{"id":15725955,"url":"https://github.com/altanai/ramudroid","last_synced_at":"2025-07-25T07:33:14.689Z","repository":{"id":2604432,"uuid":"46937164","full_name":"altanai/Ramudroid","owner":"altanai","description":"Ramudroid, autonomous solar-powered robot to clean roads, realtime object detection and  webrtc based streaming  ","archived":false,"fork":false,"pushed_at":"2023-05-01T21:16:35.000Z","size":34413,"stargazers_count":27,"open_issues_count":14,"forks_count":10,"subscribers_count":10,"default_branch":"master","last_synced_at":"2025-07-01T13:54:31.803Z","etag":null,"topics":["arduino","computer-vision","deep-learning","deep-neural-networks","deep-reinforcement-learning","garbage-classification","garbage-collection","machinelearning","motors","opencv","raspberry-pi","robot","streaming"],"latest_commit_sha":null,"homepage":"https://medium.com/ramudroid","language":"Jupyter 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Notebook","funding_links":[],"categories":[],"sub_categories":[],"readme":"![alt Ramudroid ](https://altanaitelecom.files.wordpress.com/2016/03/ramudroid-image.png?w=500)\n\n![Project Ramudroid](http://altanai.github.io/Ramudroid/)\n\n\nProject “Ramudroid” is designed to use computer vision and autonomous robots to target litter and clean roadsides for keeping the locality clean. \nThe hardware assembly is designed to drive through roads / lanes / alleys / narrows pathways and lift up small litter objects like plastic cups, wrappers, leaves etc.\n\nIt's got wireless connectivity. \n\nThere's a camera for real-time image sensing of the environment\n\n[![Join the chat at https://gitter.im/altanai/m2mcommunication](https://badges.gitter.im/altanai/m2mcommunication.svg)](https://gitter.im/altanai/m2mcommunication?utm_source=badge\u0026utm_medium=badge\u0026utm_campaign=pr-badge\u0026utm_content=badge)\n\n## Ramudroid's Hardware \n\n![alt Ramudroid v7.5](robot_controller_rpi_setup/imgs/Ramudroid_circuit_diagram.jpg)\n\nList of components \n\n### Processing and MicroController\n\n**Raspberry Pi 3B+/4 as Central Processing Unit**\n- runs webservices to receive remote navigation command\n- runs uv4l streaming server for webrtc \n- opencv remote object identification \n\n**Arduino Uno as Microcontroller**\n- receives commands from Rpi on serial interface\n- control motors for movement and cleaning\n\n### Driving Unit \n\n**Pi NoIR Camera V2**\nObject and obstacle detection , uses Sony IMX219 8-megapixel sensor\naccessed through the MMAL and V4L APIs,\n\n**motor driver**\nL298 Motor Driver \n\n**power**\nLipo batteru 11.1 V or Solar Panel connection 12 V\n\n### Cleaning Unit \n\n**brushes motor**\n3 x 5V DC gear motor  \n\n**relay**\n5V single channel relay\n\n**power**\nLipo battery 11.1 V or Solar Panel connection 12 V\n\n\n#### IR sensor to detect if garbage collection bin/tray is full\ninfrared radiation can be found between the visible and microwave regions, wavelengths between 0.75 and 1000µm.\n\n## Software \n\nFollowing are the modular components of the project :\n\n### 1. m2m-communication communication \n\nCommunication between the web client , mobile client , cloud server and robot's  core unit is primarily on REST API's.\nCommunication techniques used in the project are as follows \n\nFor external world \n- Wifi\n- BLE\n\nFor inter-components \n- GPIO\n- UART \n- I2C\n\n![comminterface](webservices_rpi_arduino_comm/imgs/Screenshot%202019-10-12%20at%201.08.54%20PM.png)\n\n### 2. Computer Vision, object tracking, realtime video analysis\n\nTo effectively limit the usage of power on frontal clenaing brushes, it is crucial to target garbage/litter and active the motors only when suited target is found. \nImplementing edge image analysis based on opencv filters and classifiers to detect garbage\n\nRef : https://github.com/altanai/computervision\nhttps://github.com/altanai/opencv_extra\n\n### 3. Live streaming and augmented reality\n\nhttps://youtu.be/O7b6NlOpLso\n\n### 4. Robot's core control unit\n\n![alt Ramudroid v6.5](http://s32.postimg.org/tkx97ih9x/Ramudroid_blacknwhite.jpg)\n\nConnecting Motors, drivers , sensors , batteries etc and controlling operation \n\nGPIO access library written in C for the BCM2835 used in the Raspberry Pi\n```\ngit clone git://git.drogon.net/wiringPi\ncd wiringPi\ngit pull origin\ncd wiringPi\n./build\ngpio -v\ngpio readall\n```\n\n### 5. Web Console for Ramudroid\n\n![alt Ramudroid webconsole ](webrobocontrol/screenshots/webconsole1.png)\n\n\n**Contributing guidelines**\n\nhttps://github.com/altanai/Ramudroid/wiki/Contributing-Guidelines\n\n**External References and Resources**\n\nHackaday : https://hackaday.io/project/11201-ramudroid\n\nJigsawAcdemy : https://youtu.be/49dtFYhxmjc\n\n## Version\n\n- Ramudroid v5\n    - Autonomous navigation with GPS\n    https://altanaitelecom.wordpress.com/?s=Bot+to+clean+roads+and+outdoors\n    \n- Ramudorid v6 \n    - Enhancement to autonomous navigation \n    - Sensors addons - rain , ultrasonic \n    - Web console enhanced. \n    \n- Ramudroid v6.5\n    - Minimize usage of heavy libraries such as three.js for Augmented reality, google maps for GPS coordinates plotting \n    - Autonomous control to the robot to self drive through obstacles.\n    - Edge analytics on Obstruction and recalculate the route.\n    \n- Ramudorid v7 Surajdroid ( Ramudroid v7 Solar Powered) \n\n    https://telecom.altanai.com/2018/12/09/surajdroid-ramudroid-v7-solar-powered/\n\n- Ramudorid v7.5 Surajdroid  \n    \n    https://telecom.altanai.com/2018/12/09/surajdroid-ramudroid-v7-solar-powered/\n\n\n## Author \n![@altanai](https://www.linkedin.com/in/altanai)\n\n\n**License**\nMIT\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Faltanai%2Framudroid","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Faltanai%2Framudroid","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Faltanai%2Framudroid/lists"}