Robo-Dumpster: The Autonomous Garbage Truck Alan Hamlet University of Florida 25 March 2010.
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Transcript of Robo-Dumpster: The Autonomous Garbage Truck Alan Hamlet University of Florida 25 March 2010.
![Page 1: Robo-Dumpster: The Autonomous Garbage Truck Alan Hamlet University of Florida 25 March 2010.](https://reader036.fdocuments.net/reader036/viewer/2022062321/56649f255503460f94c3c20e/html5/thumbnails/1.jpg)
Robo-Dumpster:The Autonomous Garbage Truck
Alan Hamlet
University of Florida
25 March 2010
![Page 2: Robo-Dumpster: The Autonomous Garbage Truck Alan Hamlet University of Florida 25 March 2010.](https://reader036.fdocuments.net/reader036/viewer/2022062321/56649f255503460f94c3c20e/html5/thumbnails/2.jpg)
Why an Autonomous Garbage Truck?
Save companies/government money– Grocery stores, amusement parks, cities– Cheap and reliable work– Can work 24/7
Create new industries– Building and maintaining robots– Any jobs lost will be counteracted
Proof-of-concept model
![Page 3: Robo-Dumpster: The Autonomous Garbage Truck Alan Hamlet University of Florida 25 March 2010.](https://reader036.fdocuments.net/reader036/viewer/2022062321/56649f255503460f94c3c20e/html5/thumbnails/3.jpg)
Obstacle Avoidance
Current Progress– 2 front IR’s– Turns only one way
Goal: smart turning– Left if right IR blocked– Right if left IR blocked– Back up if both blocked
Random turn
![Page 4: Robo-Dumpster: The Autonomous Garbage Truck Alan Hamlet University of Florida 25 March 2010.](https://reader036.fdocuments.net/reader036/viewer/2022062321/56649f255503460f94c3c20e/html5/thumbnails/4.jpg)
Gripper/Arm Mechanism
Gripper– Servo arm pulls gripper open with cable– Otherwise spring holds gripper tightly closed
May need stiffer spring for better grip
Arm– 343 oz.-in servo raises arm, gripper and object
![Page 5: Robo-Dumpster: The Autonomous Garbage Truck Alan Hamlet University of Florida 25 March 2010.](https://reader036.fdocuments.net/reader036/viewer/2022062321/56649f255503460f94c3c20e/html5/thumbnails/5.jpg)
Gripper/Arm Mechanism
Can successfully grip and lift objects
![Page 6: Robo-Dumpster: The Autonomous Garbage Truck Alan Hamlet University of Florida 25 March 2010.](https://reader036.fdocuments.net/reader036/viewer/2022062321/56649f255503460f94c3c20e/html5/thumbnails/6.jpg)
What’s Next
Finish programming CMUcam– Search for red LEDs on trash cans– Track green garbage collection area
Attach truck bed Fine tune behaviors in software Finish building garbage cans
![Page 7: Robo-Dumpster: The Autonomous Garbage Truck Alan Hamlet University of Florida 25 March 2010.](https://reader036.fdocuments.net/reader036/viewer/2022062321/56649f255503460f94c3c20e/html5/thumbnails/7.jpg)
Questions/comments?
Thank you