Purpose: Mechatronics (24-778) class project
Creator: Team F
My Role: Systems Engineer, Mechanical Design
Drivetrain: Two-wheel differential drive.
Controls: BeagleBone Black
- Webcam with dual mirrors
- 6-DOF IMU
- Optical quadrature encoders
Adhesion: Two neodymium magnets suspended beneath the body provide Rollbot a secure grip on the wall.
Movement: The drivetrain allows the robot to move with precision, even on curved surfaces.
Localization: Direct wheel-encoder connection ensures backlash-free wheel measurements, while the IMU monitors the robot's heading.
Defect Sensing: A single camera points at two angled mirrors, allowing it to see ahead and behind the robot - six cells in total.
Image Processing: The camera's images are processed by OpenCV to accurately and reliably detect 'defects' (discolord squares).
Command & Control: Rollbot is initialized and provides feedback using a UDP socket. Camera images are published by the robot's onboard web server. Advanced control and diagnostics are available over SSH.
Survival: All of the electronics and actuators are protected within an incredibly durable polycarbonate tube with aluminum endcaps.