M ANURE C LEANER R OBOT By: Marcus Ortuno & John Audlin.
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Transcript of M ANURE C LEANER R OBOT By: Marcus Ortuno & John Audlin.
MANURE CLEANER ROBOT
By: Marcus Ortuno & John Audlin
PROBLEMWe 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.
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 ≈ 80-120 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
PROPOSED SOLUTION
•Manure is stored in a small body, dumps frequently•Navigates “lawn mower style”•Uses Ultra-Sonic and Infrared Sensors
SYSTEM DIAGRAM
01
2
3
4
5
KEY SPECIFICATIONS
Range Finder Sensor Specs Short range: 20-150cm Long range: 100-500cm
IR Thermometer -40°C to 80°C
Robot Travel Speed 1 to 4mph
Robot Dimensions 5’ x 2’ x 2’
CONVEYOR
Fist Design (conveyor belt)
Second Design( Double Chain)
Third and final(Single Box chain)
CONTAINER/STORAGE
Max capacity is 4 gallons
Weight load ~ 32lb.
SMBUS INTERFACE
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
Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Week 8 Week 9 Week 10 Week 11 Week 12 Week 13 Week 14 Week 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 Milestones1 Fisrt Model of Conveyor2 Final Design of Conveyor3 Functional4 Functional5 Functional6 Send a Byte7 Receive data8 Go around the barn9 Move in Mowing pattern
BUDGETBudget Cost($)Sensors IR Range sensors (4x) $ 52.76 Thermal sensor(1x) $ 25.39 Ping sensor(1x) Given Cables $ 11.00 Conveyor belt sprokets (3x) $ 30.00 #55 Flat chain (+6') $ 25.00 cleates(4x) Donation Materials Given bearings(6x) $ 66.00 Drive motor(1x) TBA Bot Base Marv Frankenstien(1x) borrowed Batteries (2x) borrowed Dump System Materials Given Door mechanism TBA Scraper Materials Given Total $ 210.15
DESIGN CHALLENGES
Software Dump Routine Sequential Passes ‘Live’ Interference
Hardware Dumping Mechanism Turning/Maneuvering Acquiring Conveyor Belt
QUESTIONS?