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DESKBOT UPDATE 2

Project Overview

Project Goals:
  • Perform Image segmentation and object detection on a cluttered environment.
  • Enable multiple robot behaviours capable of aligning and pushing objects (within a payload).
  • Enable robot to clean surface using coverage path planning.

DeskBot System Workspace:

DeskBot Overview:

DeskBot gives two task option on the Graphic User Interface (GUI). 1) De-clutter, which de-clutters  the table by putting all the objects lying on the table in its respective place and 2) CleanOMatic, This works only when there are no objects lying on the table. The robot is integrated with a 3D printed brush and a defined map helps the robot move around the table to clean the dust particles on the table and dump the dust into an attached bin to the table.

Figure below shows an overview of the process. First, the GUI gives two options 1) De-Clutter, 2) CleanOMatic. Once the power is on the camera is initiated and it perceives the environment. In our case the office table with objects, and hamster robots. When De-clutter has selected the robot from its location plans a path to move the objects to their end location. CleanOMatic cleans the dust on the table with the help of a 3D printed brush integrated with the hamster robot. The robot moves along a definitive path on in the map to clear all the dust on the table and dump them in a dustbin which is attached to one end of the table. 






Components Required:

•Hardware 
•2D Camera 
•Linux Based System 
•Hamster Robots – 2 
•Office Table 
•Miscellaneous (Pens, Markers, Books, Etc)
•Software 
•Robot Operating System 
•Python 
•Tensorflow, Keras, Pytorch 
•OpenCV 
•GUI Interface


Timeline:
•Literature Survey & Proposal - March 12
•Object Detection and Mask R-CNN - March 26
•Coverage Path Planning - April 9
•Path Planning for Object Position Manipulation - April 23

•Final Integration and Final Report - April 30

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