Final Project

Project Idea

SmartBin:

High-Speed Interception LogicThe SmartBin operates as a Real-Time Interceptor. It doesn't just follow a person; it calculates the physics of a thrown object and moves to the exact X, Y coordinates to catch it before it hits the floor.

SmartBin:

High-Speed Wireless Interception SystemThis project is a high-speed robotics application designed to catch flying waste by predicting its landing coordinates (X, Y) in real-time. 1. Vision & Trajectory CalculationThe Raspberry Pi 5 acts as the primary "Computer Vision Hub."Camera Integration: The Pi 5 is directly connected to the cameras. It receives a high-frame-rate feed (90 FPS) from the Limelight 3A and the Upward Camera.Projectile Tracking: Using OpenCV or specialized vision pipelines, the Pi 5 tracks the trash the moment it leaves the user's hand.Math Engine: The Pi calculates the projectile motion—analyzing the object's arc and velocity to predict the exact $X, Y$ coordinates where it will land.

2. Wireless Communication (Pi 5 → WiFi → ESP32)

Instead of using physical wires, this system uses a high-speed wireless link to remain modular and fast.

The WiFi Bridge: Once the Raspberry Pi 5 knows the destination, it sends the movement data to the ESP32 via WiFi (using UDP or WebSockets for the lowest possible latency).

The Command: The message sent over WiFi contains the specific vector (direction and speed) needed to reach the "catch zone" before the trash hits the floor.

3. Hardware Execution (ESP32 & Omni Drive)

The ESP32 handles the real-time hardware response:

Signal Reception: It catches the WiFi signal from the Pi 5 and immediately processes the data.

PWM Control: The ESP32 generates Pulse Width Modulation (PWM) signals for all 4 motors simultaneously.

Omni-Directional Sprint: Because the bin uses 4 Omni Wheels, it doesn't waste time turning. It "slides" diagonally or sideways at maximum speed to get under the falling object.

The "Catch" Workflow 1) See: Cameras send the "trash in flight" video to the Raspberry Pi 5.

2) Predict: The Pi 5 calculates: "Trash will land at X=150, Y=200 in 0.5 seconds."

3) Transmit: The Pi 5 sends a WiFi signal to the ESP32 with the target coordinates.

4) React: The ESP32 fires the motors.

5) Intercept: The Omni Wheels slide the bin to the exact spot just in time for the catch.

Technical Summary for your Documentation: "The SmartBin utilizes a decoupled wireless architecture. A Raspberry Pi 5 serves as the vision processing unit, calculating projectile trajectories from camera data. These coordinates are transmitted via WiFi to an ESP32 microcontroller, which drives a 4-wheel holonomic (Omni) base for instantaneous mid-air interception."