Trash2D2

Oral Report 1IMDL

David Mercado

Objective #1: Hold Trash

•Robot Body – Trash Can▫Sturdy Outer Body▫Inner Cavity Holds

13 Gallon Bag▫20 Gallon Galvanized

Steel Can•Simple, Yet Central

Objective

Objective #2: Roam

•Mobile Platform▫Two Wheels Driven By

Motors w/ Encoders▫Caster Wheel for

Balance•Randomly Travels

Room•Avoid Obstacles

▫Two IR Sensors•Locates Corners to

Temporarily Station At

Objective #3: Smart Lid

•IR Sensor Above Lid▫Detects Hand

Motion▫Roaming Pauses▫Lid Opens Briefly To

Collect Trash•IR Sensor Below Lid

▫Detects Trash Height

▫Roaming Stops & Lid Opens When Bag Full

Objective #4: Close Bag•Thrash2D2

Automatically Closes Bag▫Indicates When Bag is

Full▫Ready for User

Withdrawal•Drawstrings Pulled

▫Motor-Driven Pulley▫Drawstrings Must Be

Pulled Up

Objective #5: Sound Recognition•Detects High Frequency

Sound▫Microphone, Amplifier,

Bandpass Filter Circuit•Locates Sound &

Travels to Origin▫Two Microphone

Systems▫Oriented Outwards w/

Some Overlap▫Remove Ambient Noise

Microcontroller Hardware

•Arduino Due▫Under $50▫Faster Processor (v. Uno)▫More Pins (v. Uno)▫Easy to Program▫Large Support Community

•Outputs: 4 Motors, LEDs•Inputs: 4 IR Sensor, 2 Bumper

Sensors, 2 Audio Analog Signals