Design And Development Of World Wide Controlled Pet Feeding Robot
New York UniversityTandon School of EngineeringDepartment of Aerospace and Mechanical EngineeringME-GY 6933Advanced MechatronicsFinal ProjectDesign and Development of World WideControlled Pet Feeding RobotSubmitted toProf. Vikram KapilaAswath SureshBhavik Dilip DoshiShreyance Singhvi
Design and Development of World WideControlled Pet Feeding RobotAswath Suresh, Bhavik Doshi and Shreyance Singhvias10616@nyu.edu,bdd271@nyu.eduDepartment of Aerospace and Mechanical Engineering, New York University, USAAbstract— This paper describes a pet feeding robot which can be owners’ concern of feeding by building a phone/laptopcontrolled from anywhere on the world. The robot features a controlled real-time semi-automatic pet feeder that candifferential drive mechanism, collision free distance sensing, dispense the desired food as per the user by live camerawireless NRF SPI control, User-End GUI and Camera Vision. feedback.The robot hardware includes Arduino Microcontroller,Raspberry Pi 3, HD Camera, Sabretooth Motor Driver and 4sLipo Battery. Inspired from nature, a reflex mechanism has alsobeen integrated into the rover design to minimize damage, byautomated safety reflexes using ultrasonic distance sensor. Thefour wheeled mechanism ensures that it can traverse stairs easily.The mechanism provides traction due to its body weight. Therobot finds applications in feeding any kinds of pet fromanywhere, remote explore the house for any potential theft andfake robbers to believe someone is at home. Also includespersonalize daily meal portions, stay connected with real timealerts, know your pet’s ok when you’re away, stores up to 7lbs,keeps food fresh and keep your pet healthy. The robot also enablesa user to prevent a pet from eating a specific food while stillallowing access to that food by other pets. Thus, making it userfriendly for users having more than one pet.II.MECHANICAL DESIGNThe four-wheel mechanism ensure that it can traverse over aconsiderable height greater than the chassis height which couldbe as much as twice the diameter of the wheels. The advantageof this design is that it can still run even if it gets toppledallowing the robot to overcome obstacles and traverse over ahighly-rugged terrain like stairs. The robot gets traction onlydue to its body weight without having to compromise thestrength of the chassis. The Fig.1 shows the prototype of thefour wheeled mechanism.Keywords: Arduino, Camera, Drive Mechanism, Raspberry Pi, SPII. INTRODUCTIONWe choose this project because pet keeping is a timeconsuming responsibility and we want to provide convenienceto owners by helping them feed their pets easily and smartlyfrom anywhere on the world.Keeping pets takes many commitments. This includes keepingthem company, showing your concerns and of course, feedingthem on time and in the correct way. However, not everyone isa pet expert, taking care of your pet’s diet can be hard and timeconsuming. One of the top health concerns of pets areovereating and obesity. Especially at younger age, they areusually satisfied with however much is given to them. Manyadult pets are fed unscientifically that later may cause shortlifespan. Another problem of feeding pets is that owners mightnot always be home regularly as they have to travel to anothercountry as a vacation or for a business trip. Being occupied bypersonal plans knowing that they still have a starving littlefellow at home to be taken care of is always a concern thatbothers owners. The third concern that we want to deal with isthe fact that there hasn’t been any product on the market rightnow that is able to dispense food for pets monitored by itsowner real-time. However, pets themselves might notnecessarily recognize the potential health problems of eatingthe wrong food. There are products like Petnet, AutoPetFeeder,Automation Pet Feeder [1-4] which can be scheduled todispense food at certain interval of time but it lacks real timemonitoring and mobility. Therefore, we want to take care ofFig.1 PrototypeIII.PET FEEDING ROBOT SYSTEMThe Fig.2 shows the working principle of the complete system.At the user end there will be a GUI developed using the tkinterGUI python toolkit. The GUI helps in the movements of the petfeeding robot. The user-end device will be connected to theinternet i.e. mobile or laptop. The Real VNC application is usedto access the Raspberry Pi 3 at home which is connected tointernet all the time. The Raspberry Pi 3 is connected to ArduinoUno which is on the robot using Serial PeripheralInterface(SPI). The SPI connection between Arduino Uno andRaspberry Pi 3 is made wireless using NRF24L01 with a rangeof 1 mile. The NRF24L01 is a highly integrated, ultra-lowpower (ULP) 2Mbps RF transceiver IC for the 2.4GHz ISM
(Industrial, Scientific and Medical) band. With peak RX/TXcurrents lower than 14mA, a sub μA power down mode,advanced power management, and a 1.9 to 3.6V supply range,the NRF24L01 provides a true ULP solution enabling monthsto years of battery lifetime when running on coin cells orAA/AAA batteries.A window named Control Panel is created with four buttonsnamely Forward, Backwards, Right and Left. If the buttonforward is pressed the robot will move forward, if right ispressed it moves towards right and so on. The GUI developedin python can be accessed using real VNC from anywhere onthe world where internet is available.The Arduino gives commands to the motor using a motor drivercalled Sabretooth for required robot movement. The Arduinocannot handle the high voltage and high current requirement ofthe motors. So we used the high current (upto 60A) and highvoltage (upto 32V) motor driver. So when the button is pressedin the GUI at the User End a specific function is called in thepython program in the raspberry pi 3 based on which button ispressed. The function sends set of string value (Speed,Direction) to the Arduino through SPI Communication. TheArduino decodes the string value and based on the receivedvalue controls the motor driver for required robotic movements.The camera feed from the HD IP Camera is always available atthe user end via internet. This system makes it really easy tofind the pet and feed it on time.Fig.3 GUIB. RASPBERRY PI –ARDUINO SPICOMMUNICATIONFig.2 System RepresentationA. GRAPHICAL USER INTERFACEThe Tkinter module is used in python to develop the GUI asshown in Fig.3. Tkinter is Python's de-facto standard GUI(Graphical User Interface) package. It is a thin object-orientedlayer on top of Tcl/Tk. Tkinter is not the only GUIProgramming toolkit for Python. It is however the mostcommonly used one.Fig.4 SPI CommunicationThe Serial Peripheral Interface (SPI) bus was developed byMotorola to provide full-duplex synchronous serialcommunication between master and slave devices. The SPI busis commonly used for communication with flash memory,sensors, real-time clocks (RTCs), analog-to-digital converters,and more. Standard SPI masters communicate with slaves usingthe serial clock (SCK), Master Out Slave In (MOSI), Master InSlave Out (MISO), and Slave Select (SS) lines. The wiring for
SPI communication between Arduino and Raspberry Pi alongwith NRF24L01 is done as shown in the Fig.4.C. CAMERA FEEDBACKIV.RESULT AND DISCUSSIONThe result was tested as a scenario of a person sitting at officeand feeding his/her pet at home. The different scenario till theresult is achieved is as shown in Fig.7.1-7.3.Fig.5 Camera SetupThe IP Camera on the pet feeding robot is connected to awireless router using Wi-Fi Protected Setup(WPS). The routeris always connected to internet and the user can access the HDcamera using the camera IP address over the internet cloud. Theuser will be receiving the live feedback of 1080p live footage ofwhat the pet feeding robot see. This helps the user to navigatethe robot to the required destination. The Fig.5 shows thecamera setup to get live feedback at the user end.D. MECHANICAL LAYER AND POWERMANAGEMENTFig.7.1 User Sitting in the OfficeThe Fig.7.1 shows a person sitting in the office with the GUI ofthe pet feeding robot trying to feed his/her pet at home.Fig.6 Mechanical and Power ManagementFig.7.2 Pet Feeding Robot at HomeThe pet robot uses four high torque 7A motor for travelling inany sort of rugged terrain with ease. The four-wheel mechanismis developed in such a way that the robot can move even if itgets toppled. This advantage allows it to climb up and down thestairs without any issue. The signal received from Arduino tothe Sabertooth motor driver drives the 28A 12V motor systemin the required direction. The robot uses a 5000mah 12V highpower lithium polymer batter. The Arduino and HD camera ispowered from the 5v regulated supply available from thesabretooth motor driver. Back current and short is taken careusing diode and protection circuit which makes the systemtotally safe. The Fig.6 shows the power management andmechanical layer of the system.The Fig 7.2 shows the pet feeding robot loaded with food athome controlled from the office. Fig.7.3 shows the robot on itsway to the target and also the top left shows the camerafeedback which the user sees while controlling the robot.Fig.7.3 Pet Feeding Robot reaching target
APPENDIXRASPBERRY PI 3 TRANSMITTER PYTHON CODEimport RPi.GPIO as GPIOfrom lib nrf24 import NRF24import timeimport spidevimport tkinter as tkFig.8 Pet Feeding Robot Stair Case TestIt is observed that the pet feeding robot at home is capable ofdoing the real time pet feeding task without any difficulty fromthe office which is far away and the performance is good. Thefour wheeled mechanism for climbing up and down was testedand led to satisfactory result. The Fig.8 shows the stairs casetest of the pet feeding robot.master tk()GPIO.setmode(GPIO.BCM)pipes [[0xE8, 0xE8, 0xF0, 0xF0, 0xE1], [0xF0, 0xF0, 0xF0, 0xF0,0xE1]]radio NRF24(GPIO, 4.BR 1MBPS)radio.setPALevel(NRF24.PA (pipes[0])radio.printDetails()V.CONCLUSION AND FUTURE DISCUSSIONdef Forward:message list(“1”)Over the last semester, design team have accomplished astart time.time()massive amount of research, learning and coding, we feel thatradio.write(message)we have produced a great success. About what workedprint(format(message))correctly, most of our design goals were met. We received a livefeed from camera mounted on robot, over internet. We were def Reverse:message list(“2”)also able to control the pet-feeder precisely through GUI forstart time.time()smart devices. Also, the all-terrain vehicle used for prototype,radio.write(message)what set our product apart from any other on the market, worksprint(format(message))flawlessly. The only goals that were not fulfilled were toprovide an easy user interface and to provide future meals at a def Left:predictable time. This is because now, there is no timekeepingmessage list(“3”)and multi-feeder system. If we were to take this design further,start time.time()we could change few things. First, we would change ial of feeder body. Next, we would implement it as a partof smart home system using Raspberry Pi and Arduino. Thesechanges would help us to better meet the goals that we had def Right:message list(“4”)originally laid out for our design.ACKNOWLEDGMENTstart e))The authors would like to thank Makerspace and NYU Tandon B Button(master, text “FORWARD”, command Forward, bg School of Engineering for providing support to carry out the ‘white’, fg ‘black’ bd 10, activebackground ‘red’)research and experiments.B.pack()REFERENCES1.2.3.4.Rachel Heil, Kristine McCarthy, Filip Rege, Alexis Rodriguez-Carlson,“The Smart Pet Feeder: A Proposal to Design and Build an Automated PetFeeder Capable of Preventing One Pet from Eating Another Pet’s Food”,January 30,2008Zhuokai Zhao, Ziyun He, Fan Ling, “Automatic Pet Feeder Project”,February 10, 2016Online Available: http://petnet.io/smartfeederOnline Available: http://www.autopetfeeder.com/C Button(master, text “REVERSE”, command Reverse, bg ‘white’, fg ‘black’ bd 10, activebackground ‘red’)C.pack()D Button(master, text “LEFT”, command Left, bg ‘white’, fg ‘black’ bd 10, activebackground ‘red’)D.pack()E Button(master, text “RIGHT”, command Right, bg ‘white’,fg ‘black’ bd 10, activebackground ‘red’)E.pack()
ARDUINO RECEIVER CODE#include Wire.h #include SPI.h #include RF24.h #include Servo.h Servo myservo1;Servo myservo2;int k 1000;RF24 radio(9,10);void setPALevel(RF24 PA MAX);radio.setChannel(0x76);const uint64 t pipe );}void 10] ge,sizeof(receivedMessage));intmsg radio.stopListening();delay(15);//1-Fif(msg ;}//2-Belse if(msg }//3-Lelse if(msg );}//4-Relse if(msg erial.flush();}}
A. GRAPHICAL USER INTERFACE The Tkinter module is used in python to develop the GUI as shown in Fig.3. Tkinter is Python's de-facto standard GUI (Graphical User Interface) package. It is a thin object-oriented layer on top of Tcl/Tk. Tkinter is not the only GUI Programming toolkit for Python. It is however the most
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