The objective of project three was to combine the skills of a computing and modelling team to create a robotic system for transporting and dispensing recycling into a container. The computing team was tasked with creating a Python program for a Qbot both in a simulation environment and physically to transport and deposit the containers in their respective bin(s). The program had to utilize sensors to detect a bin and travel by following a yellow line.

Simulation Environment

Overview

The Problem

Design a system for identifying, sorting, transporting, and recycling eligible metal, paper, and clear plastic containers that adhere to the specific design constraints of the consumer. The system should work effectively to improve the rate of recycled materials, reducing the number of recyclables incinerated or sent to landfills.

The Solution

When programming, we first considered our design constraints regarding our Q-Arm, making sure the containers are only placed if the number of containers placed won’t exceed 3, the weight doesn’t exceed 90 grams, and the containers all go to the same destination bin. We ensured these constraints were followed by tracking each container's details and using conditional statements to place containers on the hopper only under select conditions. Our Q-Bot travelled by following the lines with a line-following sensor. To turn the bot, when the left or right line-following sensor read 0, we would speed up motors on the same side until the sensor read the line again. The color sensor would constantly be searching for the color pertaining to the containers on the hopper. Once detected, the bot would align itself to the center of the bin using coordinates, and then activate the hopper to deposit. The bot would then continue around the line until back to its starting position. The physical environment worked the same, except it did not have any functions regarding container placing or Q-Arm operation.

Final design by modelling team

Overall Objectives

• Q-Bot can transfer the container to the correct recycling station without fail
• Q-Arm can accurately pick up and place the container on the Q-Bot
• Rotate the hopper to deposit containers within the bin

Tasks - Virtual Environment

• Write Pseudocode for the program
• Write a function to dispense a container
• Write a function to load the container
• Write a function to transfer the container
• Write a function to deposit the container
• Write a function to return the Q-Bot home, ready for another run

Tasks - Physical Environment

• Write Pseudocode for the program
• Write a function to transfer the container
• Write a function to deposit the container
• Write a function to return the Q-Bot home, ready for another run

Skills Applied

Soft Skills:

• Leadership
• Communication
• Time Management

Technical Skills

• Python
• Quanser Interactive Labs

Q-Bot depositing container in bin

Q-Arm transferring a container to the Q-Bot