1. Introduction Automatic dust-cart is occured from two part. First part is car, and second part is arm. First part is car. For this part, robot follows black line, it stops at vertical black line or it senses an obstacle. if it stops with vertical line, it waits five seconds and goes on. If it stops with an obstacle, it goes on when obstacle disappers. Second part (arm) runs automaticly. İf we press the buton of its, it goes forward until it senses the container, then it stops and holds the container. It comes back to empty the container and it put the container to its place. Finally, It comes back to its first position. Materials and methods For this project we use PIC16F84 and Assembly. Design consists two parts which are arm and car. First part car has CNY70 sensors which is in the middle of robot is for following straigth line. There are three sensors in this place. Sensor 1 controls left side of the line. If line’s rotate changes to the left, this sensor sense this change and robot turns to the left. Also, the same process is done by right sensor. If three sensors sense white, robot stops. At the same time with controlling the line, robot controls vertical line. If left sensor senses black, robot leaves following line and rotates left. When right sensor senses black, robot stops for five seconds and goes on. If right sensor senses black, robot leaves following line and rotates right. When left sensor senses black, robot stops for five seconds and goes on. All these process are valid for white line. We explain options that following line only with process above. Figure-1: turns and stop by data from sensors. Literature cited Brey, B. B., The Intel Microprocessors, Pearson, New Jersey, 2006. Peatman, J. B., Embedded Design with the PIC18F452 Microcontroller, Pearson, USA, 2003. Altınbaşak, O., PIC Programlama, Altaş, İstanbul, Türkiye, 2004. Acknowledgement We thank Serap Altay Arpali for advice, helpful discussion and indulgence. Figure-2: stop at vertical line by data from sensors For other options we use distances. Robot drives freely, without touching any place. Right sensor controls the barrier at right side of robot. When it senses an object then robot rotates left. Also, the same process is done by left sensor. If both sensors sense an object front of the robot then it turns around itself and robot drives straight if sensors sense anything. Figure-3: movement by data from sharp sensors This part has two DC motors. These are used for all processes of movement. Robot can turn to the left with right motor. While it turns to the left, the left motor stops and right motor changes it’s rotate. Also, when the robot turns to the right, a motor which is on the right side stops and robot can change its rotate to the right. Robot can turn around also. While right motor turns clockwise, left motor turns counter clockwise. So robot turns around itself. Figure-4: turns with DC motors Figure-5: first part program algorithm Figure-9: second part circuit design Finally, we can see common algorithm of design at Figure-10. Figure-10: common algorithm Department of Electronics and Communication Engineering, Çankaya University AUTOMATIC DUST-CART ELİF TUNÇSUAT DEMİR Department of Electronics and Communication Engineering, Çankaya University Results and Conclusions In this project, we designed a robot that is used for different aims and whose usage is very easy. Our robot has some options of a few different kinds of robot. But our first aim is designing a dust-cart that is used for city hall and it needs minimum human power. Our system is a robot symbolizing a dust-cart. The design can be applied for a dust-cart.The garbage collection function is done with only one person by aid of this system. And, it is runnig automaticly. So, driver doesn’t need to control the arm manually. So, saving the human power and tangible properties is purposed. Additionally, accidents of dust-carts,which are used now, are defeated by this new design. Figure-6: first part circuit design Second part (arm) runs automaticly. İf we press the buton of its, it goes forward until it senses the container, then it stops and holds the container. It comes back to empty the container and it puts the container to its place. Finally, It comes back to its first position. This part have three DC motors for movement. One of them obtains that the arm goes forward and backward. One other obtains movement for downward and upwards. Last motor is for catching and droping the container. And it has two sharp sensors for identify the container. While arm is going forward, sensors control the container. Figure-7: active parts and motor’s places of arm Figure-8: second part program algorithm Abstract Aim of the project is designing a dust-cart that is used for city hall and it needs minimum human power. Our system is a robot symbolizing a dust-cart. The garbage collection function is done with only one person by aid of this system.