Ted Keppner Jacques Dupuis

 Farms run into problems of having to pay for workers to clean up cow bed shavings when they could be doing more important things.  Removing these shavings provides a clean and safe environment for the cows and workers.

 To clean up wood shavings in a barn environment with an unknown size and shape.  Avoid common obstacles found in barns such as stall bars, pipes, cows, workers, etc.  Must deliver wood shavings to a predetermined location.  Must require minimal user input.

 To design an autonomous robot with: ◦ Bumper ◦ Ultrasonic Sensors ◦ Rotary Encoder ◦ IR Sensor ◦ Limit Switch  To pick up the debris off the ground using: ◦ Roller Brushes ◦ Flapped Conveyor Belt ◦ Holding Bin

Straight Initial Back Up Right Turn Straight Left Turn Back Up Collision Avoidance Bin Full Off Left Motor Right Motor Conveyor Belt Roller Brushes Bin Door Bumper == 1 IR Sensor == 1 Bumper == 1

00000 Left Motor Right Motor Conveyor Belt Roller Brushes Bin Door Back Up Sensor Check Right Turn Left Turn Straight Straight Right Turn Left Turn Straight Left Turn Straight Right Turn Return Straight Right Turn Straight Left Turn Bumper == 1

00000 Left Motor Right Motor Conveyor Belt Roller Brushes Bin Door Straight Back Up Straight Left Turn Right Turn Straight Back Up Right Turn Left Turn Return Collision Avoidance

Roller BrushFlapped Conveyor BeltStorage Bin

BumperMicrocontroller Ultrasonic Sensor Drag Behind Rotary Encoder IR Sensor DC Motor Conveyor Belt & Roller Brush DC Motor Limit Switch Ultrasonic Sensor Wheel Subsystem Collision Avoidance Subsystem Dump Body Subsystem

 Will be bolted to rear of frame.  Potentiometer for angular direction.  Wheel for distance measurement.

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Collision Avoidance Subsystem Wheel Subsystem Dump Body Subsystem Roller Brush Subsystem Conveyor Belt Subsystem JacquesTed

2 x Roller Brush Squeegee 2 x 90 Degree Heating Duct Duct Tape Awaiting Estimate $26.00