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Miniature Bluetooth Controlled Robot
Research by: Thomas Stegge with Dr. Kim Pierson Ph.D. | UWEC Physics & Astronomy Department
INTRODUCTION
This project was created to work on developing a
miniature robotics platform that can be programed
on the fly via Bluetooth and an iOS device or
computer. This robot could be used in the classroom
to provide a more economical and customizable
teaching tool for all skill levels.
LIGHT BLUE BEAN
The Light Blue Bean was developed by Punch
Through Design, a company founded by UWEC
Alumn, Colin Karpfinger. The Bean is a Arduino
Microcontroller, that communicates via low energy
Bluetooth (BLE). This means that you can
communicate with and program the Bean without
the use of wires. Using BLE means that any project
or prototype you make can be used and not have to
be connected via wires to a computer. In our case
this was a necessity, as we needed the robot to be
able to drive around without being physically
connected to anything. BLE also allows us to change
what program is running on the Bean without having
to bring it back to a computer to plug it in. We can
simply be within range of the device and upload the
new program wirelessly.
This is the Light Blue Bean which is the brains of
the robot.
ARDUINO
Arduino is an open source computing platform,
meaning anyone has free and universal access to the
devices hardware and software. A typical Arduino
board consists of a microcontroller board and
several digital and/or analog in/out ports.
This is the MakerBot Replicator 2X, the 3D
printer I used to create all the parts.
PURPOSE
We wanted to create a robot that could be
replicated easily and at a reasonable cost. One
future application we were looking to target was
using these to teach robotics or programming
classes. Using this set up allows everyone to
customize the color and even shape of their robot.
With the economical price tag it also allow the
creator to pay for the parts and keep the robot once
built, which will allow them to tinker with it on their
own time to modify the platform to do whatever
they wish.
CONCLUSION
This robot is powered by Arduino.
THE ROBOT
BODY
The body and wheels of the robot were designed by myself using Autodesk Inventor 2014. I then 3D Printed the body and
wheels using the Computer Science department’s MakerBot Replicator 2X 3D printer. I chose to use ABS plastic because of its
strength and machinability. If need be, you would also be able to weld ABS pieces together using Acetone.
DRIVETRAIN
My first design utilized a dual H bridge motor controller that controlled two brushed DC motors. I realized that these motors
did not travel at the same speed when told to do so, which caused the robot to veer left when told to travel straight forward. I
switched to using two continuous rotation servos, which have been more reliable and travel straighter.
BRAINS AND SENSORS
The Light Blue Bean is the brain of this robot. The Beans controls both continuous rotation servos, the servo on the front, and
also reads in the data from the ultrasonic distance sensor. The Bean, via an Arduino program, is able to sweep the servo and
ultrasonic distance sensor from side to side to determine where the best path to travel next is. This data is then converted to
commands that tell the motors how to rotate.
POWER
To power this robot I used a 9V battery, because of its small voltage to size ratio. The Bean needs 3.3 volts to power on and the
servos and ultrasonic sensor need 5 volts to run. This is achieved by using a 3.3V voltage regulator and a 5 volt voltage
regulator. This provides each component with their necessary voltages, while only using one battery.
FUTURE GOALS
WHAT IT DOES
• Light Blue Bean
• Built in Features:
• 3-axis Accelerometer
• Temperature Sensor
• RGB LED
• 6 digital I/O pins
• 2 analog pins
• Wireless programming
• Robot
• Navigate autonomously
• Avoid obstacles
• Be programmed to drive a predetermined
path
• Collect data from built in or external sensors
• Can connect to the Bean via the internet with
Node-RED
• Be reprogrammed on-the-fly via Bluetooth
I would like to be able to create a swarm of these small
robots and have them be able to communicate with each
other to do their own tasks or follow a leader. Another few
goals are to improve the driving and searching algorithm,
clean up the wiring and design and monitor real time data
from the device via the internet and Node-RED. Another
goal that would be helpful to achieve is to be able to use a
Raspberry Pi to allow multiple Beans to communicate to
one central hub to allow a swarm of robots to
communicate to the leader and each other. This could be
used to build a temperature map of a building by sending
out many robots and each collecting data and reporting
back to the hub.
ACKNOWLEDGEMENTS
I would like to thank Dr. Kim Pierson for the supply of some
parts and advice, Dr. Matt Evans for the use of his Mac, the
UWEC Computer Science Department for being able to use
their 3D printer, and Colin Karpfinger, owner of Punch
Through Designs, for sending us a few Beans and parts to
use.
We thank the Office of Research and Sponsored Programs for supporting this research, and Learning & Technology Services for printing this poster.