Justin Heyer

Ted Keppner

Barn Scraper

Build an autonomous barn floor scrapperNeeds to be able to be adapted to multiple

barnsSolutions to clean either slotted/solid floorHave an obstacle/cow detection systemUser friendly Low maintenance

Problem Statement

There are several different robot powered barn scraper systems commercially available today.

Companies marketing Robotic Scrapers includeDeLavalJoz TechSR OneLely

Most of these systems are designed around slotted flooring that the manure will drop through.

Industrial Solutions

What we have.Already existing

MARV unit software for testing

Knowledge of preexisting MARV systems

Knowledge of sensor systems used for navigation

Multiple systems have a weight of approx. 800 lbs for traction purposes

Common speed for commercial systems is approx 12 ft/min

Ability to push around 220 lbs

Starting ,what’s out there?Key Commercial specs

Need to modify and improve upon the existing MARV software.

Design and build a Commercial Robot unit that is strong enough to be implemented into an barn environment

What is needed to be done?

Size and design platform to mount plow, motors, wheels, and electronic controllers

Size and build plow swivel frontSize and design the motors and wheels Build housing for protective purposes around

electronic components

Mechanical Systems

Electrical SystemsTwo motors for drive

wheelsCurrent monitoring for

drive wheelsMotor controllersOther obstacle

detection sensorsNavigation System

sensorsElectronic CompassWheel EncodersSonic Sensors

Current measuring Subsystem: Hall effect sensor system separate from the motor controllers.

Software System Sonar to sense how far we

are from wall Easy design for mounting

and replacement Already some protection

from elements.

Will be bolted to rear of frame.

Potentiometer for angular direction.

Wheel for distance measurement.

Spring to apply pressure to the wheel to keep it rolling on the ground.

Drag Behind Rotary Encoder

Basic Software Navigation

x

y

Home(0,0)

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2345678

1Hol

ding

Pen Sta

ll

sStall

s

Obstacle detection and avoidanceHand held controller for manual operationEmergency switches for safety reasonsDocking station for a safe parking and

charging

Other electromechanical systems

Electrical system diagram

Input Decoder

Micro Controller

Motor Controller

Decodes sensor inputs and translates it into data more easily interpreted by the micro.

Sensor Input

Accepts input from decoder and sensors to drive motor controller

Accepts input from micro to drive motors

Driven by micro, sends output to software interrupts

Mechanical Subsystems

Plow MARV frame

Motors

Drive the Robot

Used as carrier for plow and motors

Used to plow manure

Justin ResearchDesign Preliminary TestingWiringDocking/Controller

FabPlow FabricationFrame Fabrication

Research DesignPreliminary TestingWiringDocking/Controller

FabNavigation System

designSensor

Implementation

Work Breakup

Ted

Month Dec Jan Feb Mar April May

Research

P-Test

Fabrication

Test

Refine

Records

Present

Time Line