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The Fighting Mongooses

The Fighting Mongooses. Ted Keppner Jacques Dupuis. Background Information. Farms run into problems of having to pay for workers to clean up cow bed shavings when they could be doing more important things. Removing these shavings provides a clean and safe environment for the cows and workers.

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The Fighting Mongooses

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  1. The Fighting Mongooses Ted Keppner Jacques Dupuis

  2. Background Information • Farms run into problems of having to pay for workers to clean up cow bed shavings when they could be doing more important things. • Removing these shavings provides a clean and safe environment for the cows and workers.

  3. Problem Statement • To clean up wood shavings in a barn environment with an unknown size and shape. • Avoid common obstacles found in barns such as stall bars, pipes, cows, workers, etc. • Must deliver wood shavings to a predetermined location. • Must require minimal user input.

  4. Solution • To design an autonomous robot with: • Bumper • Ultrasonic Sensors • Rotary Encoder • IR Sensor • Limit Switch • To pick up the debris off the ground using: • Roller Brushes • Flapped Conveyor Belt • Holding Bin

  5. System Overview

  6. State Diagram Left Motor Bin Door Right Motor Roller Brushes 00000 00000 11110 10110 00000 11110 11110 01110 11110 Initial Back Up Off Straight Conveyor Belt Right Turn Bumper == 1 Bumper == 1 Straight Collision Avoidance Bumper == 1 Bin Full Bumper == 1 Bumper == 1 Bumper == 1 Bumper == 1 Back Up Left Turn IR Sensor == 1

  7. Collision Avoidance Left Motor Bin Door Right Motor Roller Brushes 00000 10110 10110 10110 10110 11110 11110 11110 11110 11110 11110 11110 01110 01110 01110 01110 00000 Sensor Check Straight Straight Straight Straight Straight Straight Conveyor Belt Right Turn Right Turn Right Turn Right Turn Back Up Return Bumper == 1 Bumper == 1 Bumper == 1 Bumper == 1 Left Turn Left Turn Left Turn Left Turn Bumper == 1 Bumper == 1

  8. Bin Full Left Motor Bin Door Right Motor Roller Brushes 00000 10110 10110 11110 11110 11110 01110 01110 11110 11110 Back Up Back Up Straight Straight Straight Conveyor Belt Right Turn Right Turn Return Collision Avoidance Left Turn Left Turn

  9. Mechanical Design Concept Roller Brush Flapped Conveyor Belt Storage Bin

  10. Electrical Design Concept Ultrasonic Sensor DC Motor Drag Behind Rotary Encoder Bumper Microcontroller DC Motor Ultrasonic Sensor Wheel Subsystem Collision Avoidance Subsystem Conveyor Belt & Roller Brush Limit Switch IR Sensor DC Motor Dump Body Subsystem

  11. Drag Behind Rotary Encoder • Will be bolted to rear of frame. • Potentiometer for angular direction. • Wheel for distance measurement.

  12. Software Design Concept 14 13 12 11 10 9 8 7 6 5 4 3 2 1 y Home (0,0) x 9 1 2 3 4 5 6 7 8 10 12 13 11

  13. Scheduling

  14. Areas of Responsibility Wheel Subsystem Collision Avoidance Subsystem Dump Body Subsystem Ted Roller Brush Subsystem Conveyor Belt Subsystem Jacques

  15. Preliminary Budget Awaiting Estimate 5.00 18.00 3.00 $26.00 2 x Roller Brush Squeegee 2 x 90 Degree Heating Duct Duct Tape

  16. Questions ?????

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