senior design 1 team bull trout project: elevator navigating robot team –kelly kofoed –nate...
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Senior Design
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Team Bull Trout Project: Elevator Navigating Robot
• Team– Kelly Kofoed– Nate Whitmore– Shane Moser– Zach Uhles
University of Portland School of Engineering
Advisor: Dr. Lu
Industry RepresentativeMr. Dennis Erickson
Affiliation: Robotics
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Introduction
• Robotics: Elevator robot using computer vision– 3rd floor of EGR to 2nd
• Performing many service tasks– Deliver supplies
– Assembly line
– Hazardous conditions
– 24/7
University of Portland School of Engineering
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Systems
University of Portland School of Engineering
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Our Goal
• Locate the elevator hailing button• Calculate distance and maneuver to hailing button• Robotic arm will press button• Maneuver in front of door• After door opens, move inside elevator• Locate button panel & push 2nd floor• Maneuver in front of door• Exit elevator after reaching the desired floor
University of Portland School of Engineering
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Things out of our scope…
• Navigating through hallways– Must have elevator in sight upon start-up
• Going between many floors (just 3rd to 2nd)• Account for unknown objects in robots path
– Must have clear path
– Kill switch for safety
University of Portland School of Engineering
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Scorecard
• Design Document v. 0.9 - completed
• Design Document v. 0.95 - completed
• RS232 communications between MB & PIC
• Captured image using Frame Grabber/Camera
• Repair back wheels - completed
University of Portland School of Engineering
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Additional Accomplishments
• Installed new motherboard
• Re-installed Windows XP
• Moved with a C++ program– Calling Autohotkey
University of Portland School of Engineering
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Plans
• Finish Design Document v. 1.0
• Test camera operations in elevator area
• Fix motherboard boot error
• Develop MB/PIC micro control scripts
• Finish RS232 communications between MB & PIC
University of Portland School of Engineering
Senior Design
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MilestonesStatus Description Original
TargetPreviousTarget
PresentTarget
completed Frame Grabber/communication 04 Nov 11 04 Nov 11 04 Nov 11
completed Robotic Arm Communication 04 Nov 11 04 Nov 11 04 Nov 11
completed Design Doc v.0.9 12 Nov 10 12 Nov 10 12 Nov 10
completed Func. Spec v.1.0 22 Oct 10 22 Oct 10 14 Oct 10
completed Final Budget 12 Nov 10 12 Nov 10 12 Nov 10
completed Design Doc v.0.95 26 Nov 10 26 Nov 10 19 Nov 10
on time Design Doc v.1.0 03 Dec 10 03 Dec 10 03 Dec 10
on time Final Report 1st Draft 20 Mar 11 20 Mar 11 20 Mar 11
on time Final Report v. 0.95 01 Apr 11 01 Apr 11 01 Apr 11
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Concerns/Issues
• Concern: Nate is now working the swing shift from 12pm to 10:30pm– Fix: team meetings same time, Skype at work
– Fix: Meet in the mornings during no class sessions
• Concern: Motherboard took 10 times to boot– Fix: Search for error message and fix it this week
– Fix: replace motherboard
– Fix:C7VCM2 drivers
University of Portland School of Engineering
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Conclusions
• Frame Grabber is capturing pictures
• Design Document 0.95 sent to industry Rep.
• Back wheels were fixed
• Fix Motherboard
University of Portland School of Engineering