Solution Procedure

Collection:

In order to pick up two types of trash (represented as a soda can and golf balls) FRUSTRATION incorporates two capturing mechanisms. The primary trash collection mechanism is a series of passive gates that lock the trash into one of two storage bins as FRUSTRATION drives over the trash. The two bins correspond to recyclable (blue) and non-recyclable (orange). Additionally, FRUSTRATION incorporates a powerful gripper which will pick up and deposit any trash too great to be swept underneath. These two trash collection methods give FRUSTRATION unparalleled versatility.

Collection Methods

Detection:

FRUSTRATION incorporates a number of sensors which enable it to navigate the demonstration course and identify trash successfully. Three Infrared Light sensors are used to determine the distance from the robot and walls in front of and to the left or right of the robot. Encoders on the wheels are used to measure wheel speed and a gyro is used to measure the robot’s heading. The information provided by these sensors is used to determine to robot’s position. FRUSTRATION also incorporates a camera whose image is processed using segmentation code to identify different types of trash and distinguish recyclable (blue) from non-recyclable (orange) trash. Finally, a compass is used to give the robot’s orientation relative to an absolute coordinate system.

Sensors

Logic:

The coding used to give FRUSTRATION intelligence and awareness is a state machine with 12 states. It begins by searching for trash too large to be swept underneath (soda can) and once it is identified, the robot will head towards the object. This is accomplished with the camera. Once the image of the object falls off of the camera, the gripper is closed and the large trash is stored within FRUSTRATION. Then the 2^nd state begins and the robot uses a combination of x y positioning code and light recognition code to move towards the first light. It then searches for the second light and travels toward the left or right. Then a combination of wall following code and x y positioning code is used to get FRUSTRATION to the entrance of the inner U. Once in the U, light recognition code is used identify where the large trash should be deposited and IR sensors tell FRUSTRATION when to stop safely. Then the robot exits the U and proceeds to travel through the remaining coarse. Finally, the robot passes over the blue and orange storage areas. Once FRUSTRATION passes the first light, it is continuously searching for small trash (golf balls) with the camera and will process them according to color.

Online Interface:

The final feature of our solution to the autonomous trash removal problem is a wireless interface that can be used to inform one of FRUSTRATION’s current status (state, x position, y position, commanded velocity, etc.) and update key parameters of its code within each state. This capability enables FRUSTRATION to keep humans in the loop and ensure steady performance in the face of unknown disturbances.

Visual Basic Interface