Robot Bin that comes to YOU

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I decided it was time to make an automatic robot bin that can come to you when you ask it to! It used both dead reckoning and vision-assisted guidance to make it navigate autonomously. I used an NVIDIA Jetson Nano to do the vision recognition, re-training the deep learning model with transfer learning. I also used Deepgram for speech recognition. There's an Arduino controlling the motors and reading the encoders.
CAD and Code: github.com/XRobots/RobotBin
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XROBOTS
Former toy designer, current RU-vid maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.
XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.

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27 ноя 2022

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Комментарии : 387

@jamesbruton Год назад

Robot that delivers beer from the fridge next? Join my Discord to suggest ideas (there's a specific section for that) discord.com/invite/fc6MedG7eW

@nickbaddorf2673 Год назад

That would be cool! I love the video of the PR2 robot doing that! And you could use ROS! You are the one that got me started with Ros!

@TheRealMrSkippy Год назад

I've had that idea for years. Didn't have the time and you're skills to make it yet...

@sandofpv9719 Год назад

I think there is an easier way to do the same effect using only 3 microphones and triangulating their volume. probably have less precision but it is possible. I am inspired by your videos 👨‍🚀🤙🤙🔼🔼🔼✅💪✅

@AuDHDQ Год назад

classic

@jameslamb4573 Год назад

Beer recognition and voice control of same.

@jameswalker199 Год назад

I can't remember if you were the one that mentioned it, or if I just found it independently, but I once saw a racing robot that used light fixtures as a method of localisation - tracking how they moved in the camera to guesstimate how far it moved. It was surprisingly robust as it managed to race around an office with regular and identical, square lights in a tiled ceiling.

@aserta Год назад

PROtip: whenever you have something like those wheels where you need an access hole (for the shaft affixing screw/nut), rather than print with the hole, print without it, just print a plug inside the wheel where it should be and then drill it out later. A stronger wheel will result and it will also print with less distortion as well. If set up right, it's also faster, you just have to tweak the code to print circular and "lay a bead" whenever it's on top of the plug. Not all cases i've printed, since some had some particular interactions with the reinforcement (usually whenever i use square patterns instead of hex or the spiral + ray pattern) but with most of them i've had it print faster than having the printer altogether stop to turn around and print either around the hole or print with scaffolding. One can make these modifications using their modeling software. It's easier in something like SketchUp (at least i find it simpler to just group things in a particular fashion) but there's also ways to trick the slicer into printing something as one from two. Caveat, you need to know your program well, but the effort is worth it.

@ledocteur7701 Год назад

whenever you need a somewhat decently accurate hole 3D printed, it's always a good idea to print it at a smaller diameter then drill it to the right diameter, as this ensures a circular hole and a correct diameter. passing holes for screws that are no big deal, you can always hammer the problem away if you need to, but axle holes should always be drilled afterward if you don't have access to brass/aluminium tubes, and if you do have access to brass/aluminium pipes, insert them into the 3D print rather than directly putting the axle on the PLA, it will decrease friction by a lot.

@Trent-tr2nx Год назад

Huh, I follow that it would be faster (although it then takes time to drill the hole) but I don’t follow why it would be stronger? If you drill the hole, the cylindrical faces of the hole will not be solid plastic but rather voids and infill. In a thought experiment where infill was 0% I’d say that the part would be stronger if you modeled that access hole in.

@ledocteur7701 Год назад

@@Trent-tr2nx yeah I don't understand how it would make it stronger either. making a smaller hole then finishing it afterward for precision sure, but totally removing it just seems stupid.

@jfolz Год назад

Look at using ArUco markers, e.g. available in OpenCV. They're fiducial markers, so you can get size = distance and angle information from them. Recognition is pretty fast and works from quite far away.

@mrdewilliams Год назад

I was about to make this same suggestion, but fortunately read down the comments before I did. I agree. AR targets should give more identifiable locations, along with the other information that should help out the Arduino's positioning algorithms.

@MeriaDuck Год назад

Pipedream sounds a bit like the vacuum transfer pipes of the 20th century, but then with tiny bots and a lot more flexibility. 😍

@laupetre Год назад

Try to use qr codes to encode location around the house. You might even be able to make them invisible if you could have them be viewable only in ir

@jfolz Год назад

Not QR codes. You want fiducial markers so you can easily get distance and angle information out of them. QR codes don't do that.

@graealex Год назад

@@jfolz Both Aruco markers as well QR codes (for targeting, the Micro QR codes might be more interesting) obviously allow for distance and angle information. And why wouldn't you - they have a defined "up" side, and they are supposed to be square, so any deviation from square means you're viewing it from an angle. Distance requires them to be printed at consistent size, obviously.

@laupetre Год назад

@@jfolz the two are not exclusive

@MCRanDeri Год назад

Im using apriltags for that,from my understanding they are fairly easy to identify at a distance plus give you distance and rotation to the camera Sure it doesnt let you encode strings and such but you can assign meanings to the specific id and family of the tag

@jfolz Год назад

@@graealex note that I wrote "easily". You can get this information from QR codes, but they are not meant for this sort of application. One clue should be that each QR code effectively contains three markers at its corners to locate it first. Fiducial markers encode less information, so they can be much simpler and can thus be detected with higher accuracy or from a greater distance and with less processing.

@KenColangelo Год назад

Light fixtures and vents might provide some decent markers in a wide FOV ceiling based vision system. And they're on a very low detail background so perhaps that helps.

@ginemginem Год назад

My guess is that he doesn't have vents, since he's not in NA.

@marknahabedian1803 Год назад

I was thinking light switches and windows since they're permanent/immovable. Overhead lights are good too.

@TheAruruu Год назад

Openings would likely be a fairly good reference point to use. Train it to identify cabinets, door frames, windows, things like that. they don't move, and so long as you can successfully identify 2-3 of them at any given point, it should be able to know its location. You generally try to keep door frames, windows and cabinets unobstructed, so it's unlikely to interfere with anything you would do normally.

@jameshughes3014 Год назад

I love the practical, simple use of AI here. Almost as much as i love the googley eyes on that hungry boy.

@markedis5902 Год назад

With that amount of onboard processing power you could get it to find your voice via the time difference between 2 microphones

@JacobShepherdEngineer Год назад

I'm impressed how you build new projects each week. Great complexity and variety.

@danjeln Год назад

You’ve accomplished something extraordinary here. This is pretty useful ! Thanks

@cho4d Год назад

wow! the only ad segment i was interested in in forever! very interesting if somewhat hyperloopy and mad

@MarkEichin Год назад

What a glorious example of encapsulation - the jetson containing enormous amount of machine vision complexity, state of the art (as of a couple of years ago, at least) cutting edge stuff... which Just Works and sends you "a little to the left" "a little to the right" messages to an arduino and some motors that someone poking at a 1980 Logo Turtle Bot would still find pretty familiar. (The idea that "training an updated machine vision model" is simpler than "configuring RoS at all" is as horrifying as it is accurate :-)

@friedrichhayek4862 Год назад

What is RoS?

@Space-Doge Год назад

Your projects are absolutely AWESOME!

@mattmoreira210 Год назад

"What is my purpose?" "You collect rubbish!" "Oh my god!"

@xavierjiang7112 Год назад

Machine Learning vision just feel like a unnecessary 'catch-all" solution that "just works" but not necessarily well. LiDar sounds cool. Perhaps you should build more stuff with those.

@farn1991 Год назад

That is very inspiring! All those technology... Just to collect litters. And the whole process looks fun, too! It is awesome!

@HelenaOfDetroit Год назад

Great video, as always! Would it be possible to use nfc tags to trigger location data when you don't need the precision of a target? Just thinking they could be easily hidden in all sorts of places and could help the robot keep it's bearings. Idk though...

@vishal01mehra Год назад

Aruco marker or an April Tage is the way to go with visual localisation application! Very Interesting project none the less.

@thefaulnt3562 Год назад

The sound of it pleases me (IDK why I like things that sound like hydraulics)

@p838sfan Год назад

Amazing work as usual!

@electronic7979 Год назад

Excellent project

@wildweasel3001 Год назад

This one is actually a useful idea

@richards7909 Год назад

It’s no Dusty Bin xD Quite enjoyed this. Maybe James could make a mini desk version that uses Alexa or Google etc !

@bbogdanmircea Год назад

Now I want this robot!

@darktherapy Год назад

I don’t know how you have time for all these projects. I’d be happy getting one done never mind 8999 other bins before this!

@PTR-fr2to Год назад

Awesome robot. I really want to built it thanks to you. Have a nice day. :)

@oldcowbb Год назад

you are really throwing everything you have in this one

@2323Magick Год назад

That’s freaking genius.

@darkseid6412 Год назад

If you are just building the cold drink robot for your house then that's simple. the stuff that it can carry is very small, like a soda can so all you need is a high def camera and a turntable then have the cans or anything else on the turntable and start taking multiple shots per second (i am assuming high grade cameras like the ones you use do that)or take a video and use the frames of the video to train the AI to recognize the stuff you want carried, the rest is lidar or radar to locate large items like chairs since all the AI needs to know is just that they are obstacles and to avoid them. with that you can build a robot that can bring you drinks just by saying the name of the drink and no need for targets, although the targets do make it look boston dynamics-esque so that's cool too. also for the floor plan, you can use an open AI for something like road navigation software. you have the dimensions of the room and you have the paths that it can use to travel to the fridge and to you so if a new obstacle is put in its way, it can recalculate using existing dimensions to plot a new course to the fridge as long as it knows where everything is and it can learn how to add new things and remove things from the original map.

@HuskerHornet3145 Год назад

So this is basically junkbot, except with wheels, from the classic internet Lego game “Junkbot” and “Junkbot Undercover”. Sounds satisfying 😊 No more walking around to throw garbage away!

@Dingle.Donger Год назад

This is easily one of the coolest channels on all of RU-vid and it's a crime that this great man doesn't have millions of views on every single video.

@pinaz993 Год назад

The infomercial opening was really nice.

@jamesbruton Год назад

Thanks, I've got more of those.

@circan1 Год назад

For the beer robot, replace the targets with super simple block patterns/QR/ArUco codes made with retro-reflective paint/tape. Use infrared light to identify the retroreflectors even in the dark. Face the camera up with a wide lens to see a decent number of targets placed on the ceiling for reasonable use (and to triangulate more exact positioning). Delivery while watching a movie? Yes, please.

@TheLaszczu Год назад

Would it work with camera facing up on targets placed on ceiling?

@Mike546378 Год назад

reminds me of a much more elaborate version of Colin Furze' robot bin he made years ago. Cool project

@adamhixon Год назад

Now I feel a lot better about my experiences with ROS hearing that even you found the version miss match issue frustrating.

@jamesbruton Год назад

Yeah, took me over a year to work out how to do it, using courses, other projects (which often didn't work well) and also buying a Robotis Turtlebot that worked out of the box to look at.

@vvhitevvabbit6479 Год назад

I'd love to see what you could do with eye tracking. I could certainly see you controlling an RC car or a ridable car simply by looking where you want to go.

@zombiedad Год назад

Nice work!

@jort93z Год назад

When I clicked on this, after youtube recommended it 3 times, i expected it to be a lot more... shit. But it's quite the impressive robot. subbed.

@Savage_granny Год назад

can you tell me where did you buy your jetson nano because I can't find any more ?

@kevinpolesello168 Год назад

have you think to use ARuco markers instead of the two circle one inside the other?

@arrondickens9167 Год назад

Great build. How come you decided to have it turn around and go home, rather than just reverse back and therefore just requiring one target? It could reverse home until the target is small enough, rather than the other way around?

@frankheidemanns5250 Год назад

Thank you for being inspired by my comment a month ago although the result is different than expected! ♥

@JONYghost Год назад

Why not use NMS to reduce multiple detections of the same target and maximize precision?

@julienbietlot3401 Год назад

Is there a good tts and stt embedded solution? Cloud solution are nice but involves connectivity...

@glad2 Год назад

Have you got an estimate of how many miles of printing filament you've gone through?

@3DLL. Год назад

I don't know why James, but you remind me of Rick Moranis building awesome things i love it 😁

@RambozoClown Год назад

Where do you mount the chainsaw?

@sjoervanderploeg4340 Год назад

For speech you can also look at OpenAI's Whisper!

@SteveRowe Год назад

Love your socks, James. I love how you make these projects look so easy. My experience is that getting servo motors and power supplies and controllers working is dauntingly difficult. Any advice?

@jamesbruton Год назад

The Adafruit tutorials are a good place to start: learn.adafruit.com/category/learn-arduino

@kissingfrogs Год назад

he does make it look easy and always amazed how clean the demo rooms are. I would have bits of swarf aetc everywhere after all the tweaks, and remakes.

@elitesennabubble Год назад

it would be a cool idea if a robot could make you a cup of tea and also travel upstairs. I like the lidar videos you do

@ericlewis3444 Год назад

You can see a direct line from James' creations to the robots in Star Wars.

@EcoHamletsUK Год назад

I could use a few of those, or maybe just one if it could climb stairs!

@sgavy Год назад

How to make a beer assistant, without making a beer assistant! 😂

@jamesbruton Год назад

@unknownhours Год назад

I love the googly eyes!

@sss-tw3jh Год назад

Does it have a slow setting?

@repalmore Год назад

Would putting QR codes everywhere and use an app to tell the bin to go to a specific QR code work? Would multiple cameras (3?) be good to improve spatial relation ability be good?

@gregorpamula8939 Год назад

Funny how in lidar video you had wind bottles in the narrow cupboard in the kitchen and now we can see mason jars :-)

@barrybortnick7999 Год назад

Can you please add links for the motors and gear reduction systems? I want to motorize my pepper mill!

@jamesbruton Год назад

I got them from gimsonrobotics.co.uk/t/all-categories/dc-electric-motors but I think they are discontinued now. There are a few others though.

@kissingfrogs Год назад

Origin Shaper Tools supplies that funky tape so its very clever handheld CNC can map its world. So perhaps similar dots on the roof. I have no idea how they use the dots.

@euanmcgill918 Год назад

Do you think you need to put the the camera higher up, so the bin doesn't go blind when the lid is up?

@ark9959 Год назад

Amazing! The motor control could however use some smoothing. The wheels seem to change rotational speed from 0 to full speed as fast as they can. Maybe introduce some acceleration instead? :)

@rklauco Год назад

I wonder if spi encoder from optical mouse woul not fix the problem with slip during dead reckoning...

@jamesbruton Год назад

It would still drift over time

@nottiification Год назад

Next project: A robot that follows you around and deploys a folding lawn chair whenever you stop walking.

@ZenHulk Год назад

How do you go down from the battery gauge wire down to Arduino gauge wire?

@jamesbruton Год назад

Solder?

@scuzzjumper Год назад

We need an "Instant Party" robot that quickly deploys streamers, confetti, balloons, music, lights and a laser projected banner

@freedomhq4075 Год назад

HOLY SHIT BINS!

@TJo63 Год назад

Cool gadget. I want one! 😁 But I half expected there to be a "Like Comment Subscribe" poster under the lid, when it opened at position 1, in the end. Missed opportunity there. 😉

@diamondd77111 Год назад

Use QR looking codes on the floor, they are called fiducials, Amazon uses them for robot navigation.

@cormacmccreary9160 Год назад

It looks like the shopping troly bot from wallace and gromit lol

@madebyjonny7637 Год назад

"What is my purpose?" "You collect trash"

@martylawson1638 Год назад

Awesome trash bin! any reason you didn't use a grid of QR-codes/April-tags on the floor? That's what a lot of warehouse robots use now. (i.e. the Keva robots and clones)

@hollowedge8307 Год назад

Can you make a bipedal robot that can walk up stairs? Then ad that to binbot

@bradley3549 Год назад

Is there anything better than ROS for the rotating LIDAR SLAM setups these days? I'm so jealous of my robotic vacuums, they make it all look easy, and I'd love to take a stab at it to build an oversized Mi/Roborock style vacuum capable of picking up more than half a days worth of dog hair shedding at once. Any wizards out there have suggestions on the best place to start that doesn't involve wading through years of stale doc pages?

@jamesbruton Год назад

It's probably the same navigation algorithm, ROS just wraps it in a ROS service.

@rykerhasyounow Год назад

Are we able to take machine vision from an insta 360 type cam yet?

@jamesbruton Год назад

It would probably detect ok if you had the video feed

@gearhart0steve Год назад

Long time viewer! I just want to know what motor/gearbox/encoder setup you have going on! Any chance on a link where to purchase?

@jamesbruton Год назад

They were from Gimson Robotics a while ago, but I had custom versions made with encoders on.

@Rebar77_real Год назад

It could wait by the door when it thinks it's full. Or follow you around flapping the lid annoyingly for you to empty it, lol. Beers? How about a ceiling claw on cable-cam pulley system like in stadiums or those room scale 3d printers with a pulleyed motor in each corner. Could adapt it to deliver outdoors with a clothesline to keep mum tipsy in the garden, lol. Might be interesting to program, eh? Cheers.

@ku8721 Год назад

Well lately I've been feeling pretty smart with my current project of a radio controlled snowblower... but looking at this makes me feel like a kid playing with Legos!!!

@TSKseattle Год назад

Before 40 years ago: "or, you could get up and walk to the bin" Seriously, I'm now amazed at the programming in my roborock V6 vacuum

@Artaimus Год назад

Any reason you didn't install the buttons on top for easier access during testing?

@jamesbruton Год назад

They are for testing - watch until the end

@NotSomasish Год назад

respect 💀 but I think that home button should be on top of the bin

@user-dg5br2lx1k Год назад

Good robot. This will be cool if robot will coming on charger + - reils automaticly. And if it will have a hand to quick storage of children toys in room. It will save a lot of nervos.

@TomOConnor-BlobOpera Год назад

I look forward to seeing this cleaning up EMFCamp 2024, autonomously.

@jamesbruton Год назад

I may have made some other things by then!

@JoshuaBoyd Год назад

What USB omni mic are you using?

@peter360adventures9 Год назад

Awesome. Like more improvements.

@sillyarms8493 Год назад

I feel like you should be able to have an app that makes the robot come to you and open, or go to the curb and wait for trash pickup.

@IanSlothieRolfe Год назад

“Here I am, brain the size of a planet and they ask me to pick up a piece of paper. Call that job satisfaction? ‘Cos I don’t.” -Marvin

@anon_y_mousse Год назад

Won't be long now before our robot overlords take over.

@ryancoates4054 Год назад

Video idea, I want a robot that takes down trash can for me and brings it back up

@jasonhedtke659 Год назад

This would be cool as a security bot 👀

@pierrec1590 Год назад

I can't believe that with all the design and planning that went into that project, you did not put the buttons at a place where you can access them without bending over behind the machine. Probably the worst place imaginable apart from right underneath the carriage! ;-)

@ColinRichardson Год назад

Somewhere between Colin Furze, and "Stuff I Made"

@azyfloof Год назад

Could you feasibly use wake words with this system? You could say "Bin Bot, come to the table", and it'll come to that location, instead of having to remember location numbers. And then "Thank you, Bin Bot!" to send it back home :D

@JBB685 Год назад

I was about to comment that. He could’ve used any phrase in the world and he chose location 1 and location 2. Made me laugh

@emoutraspalavras-marloncou4459 Год назад

of course, you can integrate with Pycroft Mycroft, where you can easily create a new skill. Digikey has made a video about with Shawn. Or you could integrate GLPT-3 with it or its open source version GLPT-JT (or even only Whisper or Whyper.cpp from GLPT team).

@EaziGX Год назад

Should make it look like the "litter bug" from back to the future 2

@RealAndySkibba Год назад

Know I'm late. Could have it recognize art or photos. That way you can have it understand which room it's in or plot a path without having QR codes or circles etc.

@san3har Год назад

If you slow down to 0.75 at the 3d printing part, it sounds like a soundtrack to some interesting movies

@zaidro1 Год назад

ok it works great the only thing it need to be perfect is be more faster and a little less louder

@misiekroz Год назад

Just an idea: maybe use one of those cheap RFID receivers, code in about 10 cards and glue them down to the floor (with silver tape ofc ;) Mount the receiver on the bottom of your robot facing down. Then teach the robot their relative positions in encoder counts and bam - you have el'cheapo marker system just like in a modern warehouse:)) Not flawless but it'd be fun to see it in action :)