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In the (false) hope that this will help keep the space cleaner, this project aims at performing a brain-transplant to one of the robot vacuum cleaners at the space to improve its ability to navigate and connect it to the space's IRC. | In the (false) hope that this will help keep the space cleaner, this project aims at performing a brain-transplant to one of the robot vacuum cleaners at the space to improve its ability to navigate and connect it to the space's IRC. | ||
= Plan = | = Plan = | ||
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| B7 || Left motor IN-A || To IN-A of H-bridge of left motor | | B7 || Left motor IN-A || To IN-A of H-bridge of left motor | ||
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Revision as of 20:02, 10 April 2023
| SpaceVacuum | |
|---|---|
 | |
| Participants | Giorg10 |
| Skills | Electronics, Robotics, ROS |
| Status | Active |
| Niche | Yes |
| Purpose | Clean and tidy HAAHAHA space |
| Tool | No |
| Location | Around the space |
| Cost | Not a lot |
| Tool category | Electronics |
SpaceVacuum Property "Tool Image" (as page type) with input value "File:{{{Picture}}}" contains invalid characters or is incomplete and therefore can cause unexpected results during a query or annotation process. {{{Picture}}} {{#if:No | [[Tool Owner::{{{ProjectParticipants}}} | }} {{#if:No | [[Tool Cost::Not a lot | }}
In the (false) hope that this will help keep the space cleaner, this project aims at performing a brain-transplant to one of the robot vacuum cleaners at the space to improve its ability to navigate and connect it to the space's IRC.
Plan
- Reverse-engineer the robot's PCB
- Replace the MCU with a custom controller
- Set up a Pi with ROS + nav-stack
- Write a ROS driver to link to said custom controller
- Make an initial 2D map of the space
- Write a ROS driver to act as a bot in the space's IRC
This should be enough to get some basic behaviour.
Extensions
Lost more could be done.
- There are 3D cameras like the Kinect and D-Lite, these could be used to make/update a 3D map of the space.
- There is a horn, could be linked to a camera to horn at people that don't get out of the way.
- A camera on the front of SpaceVacuum that streams live on YouTube/Twitch
- Add your silly idea to this list
Progress
Currently busy with step 1, RE'ing the PCB.
Reverse-engineering
The robot's PCB is a very dense, and a 4-layer one... a bit of a PITA to RE, but it will slowly get done.
- MCU: STM32F030C8
- H-bridges: PT5126
- Comparators: LM393 (function not known to this day)
- Step-down DC-DC: A5268
- Battery: 3S Lithium (originally 3x 18650 @ 2.2 Ah)
- MOSFETs: STP4435
The bumper sensors are IR phototransistors (for durability, perhaps?) The motor encoders are also optical, and very high-precision (Hz / m: TBD)
MCU pin-out
| Pin | Function | Description |
|---|---|---|
| B7 | Left motor IN-A | To IN-A of H-bridge of left motor |