VAR Rover

2022-ECE, 22-PW-1st, 22-V-HM

The objective of this project is to create a remote controlled, all-terrain rover with height adjustment and automatic leveling capabilities for 360-degree camera equipment for the VAR Lab.

 

Team Members

Chadwick Kypta | Caleb McDowell | Zachery Morgan | Mason Nolan |

Project Poster

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Project Summary

 

Overview

The Virtual/Augmented Reality Lab at Penn State Behrend creates virtual/augmented reality solutions for the modern world. One of their many projects includes making virtual tours of different locations, like the Wintergreen Gorge. The problem that they encounter is the highly repetitive process that it takes to capture photos of these environments. They must set up their tripod, adjust the height of the camera, level the camera to the environment, and then take the picture. They must then move it all about a yard away and repeat the whole process.

Objectives

  • Create an auto-leveling device to automatically level their camera/scanner.
  • Create a height adjustment device to lift the auto-leveling device and attached camera.
  • Develop a drivetrain to move the height adjustment/auto-leveler/camera.
  • Develop a power-distribution system to power all subsystems.

Approach

  • Held multiple meetings with our sponsor to keep in touch with them so our final outcome would be sufficient to their needs and requirements.
  • Brainstormed possible leveling devices, height adjustment devices, and came to a final conclusion.
  • Concluded we will design a quad-pod for the auto-leveling device and a scissor lift for the height adjustment device.
  • Created a CAD prototype of the scissor lift.
  • Created parts lists and ordered parts in January, February, and March.
  • Created a prototype auto-leveler. Used the prototype to develop PID loop code that would control the speed of the leveler and keep it stable.
  • Fabricated the auto-leveler. Tuned constants of the PID loop for the fastest and most stable response time to level.
  • Fabricated the scissor lift and mounted it to a temporary chassis.
  • Programmed the control system to operate all subsystems while monitoring safety sensors.
  • Tested all systems so they all work simultaneously.

Outcomes

  • The rover with the temporary chassis can be seen in the photo to the right. All systems are fully functional.
  • The VAR Lab will have a reduction of time for one capture from the typical 30 seconds to approximately 5 seconds.
  • This will reduce project times from days with the previous process to hours with this new process.