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 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

Pulley Motors are controlled using PWM to change speed and limit torque

Ultrasonic Object Detection covers camera’s blind spot

Raspberry Pi

Raspberry Pi is outfitted with Pi Camera

Raspberry Pi uses OpenCV 4 for contour recognition based on hue

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

Robot grabs batteries and puts them back at their container

Robot achieves independent control

Kapenekakis Antheas 2020, COMP513: Autonomous Agents (2016030099)