Recycle Sorting Robot: 15 Cov Kauj Ruam (nrog Duab)

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:26

Koj puas paub tias qhov nruab nrab kis kab mob hauv cov zej zog thiab cov lag luam muaj txog 25%? Qhov ntawd txhais tau tias yog ib ntawm plaub daim ntawm kev rov ua dua tshiab uas koj muab pov tseg tsis tau rov siv dua. Qhov no yog tshwm sim los ntawm tib neeg ua yuam kev hauv cov chaw rov ua dua tshiab. Kev lig kev cai, cov neeg ua haujlwm yuav txheeb cov thoob khib nyiab rau hauv cov thoob sib txawv nyob ntawm cov khoom siv. Tib neeg raug khi ua qhov yuam kev thiab xaus rau qhov tsis txheeb cov thoob khib nyiab kom raug, ua rau muaj kab mob sib kis. Raws li kev ua qias tuaj thiab kev hloov pauv huab cua tau dhau los ua qhov tseem ceeb hauv lub neej niaj hnub no, kev rov ua dua tshiab yog ib feem loj hauv kev tiv thaiv peb ntiaj chaw. Los ntawm kev siv cov neeg hlau txhawm rau txheeb xyuas cov thoob khib nyiab, cov pa phem yuav poob qis, tsis hais txog qhov pheej yig dua thiab muaj txiaj ntsig ntau dua. Txhawm rau daws qhov no, Kuv tau tsim cov khoom siv rov ua dua tshiab uas yog siv cov tshuab kev kawm los txheeb ntawm cov khoom siv sib txawv.

Kauj Ruam 1: Qhov Chaw

Nco ntsoov tias koj muaj cov ntu hauv qab no ua raws nrog cov lus qhia no:

3D Luam Qhov Chaw (saib cov kauj ruam hauv qab no)

Raspberry Pi RPI 4 4GB

Google Coral USB Accelerator

Arduino Uno R3

Raspberry Pi Lub Koob Yees Duab Module V2

5V 2A DC Phab Ntsa Fais Fab Khoom

DC 12V Fais Fab Khoom

SG90 9g Micro Servos 4pcs.

M3 x 0.5mm Stainless Steel Self-Lock Nylon Hex Lock Nut 100pcs.

M3x20 Khawm Lub Taub Hau Titanium Screws 10pcs.

MG996R Hlau Iav Torque Analog Servo Tsav 4pcs.

Samsung 32GB Xaiv Daim Npav Nco

Adafruit Flex Cable rau Raspberry Pi Lub Koob Yees Duab - 1 meter

M2 Txiv neej Poj Niam Brass Spacer Standoff Screw Nut Assortment Kit

60mm 12V Ntxuam

6.69 "x 5.12" x 2.95 "Project Box

Kauj Ruam 2: 3D Luam Qhov Chaw

Koj yuav xav tau 3D luam tawm txhua ntu rau cov neeg hlau caj npab. Koj tuaj yeem pom txhua cov ntaub ntawv ntawm no.

Kauj ruam 3: Code

Thov clone kuv qhov chaw cia GitHub kom ua raws nrog cov ntawv qhia no.

Kauj Ruam 4: Tau Txais Cov Ntaub Ntawv

Txhawm rau qhia tus qauv ntsuas kom pom uas tuaj yeem txheeb xyuas thiab lees paub cov khoom siv rov ua dua tshiab, Kuv tau siv cov ntaub ntawv pov tseg uas suav nrog 2527 cov duab:

• 501 iav
• 594 paj
• 403 daim ntawv
• 482 yas
• 410 kov
• 137 loj

Daim duab saum toj no yog piv txwv ntawm ib qho ntawm cov duab los ntawm cov ntaub ntawv.

Cov ntaub ntawv no me me heev los qhia txog tus qauv ntsuas pom. Tsuas muaj txog 100 daim duab ntawm cov thoob khib nyiab uas tsawg dhau los qhia tus qauv raug, yog li kuv txiav txim siab tso nws tawm.

Koj tuaj yeem siv daim nplaub tshev google drive no los rub tawm cov ntaub ntawv. Nco ntsoov rub cov ntaub ntawv dataset-resized.zip. Nws muaj cov txheej ntawm cov duab uas twb tau hloov pauv mus rau qhov me me kom tso cai rau kev qhia sai dua. Yog tias koj xav hloov kho cov duab nyoos rau koj tus kheej nyiam, cia li rub tawm cov ntaub ntawv dataset-original.zip.

Kauj Ruam 5: Sau Cov Duab

Tom ntej no, peb yuav tsum tau sau ntau daim duab ntawm cov khoom siv sib txawv los ua peb tuaj yeem cob qhia tus qauv ntsuas pom. Txhawm rau ua qhov no, kuv tau siv labelImg, software pub dawb uas tso cai rau koj los cim cov khoom ntim rau hauv cov thawv.

Sau txhua daim duab nrog daim ntawv lo kom raug. Phau ntawv qhia no qhia koj li cas. Nco ntsoov ua kom txhua lub thawv ntim ze rau ntawm ciam teb ntawm txhua yam khoom kom ntseeg tau tias tus qauv kuaj pom tseeb yog qhov tseeb. Txuag tag nrho cov ntaub ntawv.xml rau hauv daim nplaub tshev.

Daim duab saum toj no qhia yuav cim koj cov duab li cas.

Qhov no yog kev lom zem heev thiab ua rau lub siab xav tsis meej. Ua tsaug rau koj, Kuv twb sau tag nrho cov duab rau koj! Koj tuaj yeem pom nws ntawm no.

Kauj Ruam 6: Kev cob qhia

Hais txog kev cob qhia, Kuv txiav txim siab siv kev hloov pauv kev kawm siv Tensorflow. Qhov no tso cai rau peb cob qhia tus qauv kom raug uas tsis muaj cov ntaub ntawv ntau.

Muaj ob peb txoj hauv kev peb tuaj yeem ua qhov no. Peb tuaj yeem ua nws ntawm peb lub tshuab desktop hauv zos ntawm huab. Kev cob qhia ntawm peb lub tshuab hauv nroog yuav siv sijhawm ntev heev nyob ntawm seb koj lub khoos phis tawj muaj zog npaum li cas thiab yog tias koj muaj lub zog GPU. Qhov no tej zaum yog txoj hauv kev yooj yim tshaj plaws hauv kuv lub tswv yim, tab sis ntxiv nrog qhov poob qis ntawm kev nrawm.

Muaj qee yam tseem ceeb kom nco ntsoov txog kev kawm hloov chaw. Koj yuav tsum ua kom ntseeg tau tias tus qauv ua ntej koj siv rau kev qhia yog sib xws nrog Coral Edge TPU. Koj tuaj yeem pom cov qauv sib xws ntawm no. Kuv siv MobileNet SSD v2 (COCO) qauv. Zoo siab los sim nrog lwm tus thiab.

Txhawm rau qhia koj lub tshuab hauv zos, Kuv xav kom ua raws li Google kev qhia lossis EdjeElectronics qhia yog tias ua haujlwm ntawm Windows 10. Tus kheej, Kuv tau sim EdjeElectroncs nyeem thiab ua tiav ntawm kuv lub desktop. Kuv tsis tuaj yeem lees paub tias Google txoj kev qhia yuav ua haujlwm, tab sis kuv yuav xav tsis thoob yog tias nws tsis ua.

Txhawm rau qhia hauv huab, koj tuaj yeem siv AWS lossis GCP. Kuv pom qhov kev qhia no uas koj tuaj yeem sim. Nws siv Google huab TPU's uas tuaj yeem cob qhia koj lub hom phiaj nrhiav tus qauv nrawm heev. Zoo siab siv AWS thiab.

Txawm hais tias koj qhia ntawm koj lub tshuab hauv zos lossis hauv huab, koj yuav tsum xaus nrog tus qauv tensorflow kev kawm.

Kauj Ruam 7: Txheeb Tus Qauv Kawm

Txhawm rau koj tus qauv kev kawm paub ua haujlwm nrog Coral Edge TPU, koj yuav tsum suav nws.

Saum toj no yog daim duab rau kev ua haujlwm.

Tom qab kev cob qhia, koj yuav tsum khaws nws ua daim duab khov (.pb ntawv). Tom qab ntawd, koj yuav tsum hloov nws mus rau hauv Tensorflow Lite qauv. Nco tseg li cas nws hais tias "Tom qab kev qhia kom muaj nuj nqis". Yog tias koj siv cov qauv kawm ua ntej sib xws thaum siv hloov kev kawm, koj tsis tas yuav ua qhov no. Ua tibzoo saib tag nrho cov ntaub ntawv ntawm kev sib raug zoo ntawm no.

Nrog rau Tensorflow Lite tus qauv, koj yuav tsum tau sau nws mus rau Ntug TPU tus qauv. Saib cov ncauj lus kom ntxaws yuav ua li cas ntawm no.

Kauj Ruam 8: Rov Tshawb Nrhiav Tus Qauv

Yog tias koj tsis xav mus hla qhov nyuaj ntawm kev qhia, hloov pauv, thiab suav ua tus qauv ntsuas pom, txheeb xyuas kuv tus qauv siv rov ua dua tshiab ntawm no.

Kauj Ruam 9: Siv Tus Qauv

Cov kauj ruam tom ntej yog teeb tsa Raspberry Pi (RPI) thiab Ntug TPU kom ua tiav cov qauv kev ntsuas khoom pom.

Ua ntej, teeb tsa RPI siv qhov kev qhia no.

Tom ntej no, teeb tsa Ntug TPU tom qab qhov kev qhia no.

Thaum kawg, txuas RPI lub koob yees duab module rau raspberry pi.

Tam sim no koj tau npaj los ntsuas koj tus qauv ntsuas pom!

Yog tias koj cloned kuv qhov chaw cia lawm, koj yuav xav mus rau RPI cov npe thiab khiav cov ntawv test_detection.py:

nab hab sej test_detection.py -tus qauv recycle_ssd_mobilenet_v2_quantized_300x300_coco_2019_01_03/detect_edgetpu.tflite --labels recycle_ssd_mobilenet_v2_quantized_300x300_coco_2019_01_03/lab.txt

Lub qhov rai me me yuav tsum qhib thiab yog tias koj tso lub raj mis yas lossis lwm yam khoom siv rov ua dua tshiab, nws yuav tsum pom nws zoo li cov duab saum toj no.

Nias tsab ntawv "q" ntawm koj cov keyboard kom xaus txoj haujlwm.

Kauj Ruam 10: Tsim Robotic Arm

Lub caj npab neeg hlau yog 3D luam tawm caj npab kuv pom ntawm no. Tsuas yog ua raws cov lus qhia ntawm teeb nws.

Cov duab saum toj no qhia tau hais tias kuv txhais caj npab neeg hlau tig tawm li cas.

Nco ntsoov tias koj txuas cov servo pins rau raws li Arduino I/O pins hauv kuv tus lej. Txuas cov servos los ntawm qab mus rau sab saum toj ntawm caj npab hauv qhov kev txiav txim no: 3, 11, 10, 9, 6, 5. Tsis txuas nws hauv qhov kev txiav txim no yuav ua rau caj npab txav mus rau qhov tsis raug!

Kuaj kom pom nws ua haujlwm los ntawm kev mus rau Arduino cov npe thiab khiav cov ntaub ntawv basicMovement.ino. Qhov no yuav yooj yim lob yam khoom uas koj muab tso rau pem hauv ntej ntawm caj npab thiab tso nws tom qab.

Kauj Ruam 11: Txuas RPI & Robotic Arm

Peb thawj zaug yuav tsum tau teeb tsa lub koob yees duab module mus rau hauv qab ntawm tus claw. Cov duab saum toj no qhia tias nws yuav tsum saib zoo li cas.

Sim ua raws lub koob yees duab kom ncaj ncaj li sai tau txhawm rau txo qhov ua yuam kev hauv kev tuav cov khoom siv rov ua dua tshiab. Koj yuav tsum tau siv lub koob yees duab ntev module kab xov kab raws li pom hauv cov npe khoom.

Tom ntej no, koj yuav tsum xa cov ntaub ntawv roboticArm.ino mus rau Arduino board.

Thaum kawg, peb tsuas yog yuav tsum txuas USB cable ntawm RPI USB chaw nres nkoj thiab Arduino USB chaw nres nkoj. Qhov no yuav tso cai rau lawv sib txuas lus ntawm xov tooj. Ua raws cov ntawv qhia no yuav teeb tsa li cas.

Kauj Ruam 12: Kov Kawg

Cov kauj ruam no yog xaiv tau tag nrho tab sis kuv nyiam muab tag nrho kuv cov khoom tso rau hauv lub thawv me me zoo nkauj.

Cov duab saum toj no qhia tias nws zoo li cas.

Koj tuaj yeem pom lub phiaj xwm phiaj xwm ntawm cov npe khoom. Kuv tsuas yog drilled qee qhov thiab siv tooj dag standoffs rau mount cov khoom siv hluav taws xob. Kuv kuj tau teeb tsa 4 lub kiv cua txias kom ua kom muaj cua ntws tas li los ntawm RPI thiab TPU thaum kub.

Kauj ruam 13: Khiav

Tam sim no koj npaj txhij rau lub zog ntawm ob txhais caj npab neeg hlau thiab RPI! Ntawm RPI, koj tuaj yeem yooj yim khiav cov ntaub ntawv recycle_detection.py. Qhov no yuav qhib lub qhov rai thiab cov neeg hlau caj npab yuav pib ua haujlwm zoo li hauv daim vis dis aus! Nias tsab ntawv "q" ntawm koj cov keyboard kom xaus txoj haujlwm.

Xav tias dawb ua si ib ncig nrog cov cai thiab muaj kev lom zem!

Kauj Ruam 14: Ua Haujlwm Yav Tom Ntej

Kuv vam tias yuav siv R. O. S. los tswj cov neeg hlau caj npab nrog kev txav mus los ntau dua. Qhov no yuav pab kom khaws cov khoom raug.

Kauj Ruam 15: Cov lus nug?

Xav tias tawm hauv cov lus hauv qab no yog tias koj muaj lus nug!