Opensource Vacuum Robot

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Re: Opensource Vacuum Robot

Postby bhylak » December 30th, 2011, 11:53 pm

Yes, that is a valid point. Definitely sonar/laser turret.
Ben

Homemade Telepresence Robot:
http://mayarover.blogspot.com/
http://www.instructables.com/id/MAYA-Te ... nce-Rover/

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Re: Opensource Vacuum Robot

Postby sageman » January 1st, 2012, 11:45 pm

mfortuna wrote:
sageman wrote:well neato dont use anything significant an old apple laptop in power and they just makes small squares for the neato so it dont get overloaded


What are you trying to say here?


right try again lol

as the neatos power plant isnt powerful enough to map and everything it needs to do in one go (per room) it breaks that room size into smaller squares of varying sizes (in my experiance)

understand :)
400/disco disassembly's (everything down to the PCB)
http://www.robotreviews.com/wiki/400disco-disassembly

one day many years from now a person will say "right I'll just ROOMBA downstairs" instead of hoover
oh wait I already do :)

main bot: neato xv-15 (Europe xv-11)
to sell (one day): roomba sage and silver (both 400's)
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Re: Opensource Vacuum Robot

Postby bhylak » January 3rd, 2012, 1:20 am

So.. in your experiance, what proof do you have to say that this is in fact the neato's algorythm....
Ben

Homemade Telepresence Robot:
http://mayarover.blogspot.com/
http://www.instructables.com/id/MAYA-Te ... nce-Rover/

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Re: Opensource Vacuum Robot

Postby sageman » January 3rd, 2012, 6:45 pm

first it does about 5 foot of lengh of living room then the other 5 ish feet small connecting hall and about 3 feet of dining room then finishes dining room goes onto hallway does that in one and then onto kitchen does that in one go then finishes

(all measurement are an ish)

if you dont understand iil do a diagram when i get a hdd for the laptop
400/disco disassembly's (everything down to the PCB)
http://www.robotreviews.com/wiki/400disco-disassembly

one day many years from now a person will say "right I'll just ROOMBA downstairs" instead of hoover
oh wait I already do :)

main bot: neato xv-15 (Europe xv-11)
to sell (one day): roomba sage and silver (both 400's)
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Re: Opensource Vacuum Robot

Postby bhylak » January 4th, 2012, 3:01 pm

Because it cleans it in squares does not mean it doesn't map the entire room first.
Ben

Homemade Telepresence Robot:
http://mayarover.blogspot.com/
http://www.instructables.com/id/MAYA-Te ... nce-Rover/

There are only 10 types of people in the world. Those who understand binary and those who don't
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Re: Opensource Vacuum Robot

Postby sageman » February 29th, 2012, 6:44 pm

raspberry pi is now out

http://www.raspberrypi.org/#modelb
400/disco disassembly's (everything down to the PCB)
http://www.robotreviews.com/wiki/400disco-disassembly

one day many years from now a person will say "right I'll just ROOMBA downstairs" instead of hoover
oh wait I already do :)

main bot: neato xv-15 (Europe xv-11)
to sell (one day): roomba sage and silver (both 400's)
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Re: Opensource Vacuum Robot

Postby glnc222 » May 14th, 2012, 2:37 am

Neato navigation algorithm -- limitation
For those programming navigation with Neato Robotics lidar, thought would mention a limitation noted in the manual -- it cannot recognize an area previously occupied when encountering it again around a loop, as through connected hallways in a house. This indicates their software uses lidar only in a relative manner, relative to the space presently scanned, without keeping track of "absolute" location coordinates encompassing the whole house.
Just in case any use had posted elsewhere this possibility to use absolute measures in a limited way reducing computation:

Use start of run position as origin of approximate absolute position coordinates. Estimate a rectangle encompassing the area scan and record the maximum width and height extension, absolutely defining the rectangle. On the first new area, get another rectangle initially bot-relative, then convert to absolute by linking to the original area; then repeat with each new area by linking to the previous and hence to the origin. Record absolute measures (two numbers) for every area. Getting extrema requires a comparison of every point in the scan -- but there's already a lot of processing, and it's integers.
When entering a new area, check estimated absolute coordinates for overlap with the original start position area.
The extra computations are done only at the beginning of navigating new areas, at the boundaries, limiting the burden. Navigation within areas can still be done on the relative basis. Absolute measures just allow connecting the areas to each other properly -- which apparently, from their loop limitation, they did not do.

Sorry not into implementing or testing Neato programming, but make these observations from logical and mathematical considerations in case of utility to programmers.
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Re: Opensource Vacuum Robot

Postby djos » May 14th, 2012, 3:21 am

glnc222 wrote:Neato navigation algorithm -- limitation
For those programming navigation with Neato Robotics lidar, thought would mention a limitation noted in the manual -- it cannot recognize an area previously occupied when encountering it again around a loop, as through connected hallways in a house.


I know they say this but I've had a Neato in 2 house with sections that form a loop, one house with an actual loop and my current with a loop formed by my couches in our open plan dining room/lounge/kitchen and our Neato handles it just fine.
Current Robot's:
Neato XV-11 w/ Pet Brush-bar & Filter, 3500mAh Batteries
iRobot Scooba 380

Previous Robots:
iRobot Roomba 562PE w/ Aerovac Bin & Sealed-bearing CHM
Evolution Mint 4200
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Re: Opensource Vacuum Robot

Postby glnc222 » May 14th, 2012, 10:25 pm

The loop issue was raised March 2012 in the Neato Robotics section thread "Neato XV-11 mapping questions"
http://www.robotreviews.com/chat/viewtopic.php?f=20&t=15819&p=105763&hilit=mapping+loop#p105763
where Neato reiterated it's manual -- which could be way out of date and written years ago. It's kind of legalistic in advice, over-cautious.
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Re: Opensource Vacuum Robot

Postby nmbe » May 26th, 2012, 9:02 pm

Could you incorporate a system for detecting particulates in the airsteam before the HEPA filter?
something simple like a smoke detector could work if it gave a variable output otherwise diffraction (assuming mainly dust uptake). if it could incorporate that along with mapping it'd allow it to not waste time/power recovering clean areas
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Re: Opensource Vacuum Robot

Postby djos » May 27th, 2012, 2:16 am

Hi guys, here's a new android on USB stick computer for $74 that has a lot of potential:

http://arstechnica.com/gadgets/2012/05/ ... umb-drive/

The small computer has an AllWinner A10 single-core 1.5GHz ARM CPU, a Mali 400 GPU, and 512MB of RAM. An HDMI port on the exterior allows users to plug the computer into a television. It outputs at 1080p and is said to be capable of playing high-definition video.

The device also has a full-sized USB port with host support for input devices, a conventional micro-USB port, a microSD slot, and an internal 802.11 b/g WiFi antenna. The computer can boot from a microSD card and is capable of running Android 4.0 and other ARM-compatible Linux platforms.
Current Robot's:
Neato XV-11 w/ Pet Brush-bar & Filter, 3500mAh Batteries
iRobot Scooba 380

Previous Robots:
iRobot Roomba 562PE w/ Aerovac Bin & Sealed-bearing CHM
Evolution Mint 4200
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Re: Opensource Vacuum Robot

Postby mfortuna » May 27th, 2012, 10:22 am

Pretty cool. With a USB to serial converter this could control a roomba over SCI.
Mike
Reds x 3, Dirt Dog, Disco (now a parts bot), Create, Scooba 350, and Security Dawg
Evolution Mint
Neato XV-11
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Re: Opensource Vacuum Robot

Postby jbowser » May 31st, 2012, 10:40 am

Hello all,

I was also playing with the idea of building my own robot vacuum (I think roomba's are more like robot sweepers...), but I couldn't resist buying a roomba 5105 (one of the first models right?) for just 25 euro's!

I was planning on using a hand vacuum (they run on 2.4-3.6V) an arduino as brain and 3 sonars+bumper as sensors and a 1s lipo as battery (either all electronics at 3.3V or using a booster for the electronics).

But I think I would be smarter to use the 5105 as a platform to test obstacle avoidance and I also want to incorporate mapping (in my room it is not necessary, but I want to be able to beat my moms philips homerun!).

I was wondering if it would give this project a higher success chance if there were a couple of different approaches?
The big hurdle seems the choice of uC and what platform, right?
I'd say just about any roomba could be used as a platform, we could always change or add the necessary sensors right?
The final goal is to design and build a superior vacuum bot for the same money (or less off course), that should be the second step, first we need to find out how to make the bot aware enough of its surroundings and a brain capable of processing the "awareness" of the bot.

Just my thought on the matter ;)
I will be dissecting the roomba as soon as I get a working battery...

Jb
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Re: Opensource Vacuum Robot

Postby bhylak » June 22nd, 2012, 8:32 pm

Just an update. If you guys need any help with constructing it, I currently have a CNC Mill and a 3D Printer at your disposal. :)
Ben

Homemade Telepresence Robot:
http://mayarover.blogspot.com/
http://www.instructables.com/id/MAYA-Te ... nce-Rover/

There are only 10 types of people in the world. Those who understand binary and those who don't
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Re: Opensource Vacuum Robot

Postby tdeyle » July 4th, 2012, 4:35 pm

Just thought I would weigh in here with regards to the Neato issue. Information about how a commercial product accomplishes its magic can be found, (albeit cryptically), by checking the patent. It usually it reveals a little more then product literature, but has to be deciphered, most of the time.

Also, the following video holds information: http://www.parc.com/event/1080/neato-xv-11.html.
This video is linked on these forums elsewhere.

Also, for the multiple rooms issue, the PARC video demonstrated that the robot finds the walls, doors, other features etc.; creates a perimeter in its memory, then uses this as a partial map to begin cleaning. This might be an entire room, or a section of the room.

When leaving a room, it marks the old room as visited/cleaned, then travels to the new location. When it returns to the old room, it doesn't need to know the exact coordinates, but it does know that the area has been cleaned and /or visited.
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Re: Opensource Vacuum Robot

Postby hubbleTD87 » December 1st, 2012, 12:16 am

Is this thread dead? Or moved elsewhere? I'm interested in this project, particularly the mechanical aspects. I've had some experience in robotics and mechatronics.
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Re: Opensource Vacuum Robot

Postby Roombascoobatastic » May 15th, 2013, 2:37 am

Pipe dreams
Sincerely,

Rick

Current bots: iRobot Scooba 390, iRobot Roomba 770, iRobot Roomba 560, twin Scooba 230s, Dirt Dog & Robomow.
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