Raspberry Pi Powered Inspection Robot · Key software used On the Pi WebIOPi (Robot interface) MJPGStreamer (Webcam streaming) Vsftpd (FTP server) Apache (Hosting HTML) Off the Pi

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High Level Controller(Raspberry Pi)

Web Interface(Desktop Computer)

Low Level Controller(PIC Microcontroller)

Motor Driver(L298N)

Camera Pan(Servo)

Left Motor(GM21)

Right Motor(GM21)

Torch(Super‐bright LED)

Probe Actuator(Servo)

Camera(Logitech Webcam)

Probe(To be decided)

Signal Processing(TiPi)

Contact Gel Delivery System(Pump)

Key software usedOn the Pi WebIOPi (Robot interface)

MJPGStreamer (Webcam streaming)

Vsftpd (FTP server) Apache (Hosting HTML)

Off the Pi

Win32DiskImager (SD card backup)

Putty (SSH)FileZilla (FTP)

The Robot Interface

What would I do differently?

• WiFi Access Point• Camera – not at USB webcam because limited tether length

• Remove the PIC, a low level controller was unnecessary

• Chassis design• Drop the ultrasound probe bit