Robot Pembersih Lantai Menggunakan Sensor LM393 dan Ultrasonik Berbasis Arduino Uno
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Abstract
Pada era zaman modern saat ini teknologi robot mengalami kemajuan yang sangat pesat khususnya pada robot pembersih lantai. Robot pembersih lantai ini berguna untuk meringankan pekerjaan manusia di bidang rumah tangga. Pada penelitian ini dikembangkan sebuah prototipe robot pembersih lantai dengan menggunakan sensor LM393 dan sensor ultrasonik. Robot ini memiliki fitur alat pembersih sebagai vakum dan alat pel. Sensor ultrasonik digunakan sebagai alat pendeteksi jarak, sedangkan sensor LM393 digunakan sebagai penghitung putaran motor sehingga kecepatan motor stabil sesuai dengan yang diprogramkan pada mikrokontroler arduino uno. Input yang digunakan pada sistem ini adalah jarak dari sensor samping kanan, kiri dan depan yang diperoleh dari sensor ultrasonik. Sementara itu, output dari sistem ini adalah PWM motor DC kiri, PWM motor DC kanan, dan LCD yang menampilkan posisi gerakan robot. Pada penelitian ini dilakukan beberapa pengujian meliputi pengujian modul sensor ultrasonik dan sensor LM393, pengujian kinerja fitur vacum, pengujian kinerja alat pel, serta pengujian sistem secara keseluruhan. Berdasarkan hasil pengujian yang dilakukan terhadap sensitifitas jarak pantul sensor ultrasonik memiliki nilai selisih error 0,898% yang menandakan sensor ini berfungsi dengan baik. Hasil dari pengujian vacum diperoleh bahwa vacum dapat menghisap debu rata-rata 2,4 gram dari lima percobaan yang menunjukkan kinerja vacum cukup baik. Hasil pengujian alat pel dan pengujian keseluruhan menunjukan bahwa selisih error kemampuan robot membersihkan ruangan berukuran 2 m x 2 m dengan bahan kain pel greenwoll ditempuh dalam waktu 4,036 menit sedangkan menggunakan bahan katun adalah 4,31 menit.
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