Abstract
Automatic garbage collection site for removing garbage from AMR and putting the garbage into garbage depot in good order has been developed. This system is composed of five subsystems: (1) A servo-controlled orthogonal type XYZ-crane; (2) A garbage bag gripper which has two rollers at the tip of its finger; (3) A sensor system to detect distribution of garbage bags on floor and on AMR; The irregularities of the garbage-bag can be detected as distance image by scanning ultrasonic range sensor; (4) A communication device using IR for communicating with AMR; (5) Computer system for control whole systems. Moreover an algorithm for determining suitable position to taking and putting garbage bag from distance image has been developed. The experiments using all of the above-mentioned subsystems have shown practicality of this system.
