Our Multidisciplinary Project Team: Nikhil Fernandes, Giamaria Fernandes, Sreekanth Kanugovi, Vinesh Nandikol.
Some Images Courtesy: Hackster Competition Page on the original Website and as seen on the Lego Website.
About the Global Challenge:
The LEGO® MINDSTORMS Voice Challenge: Powered by Alexa – an opportunity for Alexa developers, LEGO MINDSTORMS enthusiasts, and creators around the world to explore and build the future of voice-based experiences through construction and robotics play.
Team Shelly at the beach during our very first prototype testing and clean up mission.
My Project: As seen on Hackster.IO
Shelly. A unique Alexa-powered Beach Clean Up Rover.
A solution built with LEGO MINDSTORMS EV3, Amazon Alexa and works with an Echo Device through the Alexa Gadgets Toolkit over the internet.
Things used in the Project:
LEGO MindStorms EV3 Programming Brick / Kit x 2
Lego MindStorms EV3 Expansion Kit x 1
LEGO MindStorms LEGO® MINDSTORMS® Education EV3 Touch Sensor x 1
LEGO MindStorms LEGO® MINDSTORMS® Education EV3 Ultrasonic Sensor x 1
Amazon Alexa Echo Dot x 1
Lego MindStorms EV3 Expansion Kit x 1
LEGO MindStorms LEGO® MINDSTORMS® Education EV3 Touch Sensor x 1
LEGO MindStorms LEGO® MINDSTORMS® Education EV3 Ultrasonic Sensor x 1
Amazon Alexa Echo Dot x 1
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Software apps and online services:
Amazon Alexa - Alexa Skills Kit
Amazon Alexa - Alexa Gadgets Toolkit
ev3dev v2
RPyC
Amazon Web Services AWS Lambda
Amazon Alexa - Alexa Gadgets Toolkit
ev3dev v2
RPyC
Amazon Web Services AWS Lambda
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Story
1. Concept
Our lives began in the Oceans and today there is a rising need to support clean ups by individuals, communities and governments. Inspired by all the good people fighting the good fight around us, we built Shelly and hopefully one day, she will become an actual part of clean up missions around the world and people will be able to build their own Shellies whether they live by Rivers, Lakes or the Ocean.
Shelly is a solution built with LEGO MINDSTORMS EV3, Amazon Alexa and works with an Echo Device through the Alexa Gadgets Toolkit over the internet.
The six-legged rover resembles many rovers before its time and has been assembled entirely from the base element and the expansion element of LEGO MINDSTORMS.
2. Our first stumbling blocks
We have been playing with Lego from our childhood, but this was our very first time building with the LEGO MINDSTORMS EV3 platform and we encountered numerous challenges along the way, but we never gave up.
We have been playing with Lego from our childhood, but this was our very first time building with the LEGO MINDSTORMS EV3 platform and we encountered numerous challenges along the way, but we never gave up.
1. One of our many initial models had separate motors, one to move forward and backward and another for turning. This created issues in triggering two outputs simultaneously. We then explored different designs till we finally got one right. Currently, two motors at the front manage these movements together.
2. In the initial design, the Gripper was unable to lift the weight of even a simple, crumpled paper cup. So, we added two additional gear wheels in the motor section. A timely solve for the problem.
3. Initial models had issues with turning. So, we created two segments, one for the drive section and another as a trolley section.
4. The tires in the kit didn’t have enough grip to run on diverse surfaces including undulating ones such as sand or carpets. This was also causing issues while turning. So, we distributed weight evenly in the entire model adding more weight in the front motor section. This resolved the issue to a great extent.
5. Turning radius was very large in the earlier attempts. We improvised the model to a 6-wheeled design to strengthen the drive section and the trolley connecting segment. Currently, we have the EVE 3 brick in the drive section for appropriate weight distribution and better grip.
6. One of the earlier models kept moving continuously in a circle while turning. This was rectified using a change in the logic and algorithm in such a way that the rover could make a steering correction after certain degrees of turn.
7. We also attempted one model and creation with 7 wheels, though we expected it to be far more maneuverable, turns out it was quite unstable during turns.
8. Adding both motors at the back was causing the rover to turn incorrectly. We evenly distributed the weight of the motors to rectify this going forward.
9. The first model’s axle was built using thin Lego pieces, this was causing a whole new set of turning problems. We then modified the model to use circular shaft and gears, purposefully made for rotations. Now, our movement results started becoming satisfactory.
Shelly is inspired by my love for shells on the beach. Imagine a future where we have just that. No garbage, no plastic, no debris, no harm towards the beach and the fragile marine ecosystem.
3. Basic Troubleshooting Tips
1. The EVE 3 LEGO MINDSTORMS arm cannot pick up heavy objects as ours is just a prototype. You can choose to design your production grade product as per the needed specifications.
1. The EVE 3 LEGO MINDSTORMS arm cannot pick up heavy objects as ours is just a prototype. You can choose to design your production grade product as per the needed specifications.
2. The surface should have some amount of roughness so that the tires can get some traction or grip to move. Perhaps in future versions, we can use tires similar to beach buggy tires or even custom design them through LEGO for specifically this purpose.
3. Cables connected to ports need to be checked from time to time for proper connectivity. Do listen to the click sounds when you insert cables.
4. Server needs to be restarted if you remove or replace the port cables.
5. Do ensure placement of gears is proper as this can affect smooth functioning.
6. Connect via Remote Python Call (RPyC) in order to make communication between two EVE 3 bricks.
7. Ensure Bluetooth Operation between EVE 3 Master and the primary Alexa Device.
4. On-board Sensors
Touch Sensor
The Touch Sensor has been used to make sure the robotic arm returns to its original position.
Touch Sensor
The Touch Sensor has been used to make sure the robotic arm returns to its original position.
Ultrasonic Sensor
The Ultrasonic Sensor has been used to detect if the bin is full by looking for obstructions in the field of view and to relay a message back to Shelly, and finally Alexa reads out the message. Later through human intervention, the bin can be found and cleared for the next mission.
The Ultrasonic Sensor has been used to detect if the bin is full by looking for obstructions in the field of view and to relay a message back to Shelly, and finally Alexa reads out the message. Later through human intervention, the bin can be found and cleared for the next mission.
5. Sensors we can add in the Near Future
Depending on the use case, we can choose to add more sensors to Shelly to add more features and functionalities to her growing library of skills.
Depending on the use case, we can choose to add more sensors to Shelly to add more features and functionalities to her growing library of skills.
(Updated)
EV3 Color Sensor
We can use this to distinguish between colours. As a light sensor it can relay back the time of day and we can also attempt to set it to auto run and auto stop. As a fun interaction it can also relay back the colour of the sky. It can follow a color-based perimeter as well if possible, so that it doesn't wander off into the unknown.
Gyro Sensor
In case there are any orientation challenges or issues, the sensor can help the Rover orient itself and be a guide in navigation on different kinds of terrain.
Infrared Sensor
Can be used to measure distance on the beach. We can purpose it to detect objects or obstacles in front of the rover up to 100 cm approx. I'd like to explore and see if it can be used to detect beached marine life or anything in distress and relay back the information to Alexa and the primary device.
Can be used to measure distance on the beach. We can purpose it to detect objects or obstacles in front of the rover up to 100 cm approx. I'd like to explore and see if it can be used to detect beached marine life or anything in distress and relay back the information to Alexa and the primary device.
Infrared Beacon
Can be used to control the rover via remote as well.
Sound Sensor - Lego NXT to Lego EV3 Compatability or possible Equivalent.
There used be a sound sensor on the Lego NXT System. If compatibility is successful, then it can be used to detect decibel levels. Such as high or low sounds on the beach, chatter between people, intruders or if marine life is heard crying for help, measuring tides by sounds of waves crashing on the beach to name a few of the possibilities.
There used be a sound sensor on the Lego NXT System. If compatibility is successful, then it can be used to detect decibel levels. Such as high or low sounds on the beach, chatter between people, intruders or if marine life is heard crying for help, measuring tides by sounds of waves crashing on the beach to name a few of the possibilities.
A video of our live demo and actual prototype.
Behind the Scenes, Learning and timeless memories made with our Team
Day one when our kit had arrived. We were super excited and had done a lot of research to understand it better and what every sensor does in theory and studied different building models as well.
One of the first and initial explorations of our model. We really liked this version but eventually revisited it.
Brainstorming on the High Level Architecture as well as the Schematics. Drawing board days.
Brainstorming on the High Level Architecture as well as the Schematics. Drawing board days.
With onboard sensors. A final look at our final look towards the end. We really loved this version and it was also performing and responding better and with less drag on the wheels.
Project Vision
The Project Pillars.
Execution and Implementation Strategy.
Project Vision.
Custom parts and enclosures
A High Level Architectural Diagram of Shelly
It gives you an insight into how each and every component of the solution talks to each other and gives a holistic view of the build.
Connectivity Diagram of LEGO MINDSTORMS EV3, Motors and the Sensors
An insight into how the EV3 Bricks are connected to the Motors and the Sensors which are controlling Shelly's movements and actions.
Step by Step Instructions to Build Shelly on your own
This will help you to create your very own version of Shelly though a detailed visual guide. This has been achieved by using Lego Digital Designer. You can view the entire link on my Hackster page here. You can also scroll down there to view the Code, Python Programming, Lambda Function and Alexa Skill Model Code.
An initial demo of Shelly with the Ultrasonic Sensor on board.
As soon as the gripper opens, Shelly notices something on the horizon and relays a message back to Alexa who in turn notifies the user that the bin is full and needs to be emptied. We found this to be a meaningful use case
The Prize
Team Hackster worked with Amazon to ensure each of the 100 were eligible under the valid, complete requirement and fully built. Hackster is where the world's best creators, engineers, technologists and communities explore, build, discover and learn all about hardware from beginner to pro.
