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Lazy Cleaner 9000

A robot that can clean an area of human liter in an autonomous fashion for easier disposal.

BDMBDM
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Building a set of robots capable of cleaning up an area this includes the beach, roadways, parks, and maybe my backyard. They would employ machine vision and R2R communication. Trash accumulates in a bag within the robot and is deposited when full. GPS coordinates are recorded to make this more like a scavenge hunt for either other humans or machines to come and pick up the consolidated waste package.OFFICIAL 2 MIN VIDEO:https://youtu.be/LI21Qfelm6AHIGH LEVEL DOC:https://github.com/TheOriginalBDM/Lazy-Cleaner-9000/blob/master/docs/clean_sweep_diagrams.pdf

Step 1....

Capture an overall RGB value for the video and use that to help discriminate against "natural" objects. It is far from perfect but seems to do the job for now.

No filter so every object detected is visible.With background AVG (top left is avg BGR)

2. Building the arm

Starting off with the shoulder joint.

  • First make or buy a servo bracket. I made one out of some HDPE cutting board and attempted to flame bend it. Bad idea, looks like crap but works. I will post the specs so you can easily replicate with a saw and drills.
  • Next take (4) 4-40 machine screws and (4) 6-32 machine screws (trimming was required) and bolted to the bracket.
  • Assemble the mess and admire.


Almost completed shoulder joint. Waiting on parts.

I then created an arm out of a popup tent whose joins broke. I figure for this prototype it will work, at least the prototype.

The rough dimensions are 6" and 12". I decided on this based on a crab diagram and since my truck is 35" wide divide that by 2 and then factor in the joints. About 18" of total arm is halfway to the mouth. The small metal piece was milled to insert into the tube and allow for attaching to the up/down servo.

Final arm complete. Threaded rod, numerous servos, and tons of sweat in filing/assembling. Looks like around 20in" long which might require some real servos but we will see how these "hi-torque" labeled ones work.

Mount the arm to the robotic platform (power wheels in this case) :)

Simulate some trash (for now)... Lady in the background was not too happy about me using her toy.

  • 1 × Raspberry Pi 2 DEV-13297
  • 1 × Rasp. Pi NOIR cam DEV-12654
  • 1 × USB Web Cam
  • 1 × Steering Motor controller Pololu Jrk 12v12 USB Motor Controller with Feedback
  • 1 × Drive motor controller Pololu Simple High-Power Motor Controller 18v25

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  • cie_2000 color diff

    BDM08/19/2015 at 17:55 0 comments

    Color diff. is now implemented and give a nice easy numb of how close 2 "objects" are in color. No more RGB rough approximation.

    Tonight I will get the code on GITHUB so anyone can look at the rough code. It needs lots of tweaking (format, comments, faster routines, etc....).

  • Entry complete! (I hope)

    BDM08/17/2015 at 18:04 0 comments
  • Found what I was after

    BDM08/14/2015 at 15:05 0 comments

    Another quick search on Inverse Kinematics for Raspberry Pi turned up a project for the meArm that is exactly what I was thinking about. I have forked a copy to my account in case I need to make changes. Once this is implemented I can put X,Y,Z (fake Z) coordinates on the trash and have the arm navigate to the specified location. Once I have this implemented it will complete Phase 1 of the project in being able to detect trash and pick up. The next milestone will be getting the robot to move to trash out of reach, pick up, and navigate to next piece until it looks clean.

    https://github.com/RorschachUK/meArmPi

  • Back at it again

    BDM08/02/2015 at 03:38 0 comments

    Big dog and I were finally able to get into the garage and finish building the arm. Went smoother than I thought even though it was at least 100 degrees in the garage. Enjoy the pics. Yes big dog left me 10 minutes into building to do his own thing.

  • Machine learning arm?

    BDM06/27/2015 at 15:16 0 comments

    I did a little research yesterday in how to figure out the best way to have the robot pick up objects and place into "the mouth". This weekend @ night I'll look more into this but I may need to install PyBrain onto the Pi to assist with this. It seems like one way to to this. I'll also post more details on the mouth. I have some roomba wheels which will feed pull objects in :).

    I am new to robotics to I have a theory (which is probably wrong). Do I really need depth? Can it be simulated with a single camera? Is everything just a co-ordinate since all distances are limited by the arms (move arm to approximate coordinate, distance measure to object on arm, finish grasp)?

    just in case I'm keeping these links safe for later.

    Kinect stuff:

    http://openkinect.org/wiki/Main_Page

    Machine Learning Links:

    http://pybrain.org/

    http://deeplearning.net/

    http://www.cs.ubc.ca/research/flann/


  • Claw in action.

    BDM06/17/2015 at 01:18 0 comments

    Tomorrow I will add the elbow and hopefully by Friday I will have a shoulder working. That would complete the arm's since the other side is just built in reverse.

  • Name change and greenlets

    BDM06/15/2015 at 18:11 0 comments

    Family said change the name back to my lazy 9000 series. Done! Moving on I sort of mapped out the flow of data and much is to be done. I am looking for an python actor framework to use since so many moving parts and checks are involved. For now I am going to use gevent to keep moving ahead. The servo controller is out for delivery today as well.

  • Paper arm test

    BDM06/12/2015 at 19:43 2 comments

    Builta quick prototype of what the claw will be to grasp objects. Once I can have a demo working I will move to aluminum. PWM code coming this weekend.

  • trashbot or poopbot, you decide...

    BDM06/06/2015 at 02:15 0 comments

    Uploaded a few pics for Mike but the garbage eating beast is still in hiding. Just think of a crab w/o legs and other features, that is my proto bot. Images shows easy identification of objects of non-earth tones with area as the number presented for each rectangle. Per wife's suggestions if this does not make it to the next round it will be a pooper scooper for our 3 dogs that crap about 50lbs (seems like) a day in the backyard.

  • Pi time

    BDM05/29/2015 at 00:31 0 comments

    Hardware has arrived. Time to upload what I have worked on and see what happens.

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Mike Szczys wrote 06/03/2015 at 16:58 point

Cool idea. You should put a picture (your flow chart or other) in the main image area so this project has a thumbnail.

  Are you sure? yes | no

BDM wrote 06/10/2015 at 01:33 point

Got initial pic. completed and a small video.  Time to work on the fun part.

  Are you sure? yes | no

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