Tony Soprano: “Waste Management”
Final PresentationSalvatore Torre
11/25/2008
Introduction
• Tony Soprano: “Waste Management” is an autonomous recyclable material seeking robot.
• Recyclable material:
Drive System
- 2 DC Motors supplied with 12 V optically isolated- Driven by two motor driver boards
1. Supplies the power2. Controls direction & isolation
Collision Avoidance
• 4 IR Proximity Sensors mounted on the each side and embedded at the front of the dozer
SONAR Array
• Used to search for recyclable materials and to avoid obstacles
The “Shutter”
• The “Shutter” is what traps the recyclable• Controlled by 1 servo motor
Special Sensor Array
Sorting Bins
• Once Tony has the recyclables he sorts them into 1 of 3 bins controlled by two servo motors
Dozer Lift
• The dozer lift physically picks up the recyclable and delivers it to the sorting bins
Conclusion
• Tony navigates an environment in search of glass, plastic, or aluminum recyclable materials.
• Once he finds something, he uses his shutter to trap it.
• The reflectance sensor array classifies the recyclable as either glass, plastic, or aluminum
• The Dozer Lift carries the recyclable to the bins• The bins sort the recyclable
Future Work
• Perfecting the Dozer Lift
• Perfecting the search with the SONAR array
Tony Soprano: “Waste Management”