Welcome to Daniels blog

Select one of the following projects or scroll down to the newest posts.


a raspberry pi home robot

>> visit robert project page

Cobra robot

industry robot projects and restoration

>> see all cobra roboto posts


a holographic desktop assistant

>> visit the holoGaito project page


a GO game playing robot ... using a raspberry pi, opencv and gnugo

>> visit the iGoBot project page

Ein eigener Plumbus

Ein Plumbus sollte natürlich in keinem Haushalt fehlen. Gleichzeitig sind sie aber aktuell auch nur sehr schwer zu beschaffen.

Da hilft nur: Selbst einen produzieren.

Auch wenn es natürlich eine Herausforderung ist, das Dinglebop durch den Grumbo zu drücken oder gar das Fleeb zu rubbeln.
(Wer den Produktionsprozess nicht mehr ganz genau in Erinnerung hat, hier noch einmal die offizielle Beschreibung: https://www.youtube.com/watch?v=qZO0ay5wrOc )

Ich habe mir daher mit dem 3D Drucker beholfen ;-) Glücklicherweise gibt es bereits Modelle dazu auf Thingiverse - mir gefiel dieses sehr: https://www.thingiverse.com/thing:3752853

Die Einzelteile frisch aus dem Drucker...

...und bereinigt.

Jetzt nur noch zusammen fügen und Farbe auftragen

Am Ende gehört noch der passende Halter dazu, fertig - der eigene Plumbus!


Vacuum Forming: My first experiences with GaitoFace

Yesterday I had my first experiences with vacuum forming. For the project "GaitoFace" I need a head, which can be projected from the inside with a beamer.

The fact that the material has to be smooth and semitransparent doesn't work so well with the 3d printer. But for the necessary form you can use the 3D printer perfectly.

First I created the 3D model in OpenScad:

Since the head should be life-size, the object hardly fits into the installation space of the Ultimaker 2:

Here the foil made of translucent polypropylene is already clamped into the aluminium frame:

The 3D model on the box that is already connected to the vacuum cleaner:

The foil is heated to 170 degrees in the oven and then quickly press the box:

Worked out great - I now have a thin film in the desired shape:

iGoBot - a GO game playing robot ... using a raspberry pi, opencv and gnugo


The primary facts of iGoBot

Design the base and the mechanics

Shortening of the Ikea "Lack" table legs:

Mounting the X and Y axes at the base:

Training the image recognition

IGoBot uses OpenCV and Hair Cascades to detect the Go stones placed on the board.

I had to take several hundred individual photos of black and white Go stones for reference.

Some of the black stone training images:

Some of the white stone training images:

After training, the system reliably detects black and white Go stones.

Here is an example of white stone detection:

The recognition on the Raspberry Pi in Python:

 A first test for the "stones on board" recognition and translation into coordinates:

The stone dispenser

The stone dispenser is driven by a servo. The two primary parts are 3D printed. The CAD files can be found here.

The electronics

The first arrangement of the electronic components

A first, very wild test of the wiring

The illuminated button for interaction with the player

The way iGoBot plays: