1he automat|c dustb|n

Vers|on 1.0 | C8-1echno|ogy

Genera| sub[ect
uslng Lhe 8S Lhrough slmple examples: here, Lhe auLomaLlc dusLbln.

Sk|||s
uslng a dlsLance sensor
uslng a servomoLor

Needed equ|pment
a 8S roboL, a compuLer, Lhe dusLbln assembly

Software
8lS8LL 2

1hemes
8oboLlcs - MaLhs - l1 - LlecLronlcs - Mechanlcs
D|ff|cu|ty


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TABLE OF CONTENTS


GENERAL .................................................................................................................................................................. 3
THE ERA OF HOME AUTOMATION ............................................................................................................................... 3
THE AUTOMATIC DUSTBIN ......................................................................................................................................... 4
POB'S DUSTBIN .......................................................................................................................................................... 5
MECHANICS ............................................................................................................................................................. 6
PROGRAM WITH RISBEE .................................................................................................................................. 11
EXPECTED BEHAVIOUR ............................................................................................................................................ 11
RISBEE PROGRAM .................................................................................................................................................. 12
Robot's instructions .......................................................................................................................................... 13
Complete program ............................................................................................................................................ 13

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GENERAL





1he xxLh cenLury has been a very producLlve perlod for Lhe lnvenLlons almed Lo lmprove
people's way of llfe. We can enumeraLe washlng machlnes and dlshwashers, quallLy lrons,
vacuum cleaners . 1hls ground has been wldely cleared, and Lhe Llme spenL for housework
has subsLanLlally decreased ln Lhe vasL ma[orlLy of homes.
AL Lhe dawn of Lhe 3
rd
mlllennlum, Lhe sLruggle for comforL ls noL over yeL. lf Lhe bulk of Lhe
work has already been achleved, we are now Lrylng Lo auLomaLe as many Lasks as posslble,
expecLlng our house Lo be able Lo malnLaln lLself wlLhouL anyone asklng. lL's Lhls approach
LhaL had glven blrLh Lo home automat|on, ln full expanslon Loday and cerLalnly for many
years.
We can easlly lmaglne Lhe house of Lomorrow cleanlng lLself from floor Lo celllng, servlng you
your meal and chaslng lnLruders. Cn Lhe program: radlaLors adapLlng Lo Lhe exLernal
LemperaLure, roller bllnds closlng auLomaLlcally when Lhe nlghL comes, alarms LhaL can be
acLlvaLed afar .
1o Lall Lhe consLanLly growlng markeL, deslgners redouble efforLs Lo flnd ouL 1PL good ldea
LhaL wlll sLand up among Lhe oLhers. Companles ln Lhls domaln are mulLlplylng Lo follow Lhe
demand, even Lhe schools and Lralnlng cenLres have Laken precedence Lo ensure Lhe
compeLlLlveness of Lomorrow's englneers.
lL's ln Lhls economlcal conLexL LhaL all Lhe school currlculums have been adapLed, rlghL from
hlgh school ln Lechnologlcal classes. 1haL's why we are proposlng here a LuLorlal based on one
of Lhe key elemenL of Loday's home auLomaLlon: Lhe auLomaLlc dusLbln.

The era of home automation

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1he funcLlonlng of an auLomaLlc dusLbln ls slmple: lL auLomaLlcally opens when someone
approaches a hand Lo Lhrow a wasLe, and closes afLer a few seconds. 1he lnLeresL ls flrsL a
maLLer of hyglene, because lL permlLs noL Lo have any physlcal conLacL wlLh Lhe dusLbln, and
evenLually avold bacLerla Lransfers. lL also offers some klnd of comforL, besldes Lhe gadgeL
aspecL whlch ls ofLen very appreclaLed for Lhls klnd of producLs.

The automatic dustbin

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8oboL 8S
uusLbln (conLalner)
uusLbln (cover)
ServomoLor
ulsLance sensor
ServomoLor connecLlon
ulsLance sensor connecLlon








1he funcLlonlng of Lhls dusLbln ls very slmple. We can noLlce ln fronL a dlsLance sensor LhaL
deLecLs Lhe presence of a hand. When lL happens, Lhe servomoLor roLaLes and ralses Lhe
cover. 1he cover sLays open a few seconds Lo allow Lhe wasLe Lo be Lhrown, Lhen lL closes.

ConnecLors are aL Lhe backslde of Lhe roboL. We recommend uslng boLh porLs 1, because
LhaL's how Lhey have Lo be connecLed ln Lhe exerclse of Lhe nexL chapLer.
POB's dustbin
1
2
3
4
S
6
7

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MECHANI CS

1o reallze Lhls assembly, you wlll need Lhe followlng elemenLs:





















8oboL 8S

Servo cache (back)

Screw M4x12

ulsLance sensor

ServomoLor

Screw M4x8

8x8 perforaLed plaLe

Porn

Servo screw

Servo cache (lefL)

Square

nuL M4

Servo cache (rlghL)

Screw M4x23





2
3
4
S
6 1
8
11
9
10
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13
7
13

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1
2
1
3
3
1
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4
1

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S
4
S
1
6
4
S
1

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7
4
S
1
8
4
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1

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9
4
S
1
10
04
S1

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PROGRAM WI TH RI SBEE

8efore concelvlng your 8lS8LL program, lL's lmporLanL Lo deflne all Lhe sLeps composlng lL and
how Lhey are relaLed.





Pere's Lhe behavlour we are expecLlng from Lhe roboL:
- 1he cover ls closed
- 1he dlsLance sensor scans Lhe zone ln fronL of Lhe dusLbln
- When a hand shows up (wlLhln a deflned dlsLance), Lhe cover opens
- AfLer 3 seconds, Lhe cover closes
- 1he sensor walLs for anoLher movemenL

We Lhus need Lhe program Lo lndeflnlLely loop whlle walLlng movemenLs. 1he loop only sLops
when we swlLch off Lhe roboL, l.e. when Lhe program ls sLopped.
1he dlsLance sensor's value has Lo be plcked up aL regular lnLervals. We analyze Lhls dlsLance,
and lf lL ls blgger Lhan a deflned Lhreshold, we conslder LhaL Lhe user has poslLloned hls hand
ln fronL of Lhe dusLbln, expecLlng lL Lo open.
Cnce Lhe movemenL ls deLecLed, we open Lhe cover, and leL lL open for a few seconds,
enough Lo puL Lhe wasLe ln Lhe dusLbln. 1hen we close Lhe cover.

A|gor|thm to |mp|ement:








Expected behaviour

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Pere's Lhe general sLrucLure of Lhe algorlLhm, uslng 8lS8LL elemenLs Lo handle condlLlonal
[umps. 1he lnsLrucLlons glven Lo Lhe roboL wlll be deLalled furLher.






1he compleLe openlng of Lhe cover makes an angle of 90 wlLh Lhe compleLe closure. 8uL
because of servomoLor's sense of roLaLlon, lL's Lhe open poslLlon LhaL ls consldered as Lhe
sLarLlng polnL of roLaLlon (90). So Lhe angle 180 corresponds Lo Lhe closure.


Cover aperture: 90 Cover c|osure: 0
Servomotor pos|t|on: 90 Servomotor pos|t|on: 180







?ou also have Lo deflne Lhe dlsLance from whlch we conslder LhaL we do have someLhlng
passlng ln fronL of Lhe dlsLance sensor. We are uslng here 100 mm, l.e. 10 cm. ?ou can
however, lf you wlsh, seL 130 mm lnsLead: Lhen your dusLbln wlll be more reacLlve Lo Lhe
moves. Cn Lhe oLher hand, Lhe cover may open Loo ofLen because of a paraslLlc movemenL,
wheLher lL should noL.
We can noLlce LhaL boLh Lhe loops are uslng Lhe same flag. We could have use Lwo flags slde
by slde for each loop, for reasons of clarlLy: buL lL ls wlser Lo use [usL one Lo opLlmlze Lhe
funcLlonlng.
RISBEE program

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kobot's |nstruct|ons


8eg|nn|ng of the program

os|t|on the servo at 180
(c|oses the cover)

Green f|ag (1) of |nf|n|te |oop

|ck up the d|stance

If d|stance > 100 mm, [ump to the f|ag
(no hand ahead)

os|t|on the servo at 90
(opens the cover)

Wa|t 3 seconds

os|t|on the servo at 180
(c|oses the cover)

8ack to the green f|ag (1)

Lnd of the program


Comp|ete program