|With external devices,Single|
With the best vision.
Forward and backward movment of robot caused by non-directional rotation of motor shaft and robot turns by uni-directional rotation of motor shaft.Then robot can turn around it's axial.Trash-Finder is so stable and repairing it is so easy.The Two arms have both horizontal and vertical motions caused by two steppers.By line tracking (with that 7 sensors) Trash-Finder will find the goals and after turning it's back to the goals,proper partition will be placed on against the door by rotation,now the door will be open and the objects fall into the goal box by vibration (it should be said that the bottom surface of every partition is inclined plane).
Trash-Finder's appearance is like a cylinderical vaccume-cleaner with two arms and a three partitioned basket inside and a door in back .Trash-Finder uses 6 stepper motors , a CMOS sensor camera ,an infra red light,7 light sensors ,7 micro-switches and one coil.Movements of the robot are caused by two stepper motors.Two flat typed ballbearing are scrowed to the bottom surface of robot for stability completion.using image-processing,Trash-Finder first navigates objects by camera,then finds the closest one and goes towards it.At this time another photo will be taken for recognizing which object (can,soap or ball) is between arms to rotate proper partition inside the robot in front.If the object is soap,then the program will recognize which alphabet has been written on the soap box.Then it will lift the object and drop it into the appropriate sector of
basket that is now in front.The coil is used as a lock for the door.A weight is hooked to the arms for counterbalancing.For processing the photo & recognizing the objects and alphabets Matlab linking with Visual c++ is used.