Trash2D2

Oral Report 3IMDL

David Mercado

What is Trash2D2?•Perfect for parties –

avoid cleanups!•Robotic Garbage

Can▫Travels Room▫Avoids Furniture▫Receives Trash▫Automatic Lid▫Signaled to Door on

Garbage days•Roomba-inspired

Main Components•Plastic Garden Pot

▫Reduced Size Prototype▫Fits Grocery Bags

•Wooden Platform, Supports, & Hinged Lid

•Microprocessor – Arduino Due

•NiMH 7.2V Battery•Enable Switch

Mobile Platform•Pololu DC Gearmotors (2)

▫75 RPM, 85 oz-in•Motor Speed Controllers•70 mm Wheels w/ Hub (2)•1” Caster Wheels (2)•Paddles & Switch Buttons

(2)•IR Sensors (5)

▫Center, Left, Right▫Top & Bottom of Lid

Summary of Functions

•Default: Collect Garbage

•Motor-Driven:▫Roam & Avoid

Obstacles▫Open Lid At Hand

Wave & Full Bag Detection

• Special Sensor System:▫Detect Presence of

High Frequency Sounds

▫Go to Origin of Sound

IR-Based Functions

•Obstacle Avoidance▫Upcoming: IR - front

center, left, right▫Collisions: Paddles

with Bumper Switches

•Open Lid - Hand Detection▫IR at Top of Lid

IR-Based Functions

•Open Lid – Full Bag▫IR at Bottom of

Lid▫Reset Required

•Hinged Lid•Servo with Arm

Pushes Lid Open

Special Sensor: Frequency Filter •Electret Microphone

▫2 Microphones (Left/Right)

•Homing Emitter @ 8 kHz

•Analog High-Pass Filter▫Allows above 7 kHz▫2nd Order

•Op-Amp Circuit▫Over 100x amplification

Special Sensor: Location Orientation•Orientation of Sound

▫Rotate towards stronger signal – right vs. left microphone

▫Constant Alignment▫Obstacle Avoidance

•Volume = avg(Max – Min)

•Styrofoam Dish Receptors

•Stops at Emitter Location

Trash2D2’d Ideas•Drawstring Pulley

▫Small prototype does not hold drawstring bags

▫Feature deemed unimportant

•Station at Corners▫Easy to implement, but

continuous roam is better•LED Signals

▫Open lid is enough visual signal