MANURE CLEANER ROBOT By: Marcus Ortuno & John Audlin
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?