Xueyu(Sherry) Du

Mechanical and Aerospace EngineeringUniversity of Florida

4/10/2014

ZENITH: A ROBOT THAT CAN AUTOMATICALLY CLIMB UP THE STAIRS

1Introduction

2Project goal

& Tasks

3System

Implementation

Contents

4Current Progress

5Conclusion

Introduction1

UNFIT FOR

HUMAN

Toxic Substanc

e

Explosive

Decrepit House

HistoricalSites

Battlefield

Project goal & Tasks

2

θ

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:Image

Processing

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

n

Current status: 80% complicated;

Major problems: sensor errors;

Future development: accuracy controlling

Question?