trash2d2 oral report 3 imdl david mercado. what is trash2d2? perfect for parties – avoid cleanups!...
TRANSCRIPT
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