Project Requirement Document
One-paragraph Project Summary
We came together and thought "what is one thing we can do to better the world?" We thought and thought and realized what our calling was: pooper-scoopers. Our project will be a small robot that can identify and remove poop from a lawn. While traversing a designated area, it will scoop poop into a container. This is intended to aid dog owners around the world in maintaining their property. When we leave the University, we want our legacy to be to pick up things others have left behind.
Deliverables (Final)
The deliverable is a chassis with a scoop powered by an Arduino Mega. The demo will be on a 5mx5m square of AstroTurf with a poop (brown clay) placed randomly. Our robot needs to be able to detect the poop within 5 minutes.
Critical Features
We will show a robot that can remove poop from a lawn.
The feculence will be a small lump no more than a few hundred grams, either wet or dry.
The lawn will be defined as a flat plane with demarked boundaries.
Our main sensor is a camera.
Performance Metrics
Sensor Accuracy: Minimizing false negatives is the most important
Chassis Movement: ability to stay to the path
Scooper: Proper range of motion and adequate torque
Milestones
Chassis
Move Chassis in a straight line
Turn Chassis with 2 lb payload
Traverse pre-programmed path
Scooper
Operable scooper
Able to pick up excrement
Able to drop droppings into bin
Sensor
Identify deuce (positive)
Incorporate with chassis + scooper (distance and position gauging)
Minimize false-positive (identifies when none exists)
Responsibilities
Daniel - Website, Frame Drive
Jeremias - Kick starter, Morale
Sailesh - Treasurer, Engineering Hard Carry
Gze Zhang - 3D printing
Materials and Outside Help Needed
Animal poop please
Detailed Budget
Essential
Elegoo Mega 2560
Frame (Wooden Boards) .... $15
Motors (x3) ........................... $33
https://www.amazon.com/dp/B01KTYP21S/ref=twister_B01N2TQRUT?_encoding=UTF8&psc=1
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2x 30rpm
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1x 10rpm
Motor Bands ................ $1
Motor Driver (x2) .................. $14
Wheels ......................... $33
Axle ................................ $1
Battery ........................ $ ~10
8 AA batteries, and all the replacements
Camera ...................... $25
$8 + 4-8 day shipping $2, 1-3 shipping $18
Wifi Chip .................. $7
https://www.amazon.com/dp/B00O34AGSU/ref=cm_sw_r_oth_api_6-pdzbYC7A427
Voltage Regulator ............ $5
hella Screws ................... $4
~$150
Extra
Speaker .................... $2
Blue & Red LEDs ......... $1
~$10
Risks + Solutions
Make sure robot doesn't spread poop (adjust the scooper accordingly)
Make sure robot is able to be easily cleaned (cover all electronics in end)