Bubbas Brains

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"Bubba's Brains" is an advanced AI system powered by an Nvidia Jetson Nano. This versatile system offers a wide range of capabilities, including Object Detection, Live 3D Reconstruction, precise GPS mapping with inch-level accuracy, an extensive API library, and a Software Development Kit (SDK) for future enhancements. Designed for deployment on various robots, its primary focus in its prototype phase is agricultural tasks like planting, seeding, and harvesting, with the potential to expand its functionality to accomplish diverse tasks in the future.

Facilities Management

"Bubba's Brains" with its advanced AI capabilities and the Nvidia Jetson Nano can be highly applicable to facilities management in several ways:

Asset Tracking - Purchase/Sale, Leasing, Tax Management, Expense Management
Navigation and Mapping - Space Management
Maintenance and Repairs - Moves/Additions/Changes, Project Planning, Condition Assesments
Energy Efficiency - Airlfow, Solar Home Design, Heat Distribution
Security and Surveilance - Object Detection, Alerts/Alarms
Task Automation - Cleaning/Maintenance Schedules, Routine Inspections
Safety and Compliance - Fire Alarms, Smoke Detectors, Fire Extinguisher

Basic Architecture

Object Detection - Yolov8
3D Data Processing - Open3D

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Logic

This robot will have a selection of modes and tasks that it can complete autonomously, however we are expecting for the robot to have a lot of downtime as well. In other words, we are expecting for the robot to have a lot of time where it doesn't have a specific task to complete. In order to maximize this amount of time, we are going to incorporate certain logic that will help Bubba determine what would be the best action to follow through with. The loop will look like something of the following.

Check weather, time, sunrise, sunset, make prediction on how much work it can do before it needs to charge
If it needs to charge, charge
if it doesnt need to charge, check to see if there are any pending tasks that need to be completed
if there is a pending task that needs to be completed, complete it
if there are no pending tasks that need to be completed, initiate exploration mode. This is basically a free roam mode that uses a curiosity-driven exploration algorithm. This algorithm involves the robot exploring its environment in a way that maximizes its information gain. The robot can do this by moving towards areas that are new or that have unexpected features.

Pipeline

Take video with NVIDIA Jetson
Convert MOV file to JPEG file
Use WebODM command line argument to convert JPEG files into a pointcloud file
View the pointcloud file through custom web app

Hardware

NVIDIA Orin NX Developer Kit
SparkFun 9DoF IMU Breakout - ISM330DHCX
UC-261 5MP Arducam Camera

Software

Ubuntu 20.04.6
Python 3.8.10

Run Server

gunicorn -c gunicorn_config.py app:app

List Available I2C Devices

i2cdetect -l

Scan a specific i2c device

i2cdetect -y

Motor Speeds