AUTOMATIC DUST-CART
ELİF TUNÇ SUAT DEMİR
Department of Electronics and Communication Engineering, Çankaya University
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.
Introduction
Automatic dust-cart is occured from two part. First part is car, and
second part is arm.
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.
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 puts the
container to its place. Finally, It comes back to its first position.
Figure-3: movement by data from sharp sensors
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.
Finally, we can see common algorithm of design at Figure-10.
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 put the container
to its place. Finally, It comes back to its first position.
Materials and methods
Figure-9: second part circuit design
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
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.
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-7: active parts and motor’s places of arm
start
blackstop
no
List PIC16F84A
PORTA input
PORTB output
Portb 1
=?
1
yes
Portb 2
=?
1
no
Portb 7
=?
0
Clrf porta
no
yes
no
Portb 0
=?
0
yes
yes
Clrf porta
Bsf porta,0
Portb 0
=?
0
alarm
Portb 7
=?
0
Clrf porta
Bsf porta,0
no
alarm
Portb 5
=?
0
Clrf porta
Bsf porta,0
Bsf porta,2
Call delay
no
yes
no
Dec count2
=?
0
yes
no
Acknowledgement
Dec count3
=?
0
no
yes
yes
no
yes
Clrf porta
Bsf porta,0
Count2=0
Set portb 3. bit
Set portb 1. bit
Dec count1
=?
0
Count3=count4
Count2=10
Set Portb 2. bit
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.
Set portb 0. bit
Count4=count3
yes
no
Portb 6
=?
0
no
yes
no
Portb 4
=?
0
no
yes
Set portb 0. bit
İnc count3
Set portb 5. bit
Set portb 5. bit
Set portb 5. bit
yes
Dec count4
=?
0
yes
no
Set portb 2. bit
Count2=10
Set Portb 0. bit
İnc count3
Count1=10
no
yes
Count3=0
Porta 0. bit
=?
1
yes
Porta 1. bit
=?
1
Literature cited
yes
Dec count2
=?
0
no
Dec count2
=?
0
Dec count3
=?
0
Go start
Set portb 1. bit
yes
Clrf porta
Bsf porta,2
no
yes
Set portb 4. bit
Set portb 4. bit
Set portb 4. bit
no
Dec count2
=?
0
Clrf porta
Count2=10
Figure-1: turns and stop by data from sensors.
Figure-10: common algorithm
Figure-5: first part program algorithm
Set portb 3. bit
Figure-8: second part program algorithm
We thank Serap Altay Arpali for advice, helpful discussion and
indulgence.