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Ghetto Roomba
COMPUTER VISION AIDED “CLEANER” ROBOT
Robot has Servos for movement and Pulley with 2 DC motors
Ghetto Roomba COMPUTER VISION AIDED CLEANER ROBOT Robot has Servos - - PowerPoint PPT Presentation
Ghetto Roomba COMPUTER VISION AIDED CLEANER ROBOT Robot has Servos - - PowerPoint PPT Presentation
Ghetto Roomba COMPUTER VISION AIDED CLEANER ROBOT Robot has Servos for movement and Pulley with 2 DC motors Robot Control using: Raspberry Pi and Arduino Arduino Remote Control using IR and Remote Using an IR sensor and library, the
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Robot Control using: Raspberry Pi and Arduino
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Arduino
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Remote Control using IR and Remote
Using an IR sensor and library, the Robot can controlled using a remote from the Arduino All without interfering with the Raspberry Pi’s control and allowing for simultaneous use of pulley and servos
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Pulley Motors are controlled using PWM to change speed and limit torque
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Ultrasonic Object Detection covers camera’s blind spot
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Raspberry Pi
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Raspberry Pi is outfitted with Pi Camera
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Raspberry Pi uses OpenCV 4 for contour recognition based on hue
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Raspberry Pi communicates with Arduino using simple Serial protocol
Command format: <letter>|<duration>|<val1>|<val2>|\n with parameters being optional Response format: <letter><float>| with number being optional Can be used by user at terminal (due to \n) or programmatically Examples:
- m|1000|1
00|180|1 0|180| 0|: Move forward at full speed for 1 second (180 being the degrees the servos are set)
- b|1000
00|: Beep for 1 second
- u: Raise pulley (up) with p response when done
- U: Make ultrasonic measurement, response: U13
13.46| 46| if there is an object 13.46cm away
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Robot grabs batteries and puts them back at their container
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Robot achieves independent control
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Kapenekakis Antheas
2020, COMP513: Autonomous Agents (2016030099)