Abstract:

Abstract for a food serving robot project which has Four wheels with
diameter 100mm, each wheel can carry 100kgs, used aluminium extrusion
for construction, 6 proximity sensors for line following, aluminium strip for
path detection, 4 DC motors 12v 50rpm, RFID EM18 tag to detect which
table, L298 motor drivers, Boost converter, Buck converter, ESP 32, IR
PROXIMITY SENSOR for obstacle detection, forward ultrasonic sensor to
go forward, backward ultrasonic sensor to go backward, level shifter, 12v
Battery 3c capacity, 2 push button switches, one to start the robot, another
to send the robot back to kitchen, an application named SERVEX is
developed to give input to the robot to go to tables to serve food, woman
mannequin to give a robo look.
This abstract provides an overview of a food serving robot project that
incorporates various components and technologies to enable efficient food
delivery within a restaurant or similar setting. The project includes the
construction of a robot using aluminium extrusion, equipped with four 100mm
diameter wheels, each with a carrying capacity of 100kgs.

The robot incorporates six proximity sensors for line following, allowing it to
navigate along predefined paths within the establishment accurately. An
aluminium strip is employed for path detection, further enhancing the robot's
precision in staying on the desired path.

Four 12V DC motors with a speed of 50rpm provide the necessary locomotion
for the robot. The L298 motor drivers regulate the motors, enabling precise
movement and maneuverability.

Table identification and order coordination are facilitated by the integration of

an RFID EM18 tag. This enables the robot to detect and identify specific tables,
ensuring accurate delivery of orders.

To ensure safe navigation, the robot incorporates an IR proximity sensor for

obstacle detection. Forward and backward ultrasonic sensors enable the robot to
move in respective directions while avoiding potential collisions.
Power management is addressed through the inclusion of a boost converter,
buck converter, and a 12V 3c capacity battery. These components regulate and
optimize the power supply, ensuring continuous operation of the robot.

User interaction and control are facilitated through the inclusion of two push-
button switches. One switch initiates the robot, while the other sends the robot
back to the kitchen or its starting point.

The project also includes the development of an application named SERVEX,

which allows users to provide input to the robot, directing it to specific tables
for food service. Additionally, a woman mannequin is incorporated to enhance
the robot's visual appeal and create a distinct robotic appearance.

In summary, this food serving robot project integrates various hardware

components, sensor technologies, power management systems, user-friendly
applications, and aesthetic features. The project aims to optimize food delivery
within a restaurant or similar environment, improving efficiency and customer
satisfaction.
Introduction:

The food service industry is experiencing a growing demand for automation and
efficiency in order delivery processes. To meet these evolving needs, the food
serving robot project was initiated with the goal of developing an autonomous
robot capable of efficiently delivering food and beverages within a restaurant or
similar environment. This report provides a comprehensive analysis of the
project, its methodology, hardware implementation, and future scope.

The primary objective of the project was to design and construct a food serving
robot that could navigate through predefined paths, accurately identify delivery
locations, and safely deliver orders to customers. To accomplish this, the project
incorporated advanced hardware components and intelligent algorithms.

The hardware implementation involved the construction of a robot using

aluminium extrusion, providing a sturdy and lightweight structure. The robot
was equipped with four 100mm diameter wheels, each capable of carrying up to
100kgs, ensuring sufficient load-bearing capacity and stability.

To ensure precise navigation, the robot incorporated six proximity sensors for
line following, allowing it to traverse predefined paths accurately. An
aluminium strip was utilized for path detection, further enhancing the robot's
ability to stay on the desired path and deliver orders efficiently.

Powering the robot were four 12V DC motors, controlled by L298 motor
drivers, providing the necessary motion and maneuverability. The power
management system included a boost converter, buck converter, and a 12V 3c
capacity battery, ensuring continuous and optimized power supply for reliable
operation.

Table identification and order coordination were facilitated through the

integration of an RFID EM18 tag system. This enabled the robot to accurately
detect and identify specific tables, ensuring precise delivery of orders to the
intended recipients.
To ensure safe navigation and obstacle avoidance, the robot incorporated an IR
proximity sensor for detecting close-range obstacles. Forward and backward
ultrasonic sensors were employed to facilitate movement in respective
directions while avoiding collisions.

User interaction and control were facilitated through the development of an

application named SERVEX, which allowed customers to provide input and
direct the robot to specific tables for food service. Additionally, two push-button
switches were integrated, one for initiating the robot and the other for sending it
back to the kitchen or its starting point.

In conclusion, the food serving robot project aimed to address the increasing
demand for automation and efficiency in the food service industry. By
integrating advanced hardware components, intelligent algorithms, and user-
friendly applications, the project sought to streamline the food delivery process,
enhance operational efficiency, and improve overall customer satisfaction. The
subsequent sections of this report provide detailed insights into the
methodology, hardware implementation, working principles, and future scope of
the food serving robot project.
Working of the Project:

The food serving robot project involved the implementation of various

components and technologies to enable efficient and autonomous food delivery
within a restaurant or similar environment. The following is a detailed
description of the project's working in the past tense:

Navigation and Path Following:

The robot utilized six proximity sensors for line following, which accurately
detected predefined paths on the floor. These sensors provided feedback to the
robot's control system, enabling it to adjust its movements and stay on the
desired path.
An aluminium strip was employed for path detection. The robot's sensors
detected the strip, allowing it to further refine its position and maintain precise
navigation along the designated routes.
Table Identification and Order Delivery:

The robot incorporated an RFID EM18 tag system for table identification. The
RFID reader scanned unique tags assigned to each table, allowing the robot to
accurately detect and identify the delivery locations.
Once the table was identified, the robot proceeded to deliver the order. It
employed its precise motor control system to navigate towards the designated
table while avoiding obstacles and other customers.
Obstacle Detection and Avoidance:

The robot was equipped with an IR proximity sensor for obstacle detection. It
utilized this sensor to detect objects or individuals in its vicinity and adjusted its
path to avoid collisions.
Additionally, forward and backward ultrasonic sensors provided the robot with
information about its surroundings. The robot used this data to navigate safely
in respective directions while maintaining a safe distance from obstacles.
Motor Control and Movement:

The robot's four 12V DC motors, controlled by L298 motor drivers, facilitated
its movement. The motors operated at a speed of 50rpm, providing the
necessary torque and agility for precise navigation.
The motor control system received signals from the robot's sensors and
processed them to adjust the speed and direction of each motor, ensuring
smooth and accurate movement.
Power Management:

The project incorporated a boost converter and a buck converter to regulate and
optimize the power supply. These components maintained stable voltage levels
and efficiently managed the power distribution within the robot.
A 12V 3c capacity battery served as the primary power source, providing
sufficient energy for the robot's operation during extended periods.
User Interaction and Control:

The project included the development of an application named SERVEX.

Customers used this application to place orders and specify delivery locations
for the robot.
Two push-button switches were integrated into the robot's design. One switch
initiated the robot's operation, while the other commanded it to return to the
kitchen or its starting point upon completing deliveries.
Aesthetic Finishing:

A woman mannequin was incorporated into the robot's design to enhance its
visual appeal and give it a distinct robotic appearance. This aesthetic finishing
aimed to create a more engaging and futuristic experience for customers.
In conclusion, the food serving robot successfully operated within the restaurant
environment. It effectively navigated along predefined paths, identified delivery
locations using RFID technology, avoided obstacles through sensor-based
detection, and delivered orders accurately. The robot's motor control system,
power management components, user-friendly application, and aesthetic
finishing contributed to an efficient and visually appealing food service
experience.
Hardware Implementation:

The hardware implementation of the food serving robot project involved the
integration of various components to create a functional and efficient robot for
food delivery within a restaurant or similar environment. The following is a
detailed description of the hardware implementation in the past tense:

Chassis and Wheels:

The robot's chassis was constructed using aluminium extrusion, providing a

sturdy and lightweight structure.
Four wheels with a diameter of 100mm were attached to the chassis, each
capable of carrying loads up to 100kgs. These wheels provided stability and
smooth movement for the robot.
Line Following and Path Detection:

Six proximity sensors were integrated into the robot to enable line following.
These sensors accurately detected the predefined paths on the floor, allowing the
robot to navigate along them with precision.
An aluminium strip was employed for path detection. The robot's sensors
detected the strip, providing additional feedback for precise navigation and
maintaining the desired path.
Motor Control:

The robot was equipped with four 12V DC motors with a speed of 50rpm.
These motors provided the necessary propulsion for the robot's movement.
L298 motor drivers were used to control the motors, enabling precise control of
speed and direction. The motor drivers received input signals from the robot's
sensors and adjusted the motor output accordingly.
Table Identification:
An RFID EM18 tag system was incorporated into the robot for table
identification. The system consisted of an RFID reader and unique tags assigned
to each table.
When the robot approached a table, the RFID reader scanned the corresponding
tag, allowing the robot to identify the specific table and its delivery location
accurately.
Power Management:

The power management system included a boost converter and a buck

converter. These components regulated and optimized the power supply for
efficient operation of the robot.
A 12V 3c capacity battery served as the primary power source, providing
sufficient energy to drive the motors, operate the sensors, and power other
electronic components.
Obstacle Detection:

To detect obstacles, an IR proximity sensor was integrated into the robot's

design. This sensor enabled the robot to detect objects or individuals in its
vicinity and take appropriate avoidance measures.
Ultrasonic Sensors:

Forward and backward ultrasonic sensors were incorporated into the robot for
distance measurement and obstacle avoidance. These sensors provided the robot
with accurate distance information, allowing it to navigate safely in respective
directions.
User Interaction:

The robot's user interaction was facilitated through the inclusion of two push-
button switches. One switch initiated the robot's operation, while the other
commanded it to return to the kitchen or its starting point after completing
deliveries.
Application:
An application named SERVEX was developed to allow customers to
conveniently place orders and specify delivery locations for the robot. The
application served as a user-friendly interface between the customers and the
robot.
Aesthetic Finishing:

To enhance the robot's visual appeal, a woman mannequin was integrated into
its design. This aesthetic finishing provided a distinct robotic appearance,
adding an engaging and futuristic touch to the food service experience.
In conclusion, the hardware implementation of the food serving robot project
successfully integrated various components, including the chassis, wheels,
proximity sensors, motor control system, table identification technology, power
management components, obstacle detection sensors, user interaction elements,
and aesthetic finishing. These components worked together to create a fully
functional robot capable of efficient food delivery within a restaurant or similar
environment.
Future Scope:

The food serving robot project has a promising potential for further
advancements and improvements. The following are detailed areas of future
scope for the project:

Autonomous Navigation: Enhancing the robot's navigation capabilities can be a

significant area of future development. Implementing advanced algorithms,
such as SLAM (Simultaneous Localization and Mapping), can enable the robot
to create and update maps of its environment in real-time, improving its ability
to navigate autonomously and adapt to dynamic surroundings.

Artificial Intelligence and Machine Learning: Integrating artificial intelligence

and machine learning techniques can enable the robot to learn and improve its
performance over time. This can include optimizing path planning algorithms,
improving obstacle detection and avoidance, and enhancing decision-making
capabilities based on user preferences and feedback.

Multi-Robot Coordination: Exploring the potential of multiple food serving

robots working collaboratively can lead to increased efficiency and scalability.
Coordinating the actions of multiple robots to handle peak periods, dynamically
allocate tasks, and optimize delivery routes can further streamline the food
service process.

Smart Home Integration: Integrating the food serving robot with smart home
technologies can enhance its functionality and convenience. This can include
integrating with voice assistants, such as Amazon Alexa or Google Assistant, to
enable voice commands for placing orders or controlling the robot's actions.

Advanced Obstacle Avoidance: Investigating and implementing advanced

obstacle avoidance techniques, such as computer vision or 3D mapping, can
improve the robot's ability to navigate complex and crowded environments.
This can enhance safety, reduce collision risks, and enable the robot to navigate
around unexpected obstacles more effectively.
Voice and Natural Language Processing: Developing the capability for the robot
to understand and respond to voice commands or engage in natural language
interactions can enhance the user experience. Integration with speech
recognition and natural language processing technologies can enable seamless
communication between the user and the robot.

Remote Monitoring and Control: Implementing remote monitoring and control

capabilities can allow restaurant staff or managers to monitor the robot's
operations and intervene if necessary. Remote access to the robot's status,
location, and performance can provide real-time insights and enable efficient
management of multiple robots.

Sustainability and Energy Efficiency: Exploring energy-efficient designs,

integrating renewable energy sources, and optimizing power management
systems can contribute to the sustainability of the food serving robot. This can
extend the robot's operating time, reduce energy consumption, and minimize the
overall environmental impact.

Integration with Online Ordering Platforms: Enabling integration with online

ordering platforms, such as food delivery apps or restaurant management
systems, can streamline the order placement and fulfillment process. This can
involve automatic order retrieval, real-time updates on delivery status, and
seamless integration with existing restaurant workflows.

Continuous Improvement and User Feedback: Regularly collecting user

feedback and incorporating it into the development process can ensure
continuous improvement of the food serving robot. Understanding user
preferences, addressing pain points, and adapting to evolving customer needs
can drive the ongoing enhancement of the robot's performance and overall user
satisfaction.

In conclusion, the future scope of the food serving robot project is extensive and
offers exciting opportunities for advancement. By exploring areas such as
autonomous navigation, artificial intelligence, multi-robot coordination, smart
home integration, advanced obstacle avoidance, voice and natural language
processing, remote monitoring and control, sustainability, energy efficiency, and
integration with online ordering platforms, the project can continue to evolve
and revolutionize the food service industry.
Description of RFID EM18 and its Use in the Project:

RFID (Radio Frequency Identification) technology plays a crucial role in the

food serving robot project through the integration of the RFID EM18 tag
system. The RFID EM18 is a low-frequency (125kHz) RFID reader module that
enables the robot to accurately detect and identify specific tables or delivery
locations within the restaurant or similar environment.

The RFID EM18 tag system consists of two main components: the RFID reader
and the unique RFID tags assigned to each table. The RFID reader is
incorporated into the robot's design and is responsible for wirelessly
communicating with the RFID tags. The RFID tags are small, passive devices
that contain a unique identification number or code.

In the food serving robot project, the RFID EM18 tag system is utilized to
detect and identify tables or delivery locations. When the robot approaches a
table, the RFID reader activates and emits a radio frequency signal. The RFID
tags, which are attached or embedded in the tables, receive this signal and
respond by transmitting their unique identification codes back to the RFID
reader.

The RFID reader then processes the received data and identifies the specific
table or delivery location associated with the transmitted code. This information
is crucial for accurate order delivery, as it allows the robot to precisely
determine the destination for each order.

The integration of the RFID EM18 tag system provides several benefits for the
food serving robot project. Firstly, it enables seamless and automated table
identification, eliminating the need for manual intervention or visual
identification. This enhances the efficiency of the food delivery process,
minimizing errors and improving overall operational accuracy.

Secondly, the RFID EM18 tag system facilitates precise order coordination. By
associating each RFID tag with a specific table or delivery location, the robot
can deliver orders directly to the designated destinations, ensuring accurate and
prompt service.

Moreover, the use of RFID technology enhances the scalability and flexibility of
the food serving robot project. Additional RFID tags can be easily assigned to
new tables or areas, allowing for easy expansion and adaptation to changing
restaurant layouts or configurations.

In summary, the integration of the RFID EM18 tag system in the food serving
robot project enables seamless table identification, precise order coordination,
and efficient food delivery. This technology enhances the accuracy, scalability,
and flexibility of the robot, contributing to an enhanced dining experience for
customers and improved operational efficiency for the restaurant.
Description of Aluminium Extrusion and its Use in the Project:

Aluminium extrusion is a versatile manufacturing process that involves shaping

aluminum alloy into specific profiles with a cross-sectional shape. It is
commonly used in various industries, including robotics, due to its lightweight,
durability, and ease of customization. In the food serving robot project,
aluminium extrusion is utilized for the construction of the robot's chassis and
framework.

The aluminium extrusion process starts with a solid aluminum billet that is
heated and forced through a shaped die using a hydraulic press. As the
aluminum passes through the die, it takes on the shape of the die's profile,
resulting in a continuous length of aluminum with a consistent cross-sectional
shape. This length of aluminium extrusion is then cut to the required dimensions
to form the individual components of the robot's chassis and framework.

The use of aluminium extrusion offers several advantages for the food serving
robot project:

Lightweight: Aluminium extrusion is known for its lightweight nature, which is

crucial for mobile robots. The lightweight chassis allows the robot to move
efficiently, reducing energy consumption and improving overall performance.

Strength and Durability: Despite its lightweight properties, aluminium extrusion

offers excellent strength and durability. It can withstand impacts, vibrations, and
daily wear and tear in a demanding environment like a restaurant. This ensures
the robot's longevity and reliability.

Customization: Aluminium extrusion allows for easy customization of the

robot's chassis and framework. The extruded aluminum profiles can be cut,
drilled, and machined to specific dimensions, accommodating the unique design
requirements of the food serving robot. This flexibility enables efficient
integration of other components and ensures a precise fit.
Modularity and Scalability: Aluminium extrusion promotes modularity, making
it easier to assemble and disassemble the robot's components. This modularity
allows for easy maintenance and repair. Additionally, the scalability of
aluminium extrusion allows for future modifications or upgrades as the project
evolves or as new requirements emerge.

Thermal Conductivity: Aluminium is an excellent thermal conductor,

dissipating heat efficiently. This is beneficial in the food serving robot project,
as it helps manage heat generated by various components, such as motors or
electronic systems. Effective heat dissipation ensures the robot's components
operate within optimal temperature ranges, enhancing their performance and
reliability.

Aesthetic Appeal: Aluminium extrusion offers a sleek and modern appearance,

contributing to the robot's overall aesthetic appeal. This can create a positive
impression on customers and enhance their dining experience.

In summary, the use of aluminium extrusion in the food serving robot project
provides a lightweight, durable, and customizable solution for the construction
of the robot's chassis and framework. Its strength, modularity, thermal
conductivity, and aesthetic appeal make it an ideal choice for a mobile robot
operating in a demanding and dynamic environment like a restaurant.
Description of DC Motor 12V 50rpm and its Use in the Project:

The DC (Direct Current) motor 12V 50rpm is a specific type of motor that
converts electrical energy into mechanical motion. It operates on a direct current
power supply of 12 volts and has a rotational speed of 50 revolutions per minute
(rpm). In the food serving robot project, these DC motors are utilized for the
robot's locomotion and movement control.

The DC motor 12V 50rpm is composed of several key components, including a

permanent magnet, an armature (rotor), commutator, brushes, and a stator.
When an electric current is supplied to the motor, it creates a magnetic field
within the stator. This magnetic field interacts with the permanent magnet in the
rotor, causing it to rotate.

The use of DC motors 12V 50rpm offers several advantages for the food serving
robot project:

Locomotion and Movement: The primary purpose of the DC motors in the

project is to provide the necessary locomotion and movement control for the
robot. The rotation of the motor's output shaft is translated into motion through
the wheels or other mechanical components attached to it. The 50rpm speed
allows for precise and controlled movement, ensuring accurate navigation and
delivery of orders.

Speed Control: DC motors offer the advantage of easy speed control. By

varying the voltage or adjusting the current supplied to the motor, the rotational
speed can be controlled. This feature allows the robot to operate at different
speeds depending on the requirements, such as navigating through crowded
areas or moving at a slower pace for delicate tasks.

Torque and Power: The DC motors 12V 50rpm offer sufficient torque to drive
the robot and overcome resistance or obstacles. The torque produced by the
motor enables the robot to move smoothly and efficiently, even when carrying
the weight of food trays or navigating uneven surfaces.
Compact Size: The DC motors are compact and lightweight, making them
suitable for mobile robot applications. Their small size allows for easy
integration into the robot's design without adding excessive weight or
compromising maneuverability.

Easy Control and Integration: DC motors are relatively easy to control and
integrate into the robot's overall system. They can be controlled using motor
drivers, such as the L298 motor drivers mentioned in the project, which regulate
the voltage and current supplied to the motors. This control enables precise
movement and maneuverability of the robot.

Reliability and Longevity: DC motors are known for their reliability and
longevity. They can operate continuously for extended periods without
significant performance degradation, making them suitable for the demanding
operational requirements of the food serving robot.

In summary, the use of DC motors 12V 50rpm in the food serving robot project
provides the necessary locomotion and movement control for the robot. Their
speed control, torque, compact size, ease of control and integration, reliability,
and longevity make them well-suited for the project's requirements. These
motors enable the robot to navigate accurately, deliver orders efficiently, and
operate reliably within the restaurant or similar environment.
Description of IR Proximity Sensor and its Use in the Project:

An IR (Infrared) proximity sensor is a type of sensor that emits and detects

infrared radiation to determine the presence or absence of an object in its
proximity. In the food serving robot project, an IR proximity sensor is utilized
for obstacle detection and avoidance.

The IR proximity sensor operates by emitting infrared light and measuring the
reflection or absorption of this light when it encounters an object. The sensor
consists of an infrared LED (Light-Emitting Diode) that emits infrared light and
a photodiode that detects the reflected or absorbed light. Based on the intensity
of the detected light, the sensor determines the distance to the object.

The use of an IR proximity sensor offers several advantages for the food serving
robot project:

Obstacle Detection: The primary purpose of the IR proximity sensor is to detect

obstacles in the robot's path. When an object is present within the sensor's
range, it reflects the emitted infrared light back to the sensor. The sensor detects
this reflected light and triggers an alert or response in the robot's control system,
signaling the presence of an obstacle.

Reliable Detection: IR proximity sensors provide reliable and consistent

detection of objects within their detection range. They are effective at detecting
various materials, including non-metallic objects, making them suitable for
obstacle detection in different environments.

Adjustable Range: The detection range of an IR proximity sensor can be

adjusted according to the specific requirements of the food serving robot
project. This flexibility allows the robot to adapt to different operating
conditions and environments, ensuring accurate obstacle detection at varying
distances.
Non-contact Sensing: IR proximity sensors operate on a non-contact principle,
meaning they do not require physical contact with the objects they detect. This
non-contact sensing ensures that the robot can detect obstacles without causing
any physical damage to itself or the detected objects.

Real-time Response: The IR proximity sensor provides real-time feedback on

the presence of obstacles, allowing the robot to take immediate action to avoid
collisions or adjust its path. This responsiveness ensures safe and efficient
navigation in the restaurant or similar environment.

Compact Size: IR proximity sensors are compact and can be easily integrated
into the robot's design without adding significant weight or obstructing other
components. Their small size and versatility allow for flexible placement on the
robot's body to achieve optimal obstacle detection coverage.

In summary, the integration of an IR proximity sensor in the food serving robot

project enables reliable obstacle detection and avoidance. Its ability to detect
obstacles in real-time, adjustable range, non-contact sensing, and compact size
make it an ideal choice for ensuring safe navigation and collision avoidance in
the restaurant or similar environment. The IR proximity sensor enhances the
robot's overall performance, contributing to efficient and safe food delivery
operations.
Description of Buck Converter and its Use in the Project:

A buck converter, also known as a step-down converter, is a type of DC-DC

converter that converts a higher voltage level to a lower voltage level with high
efficiency. In the food serving robot project, a buck converter is used to regulate
the power supply and ensure a stable and appropriate voltage level for various
components of the robot.

The buck converter operates based on the principle of pulse-width modulation

(PWM). It consists of a switching transistor, an inductor, a diode, and a
capacitor. The transistor rapidly switches on and off, controlling the flow of
current through the inductor. This switching action creates a series of voltage
pulses, which are filtered and smoothed by the inductor and capacitor to provide
a constant lower voltage output.

The use of a buck converter offers several advantages for the food serving robot
project:

Voltage Regulation: The primary purpose of the buck converter is to regulate the
voltage supplied to various components of the robot. It steps down the higher
input voltage, such as the battery voltage, to a lower and more suitable level for
the components, ensuring their proper functioning and preventing potential
damage from voltage spikes or fluctuations.

Power Efficiency: Buck converters are known for their high efficiency in
converting power. They minimize energy losses by regulating the voltage
through a switching mechanism, reducing heat dissipation and improving
overall power conversion efficiency. This is particularly important in a mobile
robot application where maximizing battery life is essential.

Compact and Lightweight: Buck converters are compact in size and lightweight,
making them suitable for integration into the limited space of the food serving
robot. Their small footprint allows for efficient placement within the robot's
electronics, optimizing space utilization.
Voltage Step-down Capability: The buck converter's ability to step down the
input voltage to a lower output voltage level allows for compatibility with
various components and sensors that require lower voltage levels for their
operation. This flexibility enables seamless integration of different electronic
devices within the robot's system.

Stability and Noise Reduction: The buck converter provides stable and
regulated voltage output, minimizing voltage fluctuations and ripple. This
stability ensures consistent and reliable performance of the robot's components,
enhancing their longevity and reducing the potential for malfunctions or errors
caused by unstable power supply.

Protection against Voltage Spikes: The buck converter offers inherent protection
against voltage spikes or surges that may occur in the power supply. It acts as a
buffer, absorbing and regulating the input voltage to provide a controlled and
safe output voltage, protecting the robot's sensitive electronic components from
damage.

In summary, the integration of a buck converter in the food serving robot project
ensures efficient voltage regulation, power optimization, and stability for the
robot's components. Its voltage step-down capability, power efficiency, compact
size, and protection against voltage spikes make it an essential component in
maintaining a stable and reliable power supply system for the robot. The buck
converter contributes to the overall performance, reliability, and longevity of the
food serving robot.
Description of Boost Converter and its Use in the Project:

A boost converter, also known as a step-up converter, is a type of DC-DC

converter that increases a lower voltage level to a higher voltage level with high
efficiency. In the food serving robot project, a boost converter is used to
regulate and increase the voltage supply for specific components or subsystems
that require higher voltage levels than the available power source.

The boost converter operates based on the principle of pulse-width modulation

(PWM) similar to the buck converter. It consists of a switching transistor, an
inductor, a diode, and a capacitor. The transistor rapidly switches on and off,
controlling the current flow through the inductor. When the transistor is on,
energy is stored in the inductor, and when it is off, the energy is released into the
output capacitor, resulting in a higher output voltage.

The use of a boost converter offers several advantages for the food serving robot
project:

Voltage Regulation: The primary purpose of the boost converter is to regulate

and increase the voltage supplied to specific components or subsystems of the
robot. It steps up the lower input voltage to a higher and more suitable level,
ensuring the proper functioning and performance of components that require
higher voltage levels.

Power Efficiency: Boost converters are known for their high efficiency in power
conversion. By regulating and increasing the voltage with minimal energy
losses, they optimize the power transfer and minimize heat dissipation, resulting
in improved overall power efficiency.

Voltage Step-up Capability: The boost converter's ability to step up the input
voltage to a higher output voltage level allows for compatibility with
components or subsystems that require higher voltage levels for their operation.
This flexibility enables the integration of components with different voltage
requirements into the robot's system.
Compact and Lightweight: Boost converters are compact and lightweight,
making them suitable for integration into the limited space and weight
constraints of the food serving robot. Their small size allows for efficient
placement within the robot's electronics, optimizing space utilization.

Stability and Noise Reduction: The boost converter provides stable and
regulated voltage output, minimizing voltage fluctuations and ripple. This
stability ensures consistent and reliable performance of components or
subsystems that rely on the boosted voltage, reducing the potential for
malfunctions or errors caused by unstable power supply.

Protection against Voltage Drops: The boost converter offers inherent protection
against voltage drops or fluctuations that may occur in the power supply. It
maintains a stable output voltage even when the input voltage decreases,
ensuring consistent operation of components or subsystems that require a higher
voltage level.

In summary, the integration of a boost converter in the food serving robot

project ensures efficient voltage regulation, power optimization, and stability for
components or subsystems that require higher voltage levels. Its voltage step-up
capability, power efficiency, compact size, stability, and protection against
voltage drops make it a crucial component in maintaining a stable and reliable
power supply system for the robot. The boost converter enhances the overall
performance, functionality, and longevity of the food serving robot.
Description of L298N Motor Driver and its Use in the Project:

The L298N is a popular motor driver integrated circuit (IC) that is commonly
used for controlling DC motors or stepper motors. In the food serving robot
project, the L298N motor driver is utilized to regulate and control the speed and
direction of the DC motors employed for the robot's locomotion and movement.

The L298N motor driver module consists of an H-bridge configuration, which

allows for bidirectional control of two DC motors. It can handle a wide range of
voltage inputs and provides a convenient interface for controlling motor speed
and direction through digital signals.

The use of the L298N motor driver offers several advantages for the food
serving robot project:

Motor Control: The primary purpose of the L298N motor driver is to control the
speed and direction of the DC motors used for the robot's movement. It provides
the necessary interface between the microcontroller or control system and the
motors, enabling precise control of their rotational speed and direction.

Bidirectional Control: The L298N motor driver supports bidirectional control,

allowing the robot to move forward and backward. By appropriately
configuring the motor driver's inputs, the robot can control the motor's direction,
enabling it to navigate in both directions and perform tasks such as reversing or
turning around.

Speed Control: The L298N motor driver facilitates speed control of the DC
motors. By applying pulse-width modulation (PWM) signals to the enable pins
of the motor driver, the motor's speed can be adjusted. This capability allows the
robot to vary its speed based on the requirements, such as moving at a slower
pace in crowded areas or speeding up in open spaces.
Current Limiting: The L298N motor driver module includes built-in current
limiting functionality. This feature protects the motors from excessive current
draw, preventing damage to the motors and extending their lifespan.

Easy Interface: The L298N motor driver module has a straightforward interface
with clear pin labels, making it easy to connect and integrate into the robot's
system. It typically requires minimal external components and can be easily
controlled by the microcontroller or control system through digital inputs.

Robust Design: The L298N motor driver is designed to handle high currents and
provide reliable operation. It can handle significant loads and ensure stable
motor control even in demanding conditions.

In summary, the integration of the L298N motor driver in the food serving robot
project enables precise control of the DC motors used for the robot's locomotion
and movement. Its bidirectional control, speed control, current limiting, easy
interface, and robust design make it an ideal choice for regulating the motors'
speed and direction. The L298N motor driver enhances the overall performance,
control, and reliability of the food serving robot.
Description of ESP32 and its Use in the Project:

The ESP32 is a powerful microcontroller-based development board that features

built-in Wi-Fi and Bluetooth connectivity. It is widely used in various projects
requiring wireless communication and IoT (Internet of Things) capabilities. In
the food serving robot project, the ESP32 is utilized for communication, control,
and connectivity purposes.

The ESP32 module incorporates a dual-core Tensilica Xtensa LX6

microprocessor, which operates at clock speeds of up to 240 MHz. It has ample
processing power and a wide range of peripherals, making it suitable for
complex applications.

The use of the ESP32 offers several advantages for the food serving robot
project:

Wireless Communication: The built-in Wi-Fi and Bluetooth capabilities of the

ESP32 enable wireless communication between the robot and other devices,
such as smartphones, tablets, or a central server. This wireless connectivity
allows for remote control, data exchange, and integration with other systems or
applications.

Control and Coordination: The ESP32 serves as a central control unit for the
robot, processing commands, and coordinating its actions. It interfaces with
various sensors, motors, and other components, enabling the robot to execute
tasks based on received instructions or sensor data. The ESP32's processing
power and multiple input/output (I/O) pins facilitate efficient control and
coordination of the robot's operations.

IoT Integration: The ESP32's connectivity capabilities make it suitable for

integration into IoT ecosystems. It can communicate with cloud platforms, such
as AWS IoT or Google Cloud IoT, enabling data logging, remote monitoring,
and control of the robot. This integration enhances the robot's functionality and
allows for advanced features, such as real-time analytics or integration with
smart home systems.

Application Development: The ESP32 is well-supported by a robust

development ecosystem, offering various programming frameworks, libraries,
and tools. This enables the development of custom applications tailored to the
specific needs of the food serving robot project. Application development can
range from simple control interfaces to sophisticated algorithms for path
planning, obstacle avoidance, or user interaction.

Energy Efficiency: The ESP32 incorporates power-saving features, allowing for

efficient energy consumption. This is particularly important in a mobile robot
application where maximizing battery life is essential. The ESP32's low-power
modes and optimized power management contribute to prolonged operation and
reduced energy consumption.

Expandability and Flexibility: The ESP32 offers numerous I/O pins and
supports various interfaces, including SPI, I2C, UART, and more. This
expandability and flexibility enable the connection of additional sensors,
actuators, or communication modules, allowing for future enhancements or
integration with external systems.

In summary, the integration of the ESP32 in the food serving robot project
provides wireless communication, control, and connectivity capabilities. Its
built-in Wi-Fi and Bluetooth, processing power, extensive I/O options, IoT
integration, energy efficiency, and development ecosystem make it a versatile
and suitable choice for the project's wireless communication, control, and
coordination requirements. The ESP32 enhances the robot's functionality,
connectivity, and compatibility with IoT ecosystems and facilitates the
development of custom applications tailored to the food serving robot's specific
needs.
Description of Proximity Sensor for Line Following and its Use in the
Project:

A proximity sensor for line following is a type of sensor that detects the
presence or absence of a line on a surface. It is commonly used in robotics
applications, including line-following robots. In the food serving robot project,
proximity sensors are employed to enable the robot to follow a designated path
or track within the restaurant.

The proximity sensor for line following operates based on various technologies,
including infrared (IR), optical, or reflective sensing. It typically consists of one
or more sensors placed underneath the robot, which continuously monitor the
surface beneath and detect the contrast between the line and its surroundings.

The use of proximity sensors for line following offers several advantages for the
food serving robot project:

Line Detection: The primary purpose of the proximity sensors is to detect the
presence or absence of a line on the surface. By continuously monitoring the
surface beneath the robot, the sensors can determine whether the line is present
or not. This information is crucial for the robot to maintain its position on the
desired path.

Precision and Accuracy: Proximity sensors for line following provide precise
and accurate line detection. They can distinguish between the line and the
surrounding area, ensuring that the robot stays on track and follows the
designated path accurately.

Versatility: Proximity sensors for line following can be used on a variety of

surfaces, including different types of flooring or patterns. They are not limited
to specific line colors or materials, allowing for flexibility in the choice of path
design within the restaurant.
Real-time Adjustments: The robot's control system can utilize the data from the
proximity sensors to make real-time adjustments in its movements. By
analyzing the sensor readings, the robot can adapt its speed, direction, or
steering to stay aligned with the line, ensuring smooth and continuous line
following.

Error Correction: In case of minor deviations or disturbances in the line, the

proximity sensors enable the robot to make corrective actions. By continuously
monitoring the line's position, the robot can adjust its trajectory to stay on track,
minimizing errors or drift from the desired path.

Stability and Reliability: Proximity sensors offer stable and reliable line
detection, even in varying lighting conditions or surface characteristics. They
can provide consistent performance, allowing the robot to maintain accurate line
following over extended periods of operation.

In summary, the integration of proximity sensors for line following in the food
serving robot project enables precise path tracking and line following within the
restaurant. Their line detection capabilities, precision, versatility, real-time
adjustments, error correction, stability, and reliability contribute to the robot's
ability to navigate accurately and efficiently. The proximity sensors enhance the
overall performance and ensure the robot stays on the designated path,
delivering orders with precision and consistency.
Description of Four Wheels with Diameter 100mm, Each Wheel Can Carry
100kgs, and its Use in the Project:

The food serving robot project incorporates four wheels with a diameter of
100mm, and each wheel is designed to withstand a load of up to 100kgs. These
wheels are crucial for the robot's locomotion and support its overall mobility
within the restaurant or similar environment.

The wheels are designed to provide stability, smooth movement, and the ability
to carry significant weight. Here is a detailed description of their use in the
project:

Load Bearing Capacity: The wheels are specifically selected and engineered to
handle a maximum load of 100kgs each. This ensures that the robot can carry
food trays, plates, or other items required for food delivery without
compromising stability or maneuverability.

Diameter: The 100mm wheel diameter is chosen to strike a balance between

stability and mobility. The larger diameter allows the robot to move more
smoothly over uneven surfaces, thresholds, or other obstacles commonly found
in a restaurant environment.

Traction and Grip: The wheels are designed to provide sufficient traction and
grip to ensure efficient movement of the robot. They are typically made from
materials such as rubber or polyurethane, which offer good friction and
minimize slippage, even on smooth or slippery surfaces.

Suspension and Shock Absorption: Depending on the robot's design and specific
requirements, the wheels may incorporate suspension or shock-absorbing
mechanisms. These features help mitigate vibrations or shocks caused by
uneven surfaces, providing a smoother and more stable ride for the robot.
Wheel Configuration: The four-wheel configuration distributes the weight of the
robot evenly, enhancing stability and load-bearing capacity. It also allows for
better maneuverability, enabling the robot to turn smoothly and navigate tight
spaces within the restaurant.

Wheel Mounting: The wheels are securely mounted to the robot's chassis or
framework using appropriate fasteners or mounting mechanisms. This ensures a
reliable connection between the wheels and the robot, preventing any slippage
or detachment during operation.

Compatibility with Motor Control: The wheels are designed to work seamlessly
with the motor control system, allowing for accurate speed control, direction
changes, and precise movements. The motors drive the wheels, enabling the
robot to navigate and deliver orders efficiently.

In summary, the integration of four wheels with a diameter of 100mm, each

capable of carrying 100kgs, provides the food serving robot project with robust
mobility and load-bearing capabilities. These wheels ensure stability, traction,
and smooth movement of the robot within the restaurant, allowing it to carry
food trays and navigate different surfaces with ease. Their compatibility with
the motor control system contributes to accurate and efficient locomotion,
enhancing the overall performance of the food serving robot.
Description of Push Button Switch and its Use in the Project:

A push button switch is a type of switch that is operated by pressing a button or

actuator. It is commonly used in electronic systems to provide a manual control
interface. In the food serving robot project, push button switches are employed
for specific functionalities and user interactions.

Here is a detailed description of the push button switch and its use in the
project:

Basic Operation: The push button switch operates on a simple principle. When
the button is pressed, it completes an electrical circuit, allowing current to flow
through the switch. When the button is released, the circuit is opened,
interrupting the flow of current.

Start Button: One push button switch is designated as the "Start" button in the
food serving robot project. This button is used to initiate the robot's operation or
power it on. When the Start button is pressed, it completes the circuit, allowing
current to flow and activating the robot's systems.

Return-to-Kitchen Button: Another push button switch is used as the "Return-

to-Kitchen" button in the project. This button is utilized to send the robot back
to the kitchen or its starting point after completing its food delivery tasks. When
pressed, it triggers a specific action or sequence in the robot's control system to
initiate the return journey.

User Interaction: The push button switches provide a means of user interaction
with the food serving robot. They allow operators or users to initiate or control
specific functions of the robot, such as starting its operation or initiating the
return journey. The buttons offer a tactile feedback when pressed, giving users a
clear indication that the desired action has been activated.
Integration with Control System: The push button switches are connected to the
robot's control system or microcontroller, which interprets the button inputs and
triggers the corresponding actions. The control system receives the signals from
the buttons and executes the necessary commands to start or stop the robot's
operation or control its movements.

Durability and Reliability: Push button switches are designed to be durable and
reliable, capable of withstanding repeated presses and continuous use. They are
engineered to provide long-lasting performance and maintain their functionality
even in demanding environments.

Mounting and Placement: The push button switches are securely mounted
within the robot's structure or control panel, ensuring they are easily accessible
to the operator or user. Their placement is strategically determined to provide
convenience and ease of use.

In summary, the integration of push button switches in the food serving robot
project enables user interaction and manual control of specific functions. The
Start button initiates the robot's operation, while the Return-to-Kitchen button
triggers the return journey. These switches provide tactile feedback, interface
with the control system, and offer durability and reliability. The push button
switches enhance the project's usability, allowing for intuitive and controlled
interactions with the food serving robot.
Description of 12V 3C Battery and its Use in the Project:

A 12V 3C battery refers to a rechargeable battery with a voltage rating of 12

volts and a capacity of 3 times the standard discharge rate (C-rating). In the food
serving robot project, the 12V 3C battery is utilized as the power source to
provide electrical energy to the robot's systems and components.

Here is a detailed description of the 12V 3C battery and its use in the project:

Voltage and Capacity: The 12V rating of the battery refers to its nominal
voltage, which matches the operating voltage requirements of the robot's
electrical systems. The 3C capacity indicates that the battery can discharge at a
rate three times its nominal capacity, providing a higher current output for
power-hungry applications.

Power Supply: The 12V 3C battery serves as the primary power supply for the
food serving robot. It provides the necessary electrical energy to operate the
motors, control systems, sensors, communication modules, and other electronic
components required for the robot's functioning.

Rechargeable: The 12V 3C battery is rechargeable, allowing it to be repeatedly

charged and discharged. This feature ensures that the robot can operate for
extended periods without the need for frequent battery replacements. The
battery can be recharged using an appropriate charging system or charger.

Portable and Mobile Power: The battery's compact and portable design makes it
suitable for mobile robot applications. It allows the food serving robot to move
freely within the restaurant or similar environment, without the need for a
constant external power source. The portable power capability ensures the
robot's flexibility and mobility.

Power Management: The battery is integrated into the robot's power

management system, which regulates and distributes power to the various
components based on their voltage and current requirements. The power
management system ensures efficient use of the battery's energy, optimizing the
robot's overall performance and extending the battery's runtime.

Voltage Regulation and Stability: The 12V 3C battery provides a stable voltage
output, ensuring a consistent power supply to the robot's systems. This stable
voltage helps maintain the reliability and proper functioning of the robot's
components, preventing potential issues caused by voltage fluctuations.

Safety Considerations: When using a battery as a power source, safety

considerations are important. Adequate measures should be taken to protect the
battery from overcharging, over-discharging, or short circuits. Proper battery
management systems, such as protection circuits, should be implemented to
ensure safe and reliable operation.

In summary, the integration of a 12V 3C battery in the food serving robot

project provides a portable and rechargeable power source for the robot's
electrical systems. It offers the appropriate voltage and capacity to meet the
power requirements of the robot's motors, control systems, sensors, and other
components. The battery's portability, rechargeability, voltage stability, and
power management capabilities contribute to the efficient operation and
mobility of the food serving robot.
Description of Aluminium Strip for Line Following and its Use in the
Project:

An aluminium strip is a thin, flat piece of aluminium material that is commonly

used as a line or track for line-following robots. In the food serving robot
project, the aluminium strip is utilized as a path for the robot to follow and
navigate within the restaurant or similar environment.

Here is a detailed description of the aluminium strip and its use in the project:

Line Detection: The aluminium strip serves as a visible and contrasting line on
the surface, allowing the robot's line-following sensors to detect and track its
position. The sensors, such as proximity sensors or line-following modules,
continuously monitor the presence or absence of the line to guide the robot's
movements.

Reflectivity and Contrast: The aluminium strip is chosen for its reflective
properties and contrast against the surrounding surface. It offers a distinct visual
contrast, making it easier for the robot's line-following sensors to distinguish the
line from the background. The reflective nature of the aluminium strip improves
line detection in varying lighting conditions.

Width and Placement: The width of the aluminium strip is selected to match the
requirements of the line-following sensors. It should be wide enough to provide
a clear and detectable line, ensuring accurate tracking by the robot. The strip is
typically placed on the floor or surface of the restaurant, creating a designated
path for the robot to follow.

Durability and Longevity: Aluminium strips are known for their durability and
resistance to wear and tear. They can withstand the repeated movement of the
robot and provide a reliable line for an extended period. The aluminium strip's
longevity ensures consistent line following and reduces the need for frequent
maintenance or replacement.
Compatibility with Line-Following Sensors: The aluminium strip is compatible
with various line-following sensors, such as infrared proximity sensors or
optical sensors. These sensors are designed to detect the reflective properties of
the aluminium strip and provide input to the robot's control system for precise
line following.

Easy Installation and Flexibility: The aluminium strip is easy to install and
flexible, allowing for easy adaptation to different path configurations or layouts
within the restaurant. It can be cut, bent, or shaped to accommodate specific
design requirements, making it a versatile choice for creating custom line-
following paths.

Non-Intrusive and Aesthetically Pleasing: The aluminium strip is non-intrusive

and aesthetically pleasing, blending well with the restaurant's decor. Its low
profile and unobtrusive nature ensure that it does not disrupt the dining
experience or pose any safety hazards.

In summary, the integration of an aluminium strip for line following in the food
serving robot project provides a visible and contrasting path for the robot to
follow within the restaurant. The aluminium strip's reflectivity, durability,
compatibility with line-following sensors, and flexibility contribute to accurate
line detection and reliable tracking. It offers an aesthetically pleasing and non-
intrusive solution for creating a designated path for the food serving robot,
enhancing its navigation and delivery capabilities.
Conclusion
In conclusion, the food serving robot project was successfully implemented,
resulting in a functional and efficient robot capable of navigating a restaurant
environment and delivering orders with precision. The project incorporated
various hardware components, including four wheels with a diameter of 100mm
and a load-bearing capacity of 100kgs each, which provided stability and
ensured smooth movement throughout the restaurant.

The construction of the robot using aluminium extrusion offered a robust and
durable framework, ensuring the structural integrity necessary for reliable
operation and longevity. The integration of six proximity sensors for line
following, along with an aluminium strip for path detection, allowed the robot
to accurately follow a designated path, maintaining precise positioning and
ensuring efficient delivery.

Obstacle detection was achieved through the use of various sensors, including
IR proximity sensors and ultrasonic sensors positioned strategically on the
robot. These sensors provided real-time feedback to the robot's control system,
enabling it to navigate around obstacles and maintain a safe and efficient
trajectory.

The DC motors, controlled by the L298N motor drivers and coordinated by the
ESP32 microcontroller, offered precise control over the robot's movements.
This allowed for smooth navigation, accurate speed control, and precise
maneuvering, ensuring the robot could deliver orders in a timely manner while
maintaining stability and control.

The integration of RFID EM18 tags facilitated table detection and order
management. The robot was able to identify the assigned tables using the RFID
tags, ensuring accurate delivery of orders to the appropriate customers. This
streamlined the process, reduced errors, and enhanced the overall efficiency of
food delivery.

To ensure a stable and regulated power supply, boost converters and buck
converters were utilized. These components efficiently converted and regulated
the voltage levels, providing a consistent power source to the robot's
components, minimizing the risk of power-related issues and ensuring reliable
operation.

The 12V 3C battery, with its high capacity and rechargeable nature, provided
sufficient energy to power the robot throughout its operation. It allowed for
extended periods of use without the need for frequent battery replacements,
ensuring uninterrupted service and reducing downtime.

User interaction and control were facilitated through the integration of push
button switches. These switches allowed for easy initiation of the robot's
operation and its return to the kitchen after completing deliveries. They
provided a straightforward and intuitive interface for the restaurant staff,
enhancing the usability and convenience of the robot.

Additionally, an application was developed to streamline the order placement

process. This allowed the restaurant staff to input orders and send commands to
the robot, simplifying communication and enhancing the overall efficiency of
the food delivery process.

Overall, the project successfully achieved its goals of creating a food serving
robot that could navigate a restaurant environment, deliver orders accurately,
and enhance the dining experience. The integration of various hardware
components, advanced sensors, precise motor control, and user-friendly
interfaces resulted in a reliable, efficient, and versatile robot that can contribute
to improved operational efficiency and customer satisfaction in a restaurant
setting.
Results:
In the food serving robot project, the implemented system demonstrated
successful results and achieved the desired objectives. The robot's hardware
components, including the four wheels with a diameter of 100mm and load-
bearing capacity of 100kgs each, provided stability and ensured efficient
mobility within the restaurant environment.

The integration of aluminium extrusion for construction resulted in a sturdy and

durable robot structure. This allowed the robot to withstand the demands of
continuous operation and navigate through the restaurant without compromising
its stability.

The incorporation of six proximity sensors for line following, an aluminium

strip for path detection, and various obstacle detection sensors enabled the robot
to accurately follow a designated path while avoiding obstacles in real-time.
This ensured smooth and precise navigation throughout the restaurant,
enhancing the robot's delivery efficiency.

The integration of four DC motors, controlled by the L298N motor drivers and
coordinated by the ESP32 microcontroller, facilitated precise motor control and
coordination. This enabled the robot to move in the desired direction with the
appropriate speed, ensuring efficient delivery of orders.

The RFID EM18 tags provided effective table detection and order management
capabilities. The robot was able to identify the assigned tables and deliver the
respective orders, enhancing the overall customer service experience.

The incorporation of the boost converter and buck converter ensured stable and
regulated power supply to the robot's components. This resulted in consistent
and reliable performance, reducing the potential for power-related issues during
operation.

The 12V 3C battery, with its portable and rechargeable nature, provided ample
energy to power the robot's electrical systems. It allowed the robot to operate for
extended periods without the need for frequent battery replacements, ensuring
uninterrupted service.

The push button switches provided an intuitive user interface for starting the
robot's operation and initiating its return to the kitchen. This simplified user
interaction and control, enhancing the overall usability of the robot.

The developed application for order placement streamlined the process of

sending commands to the robot, providing a convenient and efficient means of
communication between the restaurant staff and the robot.

Overall, the results of the project demonstrated the successful implementation

of the food serving robot system. The robot showcased reliable navigation,
precise line following, obstacle avoidance, and efficient delivery of orders. It
contributed to improved operational efficiency in the restaurant and enhanced
the dining experience for customers.