Autonomous Robot for Urban Waste Compacting
Bruno Seixas Gomes de Almeida1; Ivan Barbosa Couto Neto1; Armando Carlos de Pina Filho1; Aloísio Carlos de Pina1
1 UFRJ
doi:10.20906/CPS/COB-2015-2321
Resumo
Nowadays, there are robots in the market to automate several household tasks, such as: vacuum cleaners, lawn mowers, pool cleaners, etc. In relation to the urban waste management, the applicable processing ways and final disposal are: compaction, shredding, incineration and landfill. The compaction process aims at reducing the initial volume of waste, favoring their subsequent transportation and final disposal. This task is only performed after the waste collecting from a residence. However, this process could be started from home, through the use of an autonomous robot capable of performing the waste compacting, which motivated this research. Therefore, the objective of this work is to present the design of this robot. Initially, it was determined the type of waste to be compressed and its disposal in the dump. Then, the systems were studied: hydraulic, driving, electronic and control. In the hydraulic system were specified hydraulic actuators, valves, pump and motor. In the driving system was determined the type of wheel and the most suitable configuration for the robot, as well as the motor (coupled to a reduction system). In the electronic and control system were chosen the robot sensors, the controller board (Arduino), the control logic and programming. The elements that make up the compactor robot can be easily found in the market, with estimated final cost not too high, which enables its production. The project benefits are: the waste arrive semi-processed in the treatment plant; a single collecting waste truck can cover a larger area, since it could carry a greater amount of waste per journey; greater availability of street cleaners to work in other parts of the city; and easier to treat in landfills.
Palavras-chave: Home Automation; Urban Waste Management; Mechatronic Design