dictates the motor’s movement to a desired position. This
mechanism allows for precise control of various components, making servo motors
crucial in applications where precise positioning and smooth motion are required.

5.12 DC Motor

A DC motor is an electrical motor that uses direct current (DC) to produce mechanical
force. The most common types rely on magnetic forces produced by currents in the coils.
Nearly all types of DC motors have some internal mechanism, either electromechanical or
electronic, to periodically change the direction of current in part of the motor.

5.13 Solar Panel

A solar panel is a device that converts sunlight into electricity by using photovoltaic (PV)
cells. PV cells are made of materials that produce excited electrons when exposed to light.
The electrons flow through a circuit and produce direct current (DC) electricity, which
can be used to power various devices or be stored in batteries. Solar panels are also
known as solar cell panels, solar electric panels, or PV modules.

5.14 Buzzer
An audio signaling device like a beeper or buzzer may be electromechanical
or piezoelectric or mechanical type. The main function of this is to convert the signal
from audio to sound. Generally, it is powered through DC voltage and used in timers,
alarm devices, printers, alarms, computers, etc. Based on the various designs, it can
generate different sounds like alarm, music, bell & siren.

5.15 Battery

A battery is a device that converts chemical energy contained within its active materials
directly into electric energy by means of an electrochemical oxidation-reduction (redox)
reaction. This type of reaction involves the transfer of electrons from one material to
another via an electric circuit.

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5.16 Switch

A switch is an electrical component that can disconnect or connect the conducting path in
an electrical circuit, interrupting the electric current or diverting it from one conductor to
another. The most common type of switch is an electromechanical device consisting of
one or more sets of movable electrical contacts connected to external circuits. When a
pair of contacts is touching current can pass between them, while when the contacts are
separated no current can flow.

5.17 Wheel

a simple machine consisting of a circular frame with spokes (or a solid disc) that can
rotate on a shaft or axle (as in vehicles or other machines).

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