MANURE CLEANER ROBOT

By: Marcus Ortuno & John Audlin

Agenda

Problem Background Info, Comparable Products

Proposed Solution Key Specs System Diagrams Software Strategies

Project Management Timeline Budget

Questions Demonstration

Problem

We have been tasked with the design and fabrication of a robotic prototype capable of maneuvering within a typical cow barn environment and relocating manure to a disposal area.

-Sponsor: Prof. Chris Dutton, VTC Farm.

Background

2 people are needed at the VTC farm during milking: one for doing the milking and the other for cleaning the area of manure.

A cow can produce ≈ 80-120 pounds of manure in one day. (80% water)

Poor hygiene increases risk of coliform mastitis and other health concerns.

Existing robotic solutions require the barn to be built around the robot

On the Market

Proposed Solution

•Manure is stored in a small body, dumps frequently•Navigates in overlapping concentric rectangles•Uses Ultra-Sonic and Infrared Sensors

Key Specifications

Range Finder Sensor Specs Short range: 20-150cm Long range: 100-500cm

IR Thermometer -40°C to 80°C

Robot Travel Speed 1 to 4mph

Robot Dimensions 5’ x 26” x 30”

Conveyor

First Design (Conveyor Belt) Second Design( Double Chain) Third and Final(Single Box chain) RPM = 30 #55 box chain DENSO drive motor

Container/Storage

Max capacity is 3 gallons

Weight load ~ 24lb.

Motor Power Diagram

3 DENSO DC gear motors (12V, 1.5A, ( no load), 162RPM)12V,20Amp-hour sealed lead acid battery

Control System Diagram

Non-Contact Thermometer Interface

Sharp Sensor Linearization

40 60 80 100 120 140 160 180 2000

102030405060708090

100

Dist. cm

Dist. cm

40 60 80 100 120 140 160 180 2000

0.002

0.004

0.006

0.008

0.01

0.012

0.014

0.016

0.018

f(x) = 5.97134434813206E-05 x + 0.00494469479769831

1/(R+K)

1/(R+K)Linear (1/(R+K))

Range = {(1/m)/[V+(1/b)]} – km = slopeb = y offsetV = A/D inputK = unique sensor constant

A/D Reading

Navigation Strategy

01

2

3

4

5

Sample Navigation Code

if( sensor > max)

{

turncounter++;

if(turncounter == 2)

{

Left_Turn();

while(sensor > max)

{ Drive_Straight(); }

while (sensor < max)

{ Drive_Straight(); }

Left_Turn();

while(sensor < max)

{ Drive_Straight(); }

turncounter = 0;

lapnumber++;

}

else{ while(sensor > max)

{Drive_Straight(); }

}

}

sensor: calculated range datamax: range indicating a gap in guide wall

Management

Responsibilities Software: John

Navigation (Marcus’ Assistance) Motor Control Sensor Communication

Hardware: Marcus Part Allocation Part Manufacturing Part Assembly (John’s Assistance)

Team Web Documentation Presentations

Time Line and Milestones

  Milestones1 Fisrt Model of Conveyor2 Final Design of Conveyor3 Functional4 Functional5 Functional6 Send a Byte7 Receive data8 Go around the barn9 Move in Mowing pattern

  Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Week 8 Week 9 Week 10 Week 11 Week 12 Week 13 Week 14 Week 15

Components                              

CAD/Hand Drawn design   1* 2*                        

Final design                              

Chassis Fabrication                              

Conveyor Fabrication             3*                

Bucket Fabrication                     *4        

Scraper Fabrication                       *5      

Design Alterations                              

IIC Interface       6* 7*                    

Range sensors                              

Navigation Sub-Routine                   *8     9*    

Dump Sub-Routine                              

Turning Sub-Routines                              

Presentation                              

 

*See MileStones

Budget

Budget  Cost($)Sensors    IR Range sensors (4x)    $ 52.76 Thermal sensor(1x)    $ 25.39 Ping sensor(1x)    Given Cables    $ 11.00      Conveyor belt    sprokets (3x)    $ 30.00 #55 Flat chain (+6')    $  25.00 cleates(4x)    Donation Materials    Given bearings(6x)    $  66.00 Drive motor(1x)    Donated           Bot Base    Marv MK2 Base(1x)    borrowed Batteries (2x)    borrowed      Dump System    Materials    Given Door mechanism    TBA      Scraper    Materials    Given      Total $ 210.15

Design Challenges

Software Dump Routine Sequential Passes ‘Live’ Interference

Hardware Dumping Mechanism Turning/Maneuvering Weight

Thank You

Prof. John Murphy Prof. St. Denis Prof. John Kidder Prof. Roger Howes Bob Royce Mike Wright GreenWoods Classmates Audience

Questions?