User ManualRobo-Composting Device

How to Compost

Step 1: Load Material Open Drawer HandlePut in Recommended MaterialClose Drawer

Step 2: Turn ON/OFF Grinder On user interface home page click motor controlsTo turn ON Grinder click under Grinder the button GRINDTo turn OFF Grinder click under Grinder the button GRIND

Step 3: Turn ON/OFF Holding Chamber Auger On user interface home page click motor controlsTo turn ON the auger click under Holding the button FWDTo turn OFF the auger click under Holding the button FWDTo reverse the auger click under Holding the button REVTo reverse the auger click under Holding the button REV

Step 4: Turn ON/OFF Reacting Chamber AugerOn user interface home page click motor controlsTo turn ON the auger click under Holding the button FWDTo turn OFF the auger click under Holding the button FWDTo reverse the auger click under Holding the button REVTo reverse the auger click under Holding the button REVRemoving Compost from the Reacting Chamber is done by REV

How to use the user interface

Step 1: Turn on the Raspberry PiThis is done by simply plugging in the Raspberry Pi power source or restarting the power strip.

Step 2: Open up the website Type in msd16421.student.rit.edu:8000 into the urlThis website is being hosted on the Raspberry Pi server and will automatically run

Step 3: Home Page InformationOn this page has the choices of 6 other pages to be viewedMotor Control Page: motor control push buttonsChamber Levels: detects the level of each chamberSensor Plots: Graphs of each Sensor InformationFood Log: Ability to log the food input into the composterUser Manual: This file is viewableRecommendations: Recommendations on the different material to put into the

composter

Step 4: Motor Control PageLocated on this Page are the three motor control push buttons described on the previous page.

Step 5: Chamber Levels PageThis page has a refresh button and the ability to represent the level of compost in each chamber of the device.

Step 6: Sensor PlotsThis page plots all of the sensor information in the reacting chamber. This data includes ammonia, oxygen, carbon dioxide, methane, soil moisture, and temperature

Step 7: Food Log This page allows for the user to log the food that is inserted into the machine

Troubleshooting Problems

Electrical Communication Issues: The microcontroller and microcomputer located in the electrical box along with the screen are plugged into one power strip. If any issues occur with communicating to the device you can restart the raspberry pi using the touch screen. If this does not fix the problem you can shut the power strip down and restart the entire strip. If this does not solve the problem. You must consider the different communication steps. First before messing with any wires SHUT DOWN BOTH POWER STRIPS. Check wiring between the Arduino, Raspberry Pi, screen, ethernet port, motor controller, and motors. The code will not have been changed so it is most likely a hardware fault along the connection lines. Be careful what wires you touch, some of the motor controllers have charged capacitors in them.

Safety Cautions:Beware the Grinder, it has the ability to grind through any material and can be potentially harmful. Their is a safety interlock and a E-Stop incase of drastic emergency. Including this harm, their is a relay being used additionally to turn the grinder off is the raspberry pi goes down. This relay has 120V AC passing through it and can be very dangerous. It has tape over it and is hidden, but when dealing with the electronics be cautious.

Equipment Information

Drawer InputInput materials to the Auto-composter are placed in a drawer at the top of the machine. The drawer features a safety interlock that acts as a hard disconnect to all motor power in the system, which ensures the grinder and other motors can’t be turned on while the drawer is open. To add material to the system, the drawer is pulled open by the handle, which also connects to a push rod and plate. When the rod is fully retracted and the drawer is open, materials can be inserted into the drawer. Then, the drawer should be pushed closed. Lastly, the push rod should be reinserted to advance the materials into the grinder hopper for shredding. GrinderAfter the drawer, the composting materials need to be ground into smaller pieces before heading into the holding tank. The grinder has two counter-rotating shafts with toothed discs that feed the materials into the grinder and shear them into smaller particles. One shaft is directly driven by the gearbox, and power is transferred to the second shaft by two gears. The shafts have a hexagonal cross section, and the grinding discs and spacers have internal hex. This design allows the grinding discs to be indexed when installed to stagger the shearing instances along the shaft while only requiring a single disc design. Fingers mounted on the grinder side walls scrap material from between the discs to keep them clean. A clear acrylic shield allows grinding to be observed through the top of the device. AC MotorThe 1.8 stepper motor with the customized gearhead from Harmonic Drive is used for the grinder due to its high torque operation. This motor with the gearhead does not have a high speed of operation but does not need the speed to be effective. The motor has the ability to operate in both directions enabling the option to go in reverse if an object that does exceed the torque capabilities slips into the system. This is important when there is a user error that would otherwise cause the entire device to cease to work. Big Motor Controller (AC Motor Controller)The Anaheim Automation DPD75601 motor controller was chosen for its ability to work with the AC motor and perform complex movements. This controller is programmable making it easy to have the motor perform the desired motions. The Arduino Mega sends a signal out that pulls one of the controllers pins down which is how the two communicate. When a pin is pulled down the controller performs an action that is written into its code so that the Arduino Mega does not need to send multiple messages to the controller. InterlockThe limit switch with 120 Volts and 10 Amps used in series with the power strip is used for its ability to cut power to the motors when necessary. It is graded to withstand the amount of current and voltage going through it at a given time. It was also chosen for its side adjustable rotor that will work with the drawer to determine when it is open or not and cut power to the power strip.

LayoutThe entire system was designed to move from left to right due to the physical limitations of the operating space in which the device will be delivered and positioned. 2-Stage DesignDue to its nature composting has to be done in batches. However, in order for the composting machine to handle continuous material input the decision was made to design the process so that there were two main stages in which the organic matter would spend most of its time. This was done using was is called a holding stage and reacting stage. The holding stage is exactly that; once the material is put into the machine it is deposited into this area until it is ready to move onto the isolated reacting area. In this area, new material is unable to be added in order to help make the output a uniform substance. AugerIn order to standardize the design of the two main chambers, an auger was chosen to accomplish the task of moving the matter from the holding area to the reacting area as well as mixing and final output of completed compost. The auger satisfied our needs because it is able to effectively move small uniform sized particles of varying consistency. The first tank uses an auger to move the pre-compost into the reactor. The second tank, however, uses it to both lift the composting material to the top of a tube thus dropping it down and mixing the compost as well as turn the opposite way in order to push the finished product out of the unit. DC MotorThe two Molon permanent magnet DC gearmotors with the torque of 50 in-lbs were chosen to operate the two augers. The 50 in-lbs for torque exceed the required amount to move the augers with composting material moving through them. The two motors are bidirectional allowing them to go in reverse if it is necessary for the augers to move that way at a given time. The two motors also are the right voltage that the power supply operates at with 24 Volts. Motor controller (DC)The sabertooth dual 12A motor driver was chosen for its ability to drive both of the auger motors in both directions. This is essential for having the auger move in the opposite direction if it is needed to instead of just the one direction forward. Each motor only draws 1 Amp each so the range given by the sabertooth exceeds the requirements. The sabertooth also communicates with the Arduino Mega easily using digital PWM connection. MicrocontrollerThe Arduino Mega 2560 microcontroller is essential for collecting sensor data and sending signals to the motor controllers. The first reason why this device was chosen is due to the fact it has many digital and analog I/O pins for the analog based sensors and for the digital sensors and motor controllers. The next reason is because the device operates at both 3.3V and 5V which enables all of our I/O pins based connections to be powered if they need power. Micro-Computer

Our project requires a medium for making, modifying, and updating software which controls the composter's hardware. The tasks performed are not very CPU heavy and require rather basic programing (turn a motor on, read a sensor value, etc). The Raspberry Pi 2 Model B not only allows this but is also extremely well documented online. The community surrounding the Pi was a major selling point for us as no one on the team had any “real” programming experience. The Pi is the center for control of our project. An Arduino is used to collect data from all sensors (gas levels, temperature, etc) and sends this data directly to the Pi. In the final product, the Arduino will be sending this data autonomously with no input from the user. The Pi takes this data and logs it to a database. This database is then used to plot trends and inform the user on the condition of the compost. The Pi also hosts the GUI on a website which anyone can reach. This allows anyone in the world to see how the compost is doing. In addition to that, users with the correct login credentials (users physically near the composter in the classroom) will be able to turn the grinder on as well as the two augers. The Pi will output through HDMI to a monitor and be controlled with a keyboard and mouse. If time and funds permit, this will be upgraded to a touchscreen tablet which will instead be used as the GUI (since the GUI is a website, any device can host it). CommunicationsThe communications of this device are rather complex. We are communicating between a microcontroller (arduino), micro-computer (Raspberry Pi), and a user interface (webiopi/web-browser). In addition to these, there is a database being used to store all of the sensor information and food log information. There are python and arduino scripts running at all times that are creating graphs, sending commands to motors, and pulling/pushing sensor information. We are using a serial communication between the Arduino and Raspberry PI. This kind of communication only sends one value at a time. The Arduino collects all of the sensor information and sends it to the Raspberry Pi through this serial communication. Once the Raspberry Pi receives this information it stores it on a SQL database. Once stored on the database it can be called by the user face (webiopi/website) or be used to create a graphical image. For motor controls we turn on and off GPIO pins using the webiopi/user interface. We have python scripts running on the RPI to tell the arduino if the raspberry pi has turned the motor on or off. In conclusion, the communications deals with the passage of information from the Webiopi to the Raspberry Pi through web-based files and then from the Raspberry Pi to the Arduino using Python and Arduino scripts.

CO2 SensorThe MG-811 sensor module is highly sensitive to CO2 and less sensitive to alcohol and CO, low humidity & temperature dependency. On board heating circuit brings the best temperature for sensor to function. This sensor has an on board conditioning circuit for amplifying output signal. In order to produce “perfect” compost, the ratio of carbon to nitrogen must be monitored. Since determining the precise amount of Carbon and Nitrogen in the compost would require an entire laboratory and/or sending samples to an actual lab, the team decided to instead monitor CO2, CH4, and NH3 levels as a means of estimating the amount of carbon in the system. This sensor will tell us what CO2 levels are normal (using a control) and also when things are going wrong.

This sensor gives a digital output which corresponds to the amount of CO2 in the system. Using the data sheet we can convert that to either an amount in ppm or %. This sensor will be connected to and powered by the Arduino. Oxygen SensorThe ME-O3 Oxygen sensor module uses ME series O2 sensor, and has low consumption, small size, high sensitivity, wide range of linearity, and better anti-jamming capacity, good reproducibility, stability and reliability. Compost must be aerated in order for the proper organisms to grow and decompose the organic material. Without enough oxygen in the system these organisms will die and the material will not compost. This sensor will ensure we have enough oxygen in the system. This sensor provides an analog output signal which corresponds to the amount of oxygen in the system. Methane SensorThe MQ-2 sensor module is highly sensitive to methane (CH4) gas. In order to produce “perfect” compost, the ratio of carbon to nitrogen must be monitored. Since determining the precise amount of Carbon and Nitrogen in the compost would require an entire laboratory and/or sending samples to an actual lab, the team decided to instead monitor CO2, CH4, and NH3 levels as a means of estimating the amount of carbon and nitrogen in the system. This sensor will tell us what CH4 levels are normal (using a control) and also when things are going wrong. This sensor gives an analog output which corresponds to the amount of CH4 in the system. Using the data sheet we can convert that to either an amount in ppm or %. This sensor will be connected to and powered by the Arduino. Ammonia SensorThe MQ-137 sensor module is highly sensitive to ammonia (NH3) gas. In order to produce “perfect” compost, the ratio of carbon to nitrogen must be monitored. Since determining the precise amount of Carbon and Nitrogen in the compost would require an entire laboratory and/or sending samples to an actual lab, the team decided to instead monitor CO2, CH4, and NH3 levels as a means of estimating the amount of carbon and nitrogen in the system. This sensor will tell us what NH3 levels are normal (using a control) and also when things are going wrong. This sensor gives an analog output which corresponds to the amount of NH3 in the system. Using the data sheet we can convert that to either an amount in ppm or %. This sensor will be connected to and powered by the Arduino.Temperature sensorThe temperature sensor we used was the Waterproof DS18B20 Digital temperature sensor. This sensor is durable and can reach high temperatures. It is also has a long sensor so we can feed it into the soil, which will tell us the temperature of the soil and not just the temperature of the chamber.

Temp SensorSoil moisture sensorThe sensor we used was the VH400 Soil Moisture Sensor Probe. This sensor could handle high temperatures and is durable which is the type of sensor we were looking for. This sensor is stuck into the soil and will tell us the amount of moisture in soil. This will be displayed on the graphs.

Soil Moisture Sensor

Distance SensorThe four infrared analog distance sensors are able to see through the acrylic walls that the device is made of to measure how far the product is from overflowing. These four sensors were chosen for their cheap and easy use with the Arduino Mega. They simply provide an analog voltage level based off of the distance the product is away from the sensor. This range that the sensor can see is between 80-10 cm which is more than reasonable for sensing the product. The infrared sensors are also able to view the product when there is an abundance of water present on the acrylic which is a possible outcome while composting. Motor InterfaceThe motor interface page on the user interface has the same structure as most of the other user face pages. It is located in a web browser as well as the other displays. In this page there is

motor controllers for the three motors. The Grinder motor, the Holding Chamber motor, and the Reacting Chamber motor. Each motor has two push buttons for turning the equipment in a forward or backward direction. The Grinder motor controls a grinder, which is the first step of the process. The Holding Chamber motor drives the first auger in the process to move the material into the Reacting Chamber. The Reacting Chamber motor drives the second motor located in the Reacting Chamber and this motor will dump material on itself if moving one way and push material out of the chamber if moving the backward way.

Motor InterfaceData DisplaysThe graphical displays page also located in the website is also structured much of the same as the others. This structure has a categories section that allows easy access to other pages from that page. In addition it has the graphs of all the important sensors. These sensors include Ammonia, Methane, Oxygen, Carbon Dioxide, Temperature, and Soil Moisture. This page will also have the capability to set up a specific timeframe for the graphs to be on.

Graph Interface

Device MonitorThe Device Monitor page like the others is off of the main page of the website and is also structured the same as the others. This pages primary point is to display to the user the capacity of each of the chambers (Holding & Reacting). It will have an image of how full the chamber is and the percentage of how full the chamber is. In addition to this, all of the pages have a home button on the top right of the page to get you back to the main page.

Device Monitor Page Food logThe Food Log page is off of the main page, but does not have all the same dynamics as the other pages. This page has a prompt for a user to put in the date, time, and description of what was loaded into the composter. The idea here is one can track what material was used to make their compost and when it was put in. This page will also allow the user to call back a database to see when and what was put in during a certain time frame.

Food Log Page

WiringWhen it comes to wiring the device many things need to be taken into consideration. First of all there are many other moving components within the system. Therefore we need durable communications and long enough wiring to avoid sloppiness. We have terminal blocks we are using to make for easy and non-sloppy connections. We have long wires we will tie together and string along the upper inside of the chamber for power supply delivery to the microcomputer and

microcontroller and communications between the Raspberry Pi and Screen. We have two power strips (power supplies) that connect to the 120 VAC outlet in the wall. One strip has the motors attached to it, and the other has all the communications attached to it. The one with the motors has an E-Stop button and an interlock switch to protect the users of the machine. Power ManagementThe main power system for the device are two six plug power strips that will be connected to a wall outlet. The first power strip will power the the Arduino Mega and Raspberry Pi via two separate wall adapter power supplies connected to each of the devices. This first power strip is intended to remain on at all times and not interfere with the second power strip. The second power strip with be powering the AC to DC power supply and the power to the AC motor controller for the grinder. The AC to DC power supply convert the AC to 24 Volts DC with 2.5 Amp max values which is enough to power the DC motor controller and the two DC motors. The AC motor controller only needs the AC wall outlet power which is supplied by the power strip so that is already set up. The second power strip is also in series with two failsafe measures for safety reasons. The first is an emergency stop button that when pushed in kills all power going through it. The next is a limit switch that is connected to the grinder drawer that will also kill power when the drawer is pulled out.

Results

The final prototype was built to the specs depicted above. The main left to right movement through the system allows the device to fit within the short space beneath the science desk in the classroom. Due to the variability in the bending of the acrylic pieces to form the holding and reacting tanks, some of the components were forced to be modified as the build

process progresses, most notably the lids to both tanks and the methods used to fasten them to their respective tanks. Additionally , due to hardware availability the exact layout of the framing is much more intricate than that of the model. All of the electrical components are not laid out in the model above but were successfully mounted in electrical boxes on a shelf in the lower righthand corner of the device. All of the wiring was then run along the back of the framing to its respective sensors and motors. Conclusions and Recommendations The goal of this project was to create a device that could efficiently compost. The device certainly has the capability to create compost however due to time and budget restrictions it is not as automated as originally envisioned. Although the sensors can output data, the device is unable to adjust its environment in an attempt to fix imbalances. It also does not automatically move material through the system and requires user input to trigger auger rotation. Considering this is the first iteration of this project, it is definitely a good prototype. But, that is exactly what it is, a prototype. There was no opportunity to do extensive long term testing on the systems endurance or its functionality with a wide range of inputs. It is recommended that the future work done on this design focus on the actual composting process and achieving the proper conditions required to speed up that process. Additionally, the design should be revamped in an attempt to use heigh more efficiently in order to eliminate the need for an auger to mix the material. Both tanks should be redesigned and rebuilt in order to be much more predictable to eliminate the need for excessive redesigns during the build process. All in all, the prototype is a great first attempt, but it is a long way from satisfactory for a consumer or even the customer for that matter. It can strongly be predicted that many of the functional complications encountered during the limited testing that was performed will arise again during the normal use of the device in the classroom.