Robotski čistač akvarija

master's thesis

• Title (english): Robot Aquarium Cleaner
• Author: Natan Turčinović
• Mentor: Ana Sović Kržić (mentor)
• Committee member: Ana Sović Kržić (predsjednik povjerenstva)
• Committee member: Damir Seršić (član povjerenstva)
• Committee member: Davor Petrinović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-02-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu opisan je postupak izrade robotskog čistača akvarija. U tu svrhu korištena je ESP32 razvojna pločica. Sama pločica može se programirati u Arduino IDE programskom okruženju te su u radu dani primjeri programiranja. Za pokretanje robota korišteni su omni kotači. Kontrola motora obavlja se preko L298n drivera za motore. Kako bi bila moguća okomita vožnja po stijenkama akvarija i čišćenje s unutarnje strane akvarija, na robot su ugrađeni neodimijski magneti. Isti magneti obloženi spužvom se nalaze s unutarnje strane akvarija. Robotom se upravlja pomoću mobilne aplikacije koja je razvijena korištenjem MIT App Inventora. Aplikacija ostvaruje komunikaciju s robotom preko Bluetootha. Robot je testiran na staklenim prozorima, zbog zaštite od vode za vrijeme testne faze.

Abstract (english)

This paper describes the process of making a robotic aquarium cleaner. An ESP32 development board was used for this purpose. The board itself can be programmed in the Arduino IDE programming environment, and examples of programming are given in this paper. Omni wheels were used to drive the robot. Motor control is performed via the L298n motor driver. In order to be able to ride vertically along the walls of the aquarium and clean the inside of the aquarium, neodymium magnets are installed on the robot. The same magnets coated with a sponge are located on the inside of the aquarium. The robot is controlled using mobile application developed using the MIT App Inventor. The application communicates with the robot via Bluetooth. The robot was tested on glass windows, for protection from water during the test phase.

• Keywords: ESP32; Bluetooth; MIT App Inventor; motori; omni kotači; magneti; robotski čistač akvarija
• Keywords (english): ESP32; Bluetooth; MIT App Inventor; motors; omni wheels; magnets; robot aquarium cleaner
• Language: croatian
• URN:NBN: urn:nbn:hr:168:114826
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 14:06:21