Summary

This is the design for the robot which controlled with Pi Zero-W.
Proposed features:
Driving Base:
Circular base - with a control board of motors, wireless charging system, wheels and anti-hit bars/end stops

1. A control board is made of 4 transistors (2xC23353R and 2x E13005).
2. Two geared motors with wheel from Taobao. Projected pin was first removed and then inserted into the base vertically and then turn 90 degree. They are then fixed firmly with motor stop.
3. Front (i.e.To be redesigned after printing out top cover https://www.youtube.com/watch?v=5tfU5OTKygA )and rear dumpers with 2 limitinng switches and a ultra sound sensor are fixed on deck
   https://www.youtube.com/watch?v=6Urru7IsFrI&feature=youtu.be
   Progress of works:
   • Base of motor mount and stops were made in July 2018
   • Front bumper was made on 23 Aug 2018
   • Supporting wheel carrier was made on 25 Aug 2018
     (Hints: Supporting wheel was taken from a nylon wheel of the curtain and then fixed into carrier with a washer and locking pin)
     (Hints: End stops of the front dumper were fixed in position with hot glue and a spring (i.e. from a pen) was installed onto the cap and to provide pushing force)
   • Top cover of the driving chamber with mounting holes for Pi Zero W was design and made on 1 Sep 2018
   • Servo and sensor mount were made by the end of Sep 2018

Software (Python3) and Assigned Pins in Pi Zero W
(Trial run was made on 14 Sep 2018 https://www.youtube.com/watch?v=gseHqjmimLA&feature=youtu.be)

• 2 driving geared motors (2 pins for transistor switch)
• 1 No. HC-SR04 ultra sound sensor (1 pin sharing for Trig and Echo)
• 1 serve (1 pin for PWM)
• 1 pin for 5V power supply
• 1 pin for common ground
  Hints: ulimit -a (showning existing pi zero limits)
  increase the hard and soft limits for pending signal no. and stack no.

Functional Modules (Optional):

1. Google Assitan - pushtotak was installed and working fine.in Pi Zero W (.i.e. ArmV6)
   Actions will be added to triggered AntRobo.

2. A turbine and cyclone dust separator
   • Design of ultra sensor and servo mount and dust separator of cleaning module are in progress. Preliminary design of dome shaped head is drafted.

Head Unit(Pending):
Camera,speaker,mic and Indoor positioning system