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 ≈ 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: cm  Long range: cm  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 Range = {(1/m)/[V+(1/b)]} – k m = slope b = y offset V = A/D input K = unique sensor constant A/D Reading

Navigation Strategy

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 data max: 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 Milestones 1Fisrt Model of Conveyor 2Final Design of Conveyor 3Functional 4 5 6Send a Byte 7Receive data 8Go around the barn 9Move in Mowing pattern Week 1Week 2Week 3Week 4Week 5Week 6Week 7Week 8Week 9Week 10Week 11Week 12Week 13Week 14Week 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 Cost($) Sensors IR Range sensors (4x) $ Thermal sensor(1x) $ Ping sensor(1x) Given Cables $ Conveyor belt sprokets (3x) $ #55 Flat chain (+6') $ cleates(4x) Donation Materials Given bearings(6x) $ 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 $

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?