ROBOBIN AGV-CL1 // TECHNICAL PERSPECTIVE
1:1 METRIC CAD VIEWPORT • ORTHO-ISOMETRIC PROJECTION
307.0 × 352.6 × 378.0 mm
Scroll for Laser Cut Report ↓
Section 02 // Specifications

RoboBin Physical & Fabrication Metrics

Derived geometric properties from 3D tessellation and laser cutting CAM layout for the autonomous mobile waste sorting airframe.

3D Bounding Envelope 307 × 353 × 378 mm Width × Depth × Height
Displacement Volume 1,372.7 cm³ 1.373 Liters displacement
Wetted Polyhedral Skin 1,310.65 cm² 130,296 Facet Tessellation
Laser Stock Acrylic 6 Sheets (300×450mm) 2.0 mm Extruded Acrylic
Total Parts Yield 30 Components 9 Unique Part Profiles
Material Efficiency ~72.4% Yield Optimized 2D sheet nesting
Part Separation Bridge 3.0 mm Spacing Zero kerf butt-glued joints
Center of Gravity Y = 48.5 mm Low-CG anti-rollover base
Section 03 // Cutout Drawings

Laser Cutting Profiles & Part Dimension Callouts

Strictly black and white vector engineering drawings for all 6 acrylic sheets (300 × 450 mm). All part outlines feature annotated dimension callouts. Hover on any part to inspect component telemetry.

Download Sheet SVG
SHEET 01 OF 06 | P1 (1x), P5 (1x), P6 (7x) • 9 PARTS
STOCK: 300 × 450 mm • 2.0 mm ACRYLIC • 1:1 TRUE METRIC
P1
Solid Base Plate (300.0 × 300.0 mm)
Solid bottom chassis plate for motor & battery cradle. Flush sheet edge.
Section 04 // Nest Layout

Complete 6-Sheet Nesting Plan

Global manufacturing overview showing the 30 components nested across six 300 × 450 mm raw acrylic stock sheets with 3 mm inter-part separation.

RoboBin 6-Sheet Laser Cut Nest Layout
Click image to open high-resolution manufacturing layout (3276 × 1040 px)
Section 05 // Mission Control

Autonomous Hospital AGV Dispatch & Route Simulator

Interactive clinical ward spatial simulator demonstrating autonomous navigation between patient beds, closed-loop MPU6050 turn maneuvers, and real-time UART serial telemetry execution.

WARD 4B // ORTHOGONAL NAVIGATION GRID
STATUS: IDLE DOCKED
ROOM 101 BED 01 [POST-OP] ROOM 102 (ICU) BED 02 [BIOHAZARD] ROOM 103 BED 03 [GENERAL] BAY A CHARGING DOCK / BASE CENTRAL HUB NURSE STATION BAY B DISPOSAL DISPATCH DOCK DOCK (HOME) BED 01 BED 02 [ICU] BED 03 NURSE STN DISPOSAL
VEHICLE TELEMETRY READOUT
SYSTEM STATE STATIONARY DOCKED
TARGET STATION BAY A // CHARGER
POSE COORDINATES X: 160 • Y: 350 cm
HEADING (MPU6050) 0.0° [LOCKED]
LAST SERIAL CMD NONE
BATTERY / LOGIC 8.24V (2S) • 5.01V REG
LIVE UART SERIAL CONSOLE (9600 BAUD) CLEAR
[SYSTEM] PROTOCOL BRIDGE INITIALIZED (HC-05 / USB CDC)
[SYSTEM] ROBOT READY AT DOCK // AWAITING COMMAND
Section 06 // Sorting Mechanism

4-Quadrant Indexed Rotary Sorter & Hatch Actuation

Interactive mechanical simulation of the internal rotary indexing carousel. The MG995 high-torque servo rotates the internal partition to align the designated quadrant beneath the gravity-drop intake hatch.

CAROUSEL DRUM TOP CROSS-SECTION (Ø 280 MM)
SERVO 1: 0° [HOMED]
B1 RECYCLABLE Paper / Box B2 ORGANIC Food / Bio B3 SHARPS Syringe / Vial B4 BIOHAZARD Gauze / PPE HATCH: CLOSED
SIMULATE ITEM INTAKE

Select a test medical waste item to drop into the intake hopper. The system simulates optical beam trigger, AI classification, MG995 indexing, and gravity-drop actuation.

INTAKE BEAM SENSOR CLEAR [IDLE]
EDGE AI CLASSIFIER STANDBY
MG995 DRUM SERVO 0.0° [HOMED]
TRAPDOOR HATCH SERVO CLOSED (LOCKED)
CHAMBER INVENTORY COUNTERS
0 B1 RECYCLE
0 B2 ORGANIC
0 B3 SHARPS
0 B4 BIOHAZARD
Section 07 // Architecture & Roadmap

Command Language Protocol & 4-Phase System Roadmap

Unified hardware abstraction layer establishing rigid communication specifications between the embedded Arduino microcontroller and high-level controllers (Android App / Raspberry Pi 3B+).

HARDWARE ABSTRACTION LAYER (HAL) // UNIFIED COMMAND PROTOCOL
Command Meaning & Function Sender (Phase 1) Sender (Phase 3) Arduino Response
F<cm> Drive forward specified distance (defaults to 300cm in Phase 1) with closed-loop MPU6050 yaw heading stabilization Android App (BT HC-05) Raspberry Pi (USB CDC) DONE\n
L / R Execute sharp 90° orthogonal turn (Left CCW / Right CW) using integrated gyro yaw feedback Android App (BT HC-05) Raspberry Pi (USB CDC) DONE\n
X Emergency Stop: instantly disables H-bridge motor driver outputs and halts ongoing routines Android App (BT HC-05) Raspberry Pi (USB CDC) STOPPED\n
B1 – B4 Run multi-stage sort sequence: rotate carousel drum to section 1–4, open hatch, hold 1.5s, close hatch, return to home Android App (Manual Test) Raspberry Pi (Auto AI) DONE\n

Core Architectural Rule: In Phase 1, the smartphone sends these ASCII strings over Bluetooth. In Phase 3, the Raspberry Pi 3B+ sends the exact same commands over a USB serial cable. The Arduino firmware remains 100% identical throughout the lifecycle.

Phase 01 // Baseline
Make It Move
Dead-reckoning locomotion with closed-loop gyro heading correction and Bluetooth control.
  • Arduino Uno + Dual DC Motors
  • MPU6050 IMU gyro yaw stabilization
  • HC-05 with 5V-to-3.3V resistor divider
  • Independent motor battery supply
ACCEPTANCE: 5x 3m runs within ±15cm; 10x 90° turns within ±5°.
Phase 02 // Mechanics
Sorting Mechanism
Multi-chamber indexing carousel drum and gravity-drop intake hatch actuation.
  • MG995 metal gear carousel servo
  • Secondary hatch trapdoor servo
  • Dedicated 5V 3A isolated buck converter
  • Calibrated 4-quadrant angles (~60° separation)
ACCEPTANCE: 10 sort cycles per section (40 total) with 0 jams or brownout resets.
Phase 03 // Intelligence
Connect The Pi
Autonomous Edge AI classification via TensorFlow Lite and automatic serial dispatch.
  • Raspberry Pi 3B+ + Pi Camera
  • Quantized MobileNet INT8 TFLite model
  • Internal chute LED ring illumination
  • Hands-free B1–B4 command dispatch
ACCEPTANCE: Item dropped into chute auto-sorts correctly at least 8 out of 10 times.
Phase 04 // Deployment
Full Facility App
Drag-and-drop floor navigation, waypoint route planning, and ultrasonic safety override.
  • Hospital grid layout route planner
  • Sequential F / L / R command buffering
  • Pi 3B+ Wi-Fi access point bridge
  • HC-SR04 ultrasonic collision cutoff
ACCEPTANCE: Autonomous room-to-room waypoint patrol with obstacle auto-halt.
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