MAE 189 Capstone Design Midterm Presentation

Beach Cleaning Robot

Coastal Crusaders (Team #6)

Week 5

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Problem Definition

Goal: help reduce coastal trash pollution/ aid coastal cleanup efforts

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Method: Design, build, and test a remote-controlled robot that can:

• Clean beaches
• Collect plastic water bottles and snack bags/containers
• Maneuver on a variety of sand types

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Figure 1: Coastal Trash Pollution (Carroll, 2017)

Brianna Sandoval

Problem Definition

Local beaches surveyed:

• Corona del Mar
• Pirates Cove
• Newport Beach

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• Average trash depth: 0.5 cm
• Greatest trash concentration per square mile:
• 1 bottle cap
• 1 snack bag
• 5 wrappers
• Sand quality: Loose, fine to medium grit

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Figure 2: Corona del Mar Trash

Brianna Sandoval

Design Attributes Table

Brianna Sandoval

Requirements

Requirements:

1. Should pick up and store at least 5 water bottles
2. Should pick up and store at least 10 snack bags
3. Storage area shall be at least 12 in x 12 in x 8 in
4. Should be able to operate with at least 5 lbs of stored weight
5. Shall be controller operated
6. Controller operation range should be a minimum of 5 ft
7. Shall operate for at least 30 min
8. Shall not be louder than environmental ambient for local OC beaches, 65 db
9. Shall cost no more than $300 to manufacture

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Brianna Sandoval

Concept Selection- Drive Train

John Patrick Ramos

Preliminary Calculations- Drive Train

Assumptions:

• Robot weight: 7 lbs or 3.17 kg
• Additional weight from trash: 5 lbs or 2.26 kg
• Max speed: 5 mph or 2.24 m/s
• Friction Coefficient of loose sand: .2 (Varghese, 2022)
• Wheel radius: 59.5 mm

Equations:

• F_i=ma
• F_f=𝝻*m*g*cos(Θ)
• F_t=F_i+F_f
• T=F_t*r
• ⍵=v/r
• P=T*⍵

John Patrick Ramos

Calculations:

• F_i= (3.17 kg + 2.26kg) * 9.81 m/s^2 = 53.27 N
• F_f= 0.2 * 53.27 * cos(0) = 10.65 N
• F_t= 53.27 N + 10.65 N = 63.92 N
• T= 63.92 N * 0.0595 m = 3.8 Nm
• T_wheel= 3.8Nm / 4 = 0.95 Nm/wheel
• ⍵= 2.24 m/s /0.0595 m = 37.6 rad/s
• P=3.8 Nm * 37. 6 rad/s = 143.1 W

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Concept Selection- Trash Collection

Kevin

Preliminary Calculations- Trash Collector

Assumptions:

• Pivot point from the scoop to the storage area is 2 ft or 0.6 m
• Arm mechanism will weigh no more than 1 lbs (0.4536kg) with an extra 1 lbs (0.4536kg) of trash
• Maximum operational speed of 0.82ft/s or 0.25m/s
• 6 motors used rated for 0.8A
• Operating time required is 0.5h

Equations:

• F_i = m * a
• T = F_i * r
• ⍵ = v/r
• P = T * ⍵
• I_T = I_M * n
• C = t * I_T

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Kevin

Arm Calculations:

• F_{i, bottle}= 0.4536kg * 9.8 = 4.45N
• F_{i, Mechanism} = 0.4536kg * 9.8 = 4.45N
• F_t= 4.45N + 4.45N = 8.9N
• T = F_t * 0.6m = 5.34 N/m
• ⍵ = 0.25m/s / 0.6 = 0.412rad/s
• P = T * ⍵ = 2.225W

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Battery Calculations:

• I_T = 0.8A * 6 = 4.8A
• C = 0.5h * 4.8A = 2.4Ah

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Proposed Design

• Rover type chassis
• Aluminum 6061, 90 degree angle
• Shovel with holes
• 2 motors
• Wheels (4)
• Direct drive
• Electrical components in the back
• Position acts as counterweight
• Arduino encapsulated to add water and sand resistance

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Niko

Figure 3: Differential Drive (Srebro, 2010)

Bill of Materials

Niko

Budget = $300

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Future Work

Niko

Questions, Concerns, and Resources

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• Guidance for electrical components/ circuit making and programming
• 3D printer with 12 in x 12 in bed capacity
• Are we allowed to use materials already in our possession?
• For our proof of concept, will it be okay for us to use only empty water bottles and chip bags?
• Preliminary calculations take into account full water bottles

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Group

References

Carroll, L. (2017, July 16). Environmental Groups and Businesses Beginning to Say No to Straws. Retrieved from The Press of Atlantic City: https://pressofatlanticcity.com/news/press/environmental-groups-and-businesses-beginning-to-say-no-to-straws/article_ae1b41ac-05d7-5f0d-b49c-554a0ca2d5fb.html

Cieza, O., Ugarte, C., Gutiérrez, E., García, J., & Tafur, J. (n.d.). Prometeo: Beach Cleaner Robot.

Ichimura, T., & Nakajima, S.-i. (2016). Development of an Autonomous Beach Cleaning Robot "Hirottaro". Proceedings of 2016 IEEE International Conference on Mechatronics and Automation (pp. 868-872). Harbin, China: IEEE.

Praveen, R. (2020). Design experimental of RF controlled beach cleaner robotic vehicle. IOP Conf. Series: Materials Science and Engineering 993 (2020) (pp. 1-6). IOP Publishing.

Srebro, A. (2010, January). Java simulator for an autonomous mobile robot operating in the presence of sensor faults. Retrieved from Research Gate: https://www.researchgate.net/figure/The-moving-possibilities-for-differential-steering-system_fig2_228457498

Varghese, D., & Mohan, A. (2022). Binman: An Autonomous Beach Cleaning Robot. 2022 IEEE 2nd Mysore Sub Section International Conference. IEEE.

Varuneshreddy, N., & Nikhil, K. (2018). Garbage Collection Robot on the Beach Using Wireless Communications. International Journal of Research in Engineering, Science and Management, 305-307.

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