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The robot Body is made mainly from Aluminum

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The Robot will be equipped with different types of sensors to detect all static and dynamic obstacles. By mean of an intelligent algorithm, the robot will avoid all the obstacles on its route autonomously

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The robot should avoid autonomously all obsatcales on its trajectory

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A map of the area will be uploaded into the robot control unit and by defining original and end location coordinates, a function block will generate a waypoint matrix for the robot to follow. Coupling this matrix with the current pose of the robot (x,y,theta), the robot will able to follow a path autonomously at a desired linear velocity by mean of suitable functional block.

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The mobile robot is selected based on compact design dimensions and in the same time can achieve the tasks effectively and can carry the desired payload.
The mobile robot will have the following dimensions and weight:

Length: 44.5 cm
Width:   39.3 cm
Height   23.7 cm
Clearance from the ground: 6 cm
Swing Radius: 26 cm

Net Weight: 9 kg
Payload: 23 kg

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The robot should be able to navigate autonomously from the user's location into the restaurant and then back to the user's original location to hand in the delivery

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The robot will be fitted with a factory reset feature. In case the robot has malfunctioned in a cycle, the user can press the reset button in the side panel, where the robot will be reseted to its initial state.

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The material should be reliable and effective

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ability to reset the robot for factory settings.

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The robot is to be used for autonomous pizza delivery based on the focus user request in outdoor environment. It is able to navigate autonomously to the pizza shop and then back to the customer to deliver the pizza while avoiding all static and dynamic obstacles on its trajectory.

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In case of any internal breakdown inside the robot such as circuit, connection, software bug....
The Robot will continue its trajectory at lowest speed 0.3m/s.
In case of major breakdown such as not receiving any input from any sensor, the robot will stop in that case and a Red LED will  be flashing signaling an error and waiting for user intervention.

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To stop the robot in case of  any troubles like circuit breakdown.

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An advantage to order a pizza with an easiest way of delivery by a m/f  user in the age group of 16- 80 years old with a very basic knowledge in smartphone usage

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The material should be lightweight, not expensive, having good insulation characteristics and a good shock absorber.
Basically the storage material will be made from Styrofoam.

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"We believe that the Future lies on the ground".....

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"We believe that the Future lies on the ground".....

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This is an autonomous Pizza Delivery robot with 2-wheel 2-motor differential drive based on no human to human interaction .
It can hold about 2 - 3 small pizzas.
This vehicle can navigate itself via short range ultrasonic &  SONAR sensors and cameras.

The robot comes complete with front SONAR, three batteries, wheel encoders, a microcontroller with ARCOS firmware, and the Pioneer SDK advanced mobile robotics software development package.

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The robot body should be lightweight and solid enough to make him virtually indestructible and in same time have in general an attractive appearance

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It is a 2-wheeled vehicle with small boxing to keep the customer’s order hot whilst travelling on the street at a safe walking speed from the restaurant to the customer’s door.

The ability to navigate using the best path to travel  from a source to a destination while the on-board sensors enable him to perceive obstacles along the way to avoid them when necessary.

This robot can never get tired in comparison to a normal delivery man resulting in more efficient delivery cycles.

The robot delivery frequency is about 30 cycles per day

The Robot is intended to be used by male or female between 16-80 years old with very basic knowledge in using smartphone

The Robot is intended to be used mainly in outdoor defined Environment such as Parks surrounded by restaurants and on any pathway accessible by a wheelchair .

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The customer should be notified when the robot has reached the restaurant and the pizza has been loaded into the robot and then notify the customer when the robot is approaching its destination

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The cargo should be opened and closed easily and conveniently by the user

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1.) Lower Speed  ~ 10kph

2.) Obstacle Prevention

3.) Good gripping on wet surfaces

4.) Enough Braking performance

5.) Immediate response to prevent harm

6.)  Resistance to Overtake in Environment

7.) Long Stop / Free Driving / Following Driving / Beforehand Driving / Platoon / Stop & Go / Cut -In / Cut-Off /Overtaking / Overtaken

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The robot should not weigh too much in order to be carried by a regular user or two maximum if need

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The Robot dimension should be reasonable and not too big in order to fit in a suitcase or in a car trunk for example if need to be transported to another location

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The robot should be Self-powered in a reliable way without the need of external power during operation

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The operation of the robot and running the delivery order should be easy and require a very basic knowledge by the user

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The robot is intended mainly to be used in outdoor defined Environment such as Parks surrounded by restaurants and on any pathway accessible by a wheelchair.

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can be operated by any mobile user who falls under the age group of 16-80

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To avoid error by the user

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The user should be notified when his order is ready inside the robot and also when the robot is approaching its final destination (customer location)

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The mobile app should work on the majority of phone devices found in the market

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Ability to communicate with Customer service in case of complains or system failure...

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Tracking order status
Place an order to be delivered at a specific time and day
Convenient payment in several ways (cash, card, online payment)

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Necessary regulation for CE-conformity necessary for European market

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Necessary regulation for CE-conformity necessary for European market

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needed CE conformity

EU 2006/95/EC – Low Voltage Directive

EU 2004/108/EC – Electromagnetic Compatibility

EU 2009/125/EC – Ecodesign Directive

EU 2011/65/EU – Restriction of hazardous substances (RohS)

§standards valid in NAFTA

The device  should complies with WEEE (Waste Electrical and Electronic Equipment) certification and requirement

The Device should be IP51 certified for Dust and water protection

The Device should not emit noise more than 60 db which is  the standard decibel scale for normal conversation

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The pizza delivered from the restaurant should maintain its temperature to ensure delivering the best quality and taste for the customer

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The robot should be protected from dust and water droplets

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The dimension should be appropriate for 3 pizza storage at the same time

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Should be lightweight

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1. IMU + GPS fusion for accurate localisation

2. perform SLAM using 3D LiDAR point cloud- Simult localisation & mapping - used for trajectory estimation of the robot & create a 3d map of the environment.

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The storage unit should resist some external slight shocks that may receive

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1) Free driving

min speed = 1.5 km/h

middle speed = 3 km/h

max speed = 5.4 km/h

2) Long stop scenario ( for case " pick up the pizza)

Speed = 0 km/h for a given period of time. [time is regulated by user]

The safety distance is minimum 0,5 m from the user (the final navigation point)

3) Stop & Go scenario

-Speed

Speed = 0 km/h for a short period of time.[stop position]

Speed = 5 km/h [in usual condition]

- Safety distance

The safety distance is a minimum 0,5 m from the detected object

The speed-drop distance 1m

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Expected life time : 4-7 years

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In case of breakdown, the robot should be repaired easily and much as possible to be self-repaired by the user.

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The cleaning of the robot and storage unit should be done easily, without complication and the need to use specific costly cleaning agents

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using heating rod or hot plates to maintain pizza temperature.
Or use Styrofoam box as storage unit , which has good thermal insulation characteristics

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Length x Width x Thickness: 12in*12in*1.5 in =
30.5 cm * 30.5 cm * 12.7 cm
and it is also appropriate to the robot structure

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To deliver pizza in some light wet  conditions and not be effected by vertically falling water drops

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1. 4 sonar arrays, each with 4 transducers.
2. It can detect the object, range information for collision avoidance and used for feature recognition and navigation.
3. Provides 360 degree seamless sensing.
4. Six SONAR front arrays set at 20 degree intervals.

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1. Cameras are very good at detecting and recognising objects, so the image data they produce can be fed to AI-based algorithms for object classification.
2. For darkness and additional sensing capabilities Infrared cameras can be used.

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Will be used to build and design the main algorithm of the robot by the mean of functional architecture blocks

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It will be used to program the robot

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It will be used to simulate the robot in a virtual environment

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Combined weight of storage unit + pizzas should not exceed 5kg. It is relatively below the operating payload of the robot which 17 kg. The weight saving will allow installation of other needed components and also in saving energy.

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Resist some light shocks and in the case the robot roll over with respect to its forward axis.
The Styrofoam is a good shock absorber material

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Any other usage than the ones mentioned above is out of liability of the manufacturer.
Plus the following:

The robot is not intended to be used on high sloppy  road exceeding 25% grade.

The robot is not intended to be used in complete wet weather and mud terrains.

The robot is not intended to be used on public road subjected to traffic law as it needs further legalization.

The robot is not intended to be loaded with additional weights other than the one specified in the technical specification

The robot is not intended to carry other types of deliveries and especially liquids and hazardous materials

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The storage casing should comply with IP 51 rating

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Sample IP Rating

Ingress Protection (IP) and what it means

The IP Code (or International Protection Rating, sometimes also interpreted as Ingress Protection Rating*) consists of the letters IP followed by two digits and an optional letter. As defined in international standard IEC 60529, it classifies the degrees of protection provided against the intrusion of solid objects (including body parts like hands and fingers), dust, accidental contact, and water in electrical enclosures. The standard aims to provide users more detailed information than vague marketing terms such as waterproof.

The digits (characteristic numerals) indicate conformity with the conditions summarized in the tables below. For example, an electrical socket rated IP22 is protected against insertion of fingers and will not be damaged or become unsafe during a specified test in which it is exposed to vertically or nearly vertically dripping water. IP22 or 2X are typical minimum requirements for the design of electrical accessories for indoor use.
*Explanation of the letters IP is given in IEC 60529 (Ed. 2.1), clause 4.1
First Digit: Solids

The first digit indicates the level of protection that the enclosure provides against access to hazardous parts (e.g., electrical conductors, moving parts) and the ingress of solid foreign objects.

Second Digit: Liquids

Protection of the equipment inside the enclosure against harmful ingress of water.

IP Rating Reference Chart

Below is an easy to follow reference chart to help you decide which IP rating you need or have.

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The IP Code (or International Protection Rating, sometimes also interpreted as Ingress Protection Rating*) consists of the letters IP followed by two digits and an optional letter. As defined in international standard IEC 60529, it classifies the degrees of protection provided against the intrusion of solid objects (including body parts like hands and fingers), dust, accidental contact, and water in electrical enclosures.

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The user will receive all notifications via the smart phone app linked with the robot

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The cargo may be opened and closed by a simple mechanism or integrating an auto lock-unlock feature than can be controlled by the user via the app

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The robot Weight is 9 Kg and its operating payload is 23 kg, so the overall weight will not exceed that.

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The robot will be equipped by three 12V-7Ah rechargeable battery which can last up to 8 hours of continuous operation

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The user will be able to operate the robot easily via an easy and interface mobile app and the control panels on the robot will be accompanied with easy meaningful symbols

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The robot will comply with IP 51 rate protection

# data[].attributes.attachment_link.readable_text
Sample IP Rating

Ingress Protection (IP) and what it means

The IP Code (or International Protection Rating, sometimes also interpreted as Ingress Protection Rating*) consists of the letters IP followed by two digits and an optional letter. As defined in international standard IEC 60529, it classifies the degrees of protection provided against the intrusion of solid objects (including body parts like hands and fingers), dust, accidental contact, and water in electrical enclosures. The standard aims to provide users more detailed information than vague marketing terms such as waterproof.

The digits (characteristic numerals) indicate conformity with the conditions summarized in the tables below. For example, an electrical socket rated IP22 is protected against insertion of fingers and will not be damaged or become unsafe during a specified test in which it is exposed to vertically or nearly vertically dripping water. IP22 or 2X are typical minimum requirements for the design of electrical accessories for indoor use.
*Explanation of the letters IP is given in IEC 60529 (Ed. 2.1), clause 4.1
First Digit: Solids

The first digit indicates the level of protection that the enclosure provides against access to hazardous parts (e.g., electrical conductors, moving parts) and the ingress of solid foreign objects.

Second Digit: Liquids

Protection of the equipment inside the enclosure against harmful ingress of water.

IP Rating Reference Chart

Below is an easy to follow reference chart to help you decide which IP rating you need or have.

# data[].attributes.attachment_link.description
The IP Code (or International Protection Rating, sometimes also interpreted as Ingress Protection Rating*) consists of the letters IP followed by two digits and an optional letter. As defined in international standard IEC 60529, it classifies the degrees of protection provided against the intrusion of solid objects (including body parts like hands and fingers), dust, accidental contact, and water in electrical enclosures.

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To ensure the desired life time, the robot will be equipped with high quality components and materials

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Only monthly check-ups,
No specific knowledge are required
Clear and understandable user manual. The system design will take in consideration as most as possible Self-repair by the user by following the detailed and easy instructions.
Moreover the majority of the components will be designed to be replaceable and disassembled and assembled to the robot easily with the use of standard tool.

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The design will take in consideration for easy cleaning of the outside and the inside of the robot ( the pizza storage unit)

User is allowed to use disinfection and cleaning chemicals products for cleaning  robot without harming other components

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The robot should be Self-powered in a reliable way without the need of external power during operation

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The motors should deliver the required torque and speed for the robot to achieve the task effeciently

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The robot should be equipped with suitable sensors to accomplish the task efficiently.
It would be better to equip the robot with different type of sensors that not depend on one physical measure

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-Three batteries are used:
7Ah, 12V  lead acid battery and they are Hot-swappable
-Total power rate: 253 Wh
-Runs continuous for 8 to 10 hrs.
-Up to 4 hrs with onboard computer.
Available Power Supplies: 5 V @ 1.5A switched 12 V @ 2.5 A switched.

-Standard recharge time is 12 hours and  2.5 hr with high capacity charger (4A).
Available Recharge Options: Direct plug-in Docking station

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The control unit to be used should be available easily and has a good reliability

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The Driving unit use high-speed, high-torque, reversible-DC motors, each equipped with a high resolution optical quadrature shaft encoder for precise position and speed sensing.

They Deliver:
Max Forward/Backward Speed: 1.2m/s
Rotation Speed:  300deg/s

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Mainly the robot will be equipped with ultrasonic sensors with Radar sensor for range and obstacle detection. Also a camera may be used.
a Sensor Fusion technic will be used to not depend on one sensor type.
Moreover GPS sensor will be used for Localization.
The integrated wheel speed sensor inside the motors will serve for precise position and speed sensing.

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Main control unit to be used is a Raspberry pie 4 which is widely available in the market at a reasonable price. It has a very good computing power to achieve the tasks efficiently.

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A side control panel will include set of physical buttons that can be used to control the main robot functions if need.

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The robot is equipped with set of LED indicators on the side panel which inform the user with the current status of the robot using a color code.

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The user should be able to interact easily with the robot

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The user should recognize visually if a fault occurs within the robot

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The mobile app will be designed with any easy and an intuitive interface, integrating clear navigation symbol buttons. In addition, a short instruction text box will appear at every selection made by the user

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The user will be prompted by a text box at each selection made and he is asked to confirm by yes/no his selection before proceeding to the next step and submitting finally his order

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The robot will transmit the signals of the storage container status with the robot position to the user's phone app via IOT method

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The mobile app should work on the most popular mobile operating systems such as Android and IOS

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The mobile app will include the hotline call functionality designated by phone symbol, where the user can press it and it will be connected with the restaurant to inform about a complain such as the pizza has not been delivered or delivered to the wrong location...

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The algorithm of the robot should be easily recognized by people not having too much experience in programming. Moreover, it should be easy for engineers to detect and allocate a bug or a malfunction that may occur in the future

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The code written in a specific environment and language should be followed by instructions and explanations. Also, it should be an easy open source for modification to fit some future requirements

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The design of the robot's algorithm will follow a block diagram architecture, where each main function is represented by a block and containing its sub-functions inside. The main functional architecture of the robot will be the combination of the main functional blocks. The main functional blocks will be in General as follow:

Sensing

Planning

Controlling

Actuating

The functional Architecture will be designed and programmed using MATLAB/SIMULINK.

Moreover the SIMULINK model will be coupled with GAZEBO to simulate the designed algorithm in a virtual environment similar to the real one

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The operating program code will support the Functional Architecture model. The code will be written in ROS environment using C++ and Python languages. Each ROS node will be followed by instructional comments and explanations and they will be inserted in the instruction manual.

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The robot should be compact and achieve tasks effectively

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The Tires should handle effectively the robot operation and should have good grip in general with the terrain

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The robot contact with the ground will be by the mean of two main foam-filled tires and a central caster.

The Tired tread will be Knobby, providing a good grip on some wet surfaces and reducing aquaplaning as much as possible.

Wheel Dimension:
Diameter: 195.3 mm
Width: 47.4 mm
Caster diameter: 75 mm

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The steering type should be selected wisely to achieve the best performance in a simple way. Moreover the driving unit should deliver a good torque without compromising the desirable speed that should be in the range of humans walking speed

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The steering will be a differential type which is the best for the 2 wheeled type robot and moreover it is efficient and avoid all complexity of other types.

The driving unit will have a Gear Ratio of 38.3:1

The driving unit will provide a linear velocity up to 1.2-1.4 m/s and a maximum rotational speed up to 300 deg/sec.

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The robot should be able to drive smoothly in the case of small step on the road or small slope grade on some specified terrains

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The robot will be able to traverse over a 20 mm step and to drive over a road with a maximum slope of 25% grade.
The robot will able to drive through terrain which are mainly wheel-chair accessible

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The required maintenance of mechanical parts should be kept at minimum as possible. Also the user should be able by itself if need to maintain and calibrate the parts easily

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The robot should be equipped a with top plate-deck for storage of required components and can be easily opened to access the robot interior