A Bartender Robot--Doggie4

The robot we created is a bartender robot that we designed to serve drinks and food in a bar. We named it Doggie4. The robot is divided into four layers. The bottom (the fourth layer) is a drive chassis, equipped with two wheels and two caster devices that allow the robot to move around the room. The third layer is the control area, hosting a robot control board, a sensor control panel and a motor control board. The second layer is a storage area, in which food and drinks can be placed. The top (the first layer) is the head of the robot, where we designed a LCD display screen to give the robot life-like emotions and interaction with customers. When the robot is working, a smiley face is displayed on the LED screen. When it reaches the set location, the LCD smiley face will change into a QR code for payment. Also, the flashing LED band around the robot has different color and rhythm option so that the Doggie4 can interact with its users.

Step 1: Materials Needed

All the parts were bought from Internet and local electronic market.

Electronic Parts:

Edison Control Board x1

Edison Shield Board x1

Edison Motor Driver Board x1

Button x1

Driving Motor x2

180 Degree Servo x1

Battery x1

Sound Box x1

LCD Screen x1

DuPont Line x1

LED Rope Light x1

Gear Motor x1

Construction Parts:

Acrylic Boards several

Bolt x4

Eye nut x2

Several nuts of different sizes

Door Hinges x2

Wax wire

Glue materials:

Double sided type Tape

3M PVC TAPE

3M dual lock tape

Glue for Acrylic Board

Step 2: Concept Design

This bartender robot is designed to transport food and drinks in a bar like setting, so there would have to be a space on the robot where food and drinks can be placed, and it should be able to move around. We did some research and found a something similar (see picture above) which can meet the requirements, and based on that, we have drawn our own design sketch (see picture above).

Step 3: Interior & Appearance Design

Combined with the design sketch, we have defined appearance design and interior space arrangement. The robot is divided into four layers. The bottom (the fourth layer) is a drive chassis, equipped with two wheels and two caster devices which allow the robot to move around the bar table. The third layer is the control area, hosting a robot control board, a sensor control panel and a motor control board. The second layer is a storage area, in which food and drinks can be placed. The top (the first layer) is the head of the robot, where we designed a LCD display screen to give the robot life-like emotions and interaction. When the robot is working, a smiley face is displayed on the LED screen. When it reaches the specified location, the LCD smiley face changes into a QR code, waiting for costumer payment. Also, the flashing LED band around the robot has different color and rhythm option so that the Doggie4 can interact smoothly with its users.

Step 4: Prototype & Iteration

Since the robot should be able to support its own weight, so we reinforce the chaises with wood in our first edition, however after we finished the set up, it turned out that it is still too heavy for the motor to work properly.

After ,we built up the second prototype in Solidworks, and sent to Makerbot for printing, we cut it into several parts to meet size constraints. However, the printouts were not as good as we expected, due to several printing errors.

Finally with the third edition, we bought some acrylic boards online, processed and glued them together in order for the robot to work.

Step 5: Component Installation

The acrylic boards worked out very well. So we drilled several holes on the boards to part there circuit through, and fixed it in a set position with crews.

Step 6: Programming

We use an Edison control board from Intel, which is compatible with all hardware devices in arduino system. This is so that we can develop and expand the related functions.Furthermore, we use a graph language software, SmartNode to program the robot. Its interface is clean, simple and easy to debug. One can directly connect to it via wireless network.

As it showed in the node diagram, press the program switch, program control modules work in several time nodes:

A: @ 0 second, setup the strings payload: “OK” and “I’m coming” to a text-to-speech voice output module;

B: @ 5 second, setup the strings direction: 0 to motor 1 and motor 2 to control the robot move straight;

C:@ 10 second, setup the strings speed: 80 to motor 2 to control the robot turn left;

D:@ 15 second,

a) . Setup the strings speed, 50 to motor 2 to control the robot move straight;

b). Input strings 101 to LCD screen to display a QR code

c). Setup the strings payload, 90 to servo to control the door open

d). Setup the strings payload, “here you are” and “please pay” to text-to-speech voice output module.

Programming website: http://www.smartnode.io/getstarted/

Step 7: Testing

We tested all functions needed, and it worked.

In total, we spent 5 weeks completing this robot. We failed in our first two versions and made different iterations to the robot. And finally in our third version, we achieved our goals. We hope you enjoy our Doggie4. Thank you for voting us.