Design and Construction of an Autonomous Cleaner Robot, for an aquatic environment

摘要

In this work is presented an aquatic cleaner robot which recollects solid objects that are found on the surface of the water. The cleaner robot "Kraken" is formed by five modules: control, optoelectronic detection, propulsion, recollection, and deposit systems. For the robot controller system is used the Eyebot controller card, which is composed of a microprocessor Motorola 68332. Through C compiler, it is possible to create programs and routines of control for the robot. The optoelectronic detection system gives to the robot an important grade of autonomy, it means, when the robot detects and recognizes the objects and obstacles during its trajectory, the robot can makes decisions about what to do with each of them. The recollection system of solid objects that is found on the water surface works as a mechanic shovel, which is found in a first state under the water surface, then in a second state, it raises the mechanic shovel to a level where the robot makes the function of recognizing the object, and after in a third state in which if the object is recognized as "garbage", the object is deposited in a temporal container, or in the contrary , if the object is not recognized it is put aside.