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The Recycling Robot
SECON Team B
Mid-Term Presentation
Team B
Dr. Bryan Jones,
Advisor
Jeff
Brantley
Jonathan
Bryant
Brooke
Grantham
Kevin
Vu
Sorting X X
Storage X X
Discrimination X X
Navigation X X
Outline• Competition Overview
• Project Division
• Technical Constraints
• Practical Constraints
• Project Timeline
Problem Statement• Autonomous recycling robot
for 2009 IEEE SECON hardware competition
• 10 Recyclables include:– 5 aluminum cans– 3 plastic bottles– 2 glass bottles
• Must locate, acquire, sort, and store recyclables on the robot [1].
Competition Playing Field
• Artificial turf• Recyclables will be
placed on their sides• The recyclables
arrangement will be the same for each heat
Competition Recyclables
Image obtained from SoutheastCon 2009 Hardware Competition rules [1].
Outline• Competition Overview
• Project Division
• Technical Constraints
• Practical Constraints
• Project Timeline
Team Tasks
Driving
Navigation
Boundary Detection
Acquisition
Target Detection
Discrimination
Sorting
Storage
Team A
Team B
Outline• Competition Overview
• Project Division
• Technical Constraints
• Practical Constraints
• Project Timeline
Technical Constraints
Name Description
Storage Capacity The robot’s storage compartments must accommodate all 10 containers that will reside on the playing field.
Target Discrimination
The robot must recognize the containers as being either glass, aluminum, or plastic.
Storage Capacity• Constraints
– Plastic bags cannot drag on the field– Store 10 containers
• Approach considerations– Number of compartments– Expansion
Storage Tradeoffs• Three compartments
– Necessary for maximum score
– More complex
• Two compartments– Less sorting
complexity– Reduces maximum
possible score
• Expanding containers– More room for internal
subsystems– More likely to extend
outside boundary
• Fixed containers– Less complex– Limits room for other
components
Storage Capacity• Final Approach
– Three storage compartments– Store internally
Storage Access• Small rear slot for glass bottles
• First slot on top for aluminum cans
• Can slot closes for plastic to roll past
Target Discrimination• Initial Approaches
– Camera• Complex, dependent upon lighting conditions
– Infrared (IR) sensor• Sensitive to lighting conditions
– Force Sensing Resistor (FSR)• Limited sensitivity
Target Discrimination
Container Type Voltage*
Glass 3.17
Plastic 2.62
Aluminum 0.00*Using 3.3V scale
Target Discrimination• Final Approach:
– Combination FSR and IR sensor– FSR to detect and differentiate between glass
and plastic– Cans detected by IR sensor
Mechanical Lift• Placement
– Middle– Front– Back
• Lift Mechanism– Pulley System– Stepper Motor
Lift in the middle• Complexity
• No storage space– Requires expansion
Lift in front• Storage room
• Arms in front– Push items– Past outer boundary
TOP VIEW
Lift in back• Robot drives over item
• Arms moved inside– Turn at outer limits
• Storage space lost at the bottom
• Final Approach TOP VIEW
Pulley System• Level with ground
• Complexity
• Room for cables
and pulleys
SIDE VIEW
Stepper Motor• Simplicity
• Offset with size
of motor
• Final Approach
SIDE VIEW
NavigationSystematic scanning for all possible target locations• perimeter• sweeping back
and forth
Outline• Competition Overview
• Project Division
• Technical Constraints
• Practical Constraints
• Project Timeline
Practical ConstraintsName Description
Manufacturability The robot must fit inside a 12" X 12" X 18" box before beginning of each round.
Sustainability The robot must operate at least 4 minutes on a single battery charge.
Manufacturability• Allowed to use 18” for L, W, or H
• 18” Height– Small footprint (12” x 12”) is more
maneuverable– Tracks take up 3-3.5” in width– Plastic bottles are 8.7” long– Need more room for bottles to between tracks
Manufacturability• 18” Width
– Plenty of room for bottles to pass between tracks
– Containers do not naturally fall in the most optimal arrangement
– Must reorient some containers to fill in wasted space due to extra width
Sustainability• Robot must be able to run for a full round
(4 min.) on a single battery charge• Battery options:
– Lithium-Ion Polymer• Small, high energy density• Performed well for SECON 2008 team• Requires external protection circuitry
– Lithium-Ion• Also a high-density battery• Protection circuitry housed in battery
Outline• Competition Overview
• Project Division
• Technical Constraints
• Practical Constraints
• Project Timeline
TimelineSept. October November
Sorting
Storage
Discrimination
Navigation
Integration
Summary
Problem Approach
Target Discrimination FSR and IR sensor
Storage Fixed-size box with three compartments
Sorting Lift-and-dump
Navigation Systematic, full-coverage sweep
References[1] Institute of Electrical and Electronics Engineers.
Southeastcon 2009 Hardware Competition: The Recycling Robot, 2008 August 28, http://hardware.gtieee.org/southeastcon2009/SoutheastCon-2009-Hardware-Rules.pdf. Accessed September 16, 2008.