Household Mobile Robot for Remote Inspection

This project involves a mobile robot that is programmed to be used for remote inspection within a domestic environment. The Roomba is used as a mechanical system. Roomba is a mechanical robot that has been developed with Roomba Open Interface (ROI). The ROI is a serial protocol that allows users to control a Roomba through its external serial port. This protocol includes commands to control all of Roomba’s actuators and to request sensor data from Roomba's sensors. Using this ROI one can add functionality to the normal Roomba behavior or can create completely new operating instructions for Roomba.

This project involves the modification of a Roomba that can take command from a remote user as well as transmit video of its surroundings. A Bluetooth modem is added with a commercial Roomba and the modem implements the Bluetooth Serial Port Profile. A web camera is also fitted with the Roomba for video streaming. The Bluetooth modem is connected to a PC via a Bluetooth receiver when the camera is connected to the PC through a wireless USB port.

LabVIEW is used to develop a graphical user interface (GUI) for Roomba control. Control signals are passed from the GUI to the Roomba via the Bluetooth communication. The camera output is integrated within the GUI using NI-Vision Assistant. The GUI has the control button as well as a window for video.