Post on 28-Dec-2015
Xueyu(Sherry) Du
Mechanical and Aerospace EngineeringUniversity of Florida
4/10/2014
ZENITH: A ROBOT THAT CAN AUTOMATICALLY CLIMB UP THE STAIRS
Project goal & Tasks
2
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Goal: Finding stairs and adjusting
driving direction for the robot to climb up
Tasks: Randomly walking;Obstacle Avoidance;Finding colored label;Aligning to the center line;Moving to the idea
direction;Climbing up stairs
d
System Implementation
3
System On
Randomly Walking
IP camera catches
videostream
OpenCV(PC)Color Detection
Colored label? Xbee Arduino Mega 2560
Turn Left/ Right
Centroid=Center?
OpenCV(PC)Distance Determine
Yes
Yes
Ultrasonic Sensors
IR rangefinder
NoSignalSend
No
IP Wireless Camera
Ultrasonic Sensors
IR Rangefinder
Arduino Mega 2560
XBee Series 2 Laptop
Motor Controller DC motor
Tracks
System:Components
Programming:Motion Control
Randomly walking;Obstacle Avoidance; Adjusting to align to the center of the label;
Turning a certain angle Walking a certain distance
4Current Progress
Frame of trends fully designed & assembled;Chassis fully designed & assembled;Obstacle avoidance achieved;Color detection & tracking centroidXBee communicationMotion control achieved
5Conclusio
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Current status: 80% complicated;
Major problems: sensor errors;
Future development: accuracy controlling