Gianpaolo MacarioDavide MacarioPietro d’AgostinoOrso Eric
Published © MIT

FREISA meets SenseCAP Watcher

Our journey to change face to our FREISA Robot Dog, also giving him some more brain...

IntermediateWork in progress4 hours631
FREISA meets SenseCAP Watcher

Things used in this project

Hardware components

SenseCAP Watcher
Seeed Studio SenseCAP Watcher
×1
Mini Pupper 2
×1

Software apps and online services

Robot Operating System
ROS Robot Operating System
Roboflow

Hand tools and fabrication machines

3D Printer (generic)
3D Printer (generic)

Story

Read more

Custom parts and enclosures

2024-08-08-lego-camera.stl

File maintained on https://github.com/B-AROL-O/OpenSCAD-lego-library

Sketchfab still processing.

Code

human-detection-result.json

JSON
{
    "tlid": 3,
    "ctd": 3,
    "tn": "Local Human Detection",
    "type": 0,
    "task_flow": [
        {
            "id": 1,
            "type": "ai camera",
            "index": 0,
            "version": "1.0.0",
            "params": {
                "model_type": 1,
                "modes": 0,
                "model": {
                    "arguments": {
                        "iou": 45,
                        "conf": 50
                    }
                },
                "conditions": [
                    {
                        "class": "person",
                        "mode": 1,
                        "type": 2,
                        "num": 0
                    }
                ],
                "conditions_combo": 0,
                "silent_period": {
                    "silence_duration": 5
                },
                "output_type": 0,
                "shutter": 0
            },
            "wires": [
                [
                    2
                ]
            ]
        },
        {
            "id": 2,
            "type": "alarm trigger",
            "index": 1,
            "version": "1.0.0",
            "params": {
                "text": "human detected",
                "audio": ""
            },
            "wires": [
                [
                    3,
                    4
                ]
            ]
        },
        {
            "id": 3,
            "type": "local alarm",
            "index": 2,
            "version": "1.0.0",
            "params": {
                "sound": 1,
                "rgb": 1,
                "img": 0,
                "text": 0,
                "duration": 1
            },
            "wires": []
        },
        {
            "id": 4,
            "type": "sensecraft alarm",
            "index": 3,
            "version": "1.0.0",
            "params": {
                "silence_duration": 30
            },
            "wires": []
        }
    ]
}

freisa-detection-result.json

JSON
{
    "tlid": 1724682573283,
    "ctd": 1724682735615,
    "tn": "FREISA Robot Dog greets user",
    "task_flow": [
        {
            "id": 1166162131,
            "type": "ai camera",
            "type_id": 0,
            "index": 0,
            "vision": "0.0.1",
            "params": {
                "model_type": 0,
                "model": {
                    "model_id": "60086",
                    "version": "1.0.0",
                    "arguments": {
                        "size": 1644.08,
                        "url": "https://sensecraft-statics.oss-accelerate.aliyuncs.com/refer/model/1705306215159_jVQf4u_swift_yolo_nano_person_192_int8_vela(2).tflite",
                        "icon": "https://sensecraft-statics.oss-accelerate.aliyuncs.com/refer/pic/1705306138275_iykYXV_detection_person.png",
                        "task": "detect",
                        "createdAt": 1705306231,
                        "updatedAt": 1720751988,
                        "conf": 50,
                        "iou": 45
                    },
                    "model_name": "Person Detection--Swift YOLO",
                    "model_format": "tfLite",
                    "ai_framework": "6",
                    "author": "SenseCraft AI",
                    "description": "The model is a Swift-YOLO model trained on the person detection dataset.",
                    "task": 1,
                    "algorithm": "Object Dectect(TensorRT,SMALL,COCO)",
                    "classes": [
                        "person"
                    ],
                    "checksum": "2d7059dd737054b3e2fd79aec45c662f"
                },
                "modes": 0,
                "conditions": [
                    {
                        "class": "person",
                        "mode": 1,
                        "type": 2,
                        "num": 0
                    }
                ],
                "conditions_combo": 0,
                "silent_period": {
                    "time_period": {
                        "repeat": [
                            1,
                            1,
                            1,
                            1,
                            1,
                            1,
                            1
                        ],
                        "time_start": "00:00:00",
                        "time_end": "23:59:59"
                    },
                    "silence_duration": 5
                },
                "output_type": 1,
                "shutter": 0
            },
            "wires": [
                [
                    1028510755
                ]
            ]
        },
        {
            "id": 1028510755,
            "type_id": 4,
            "type": "alarm trigger",
            "index": 1,
            "version": "0.0.1",
            "params": {
                "text": "Hi, I'm your faithful FREISA Robot Dog.",
                "audio": "//MoxAAL4b5cAUEQAP//kN/1O/53//8jfoc/q//nO////qHAAAQcKRACAY/UCAIBgoCAIAgcEH+CH4IBhQAA/vDPj+DgwP////MoxAsPgc7VlYEQABvacGdR23OhBSsO/xG8QrHbo1ABgh4IqCQRP/Turpr9ulBjs5LuHRiv03LBAn59TP/9ahttogCGH//4//MoxAgOkQrqUdgQAOmjGQDd4DjHdvArhw5JQ75TvvP2K9TagYojpuggWR3DgZ3vO5PIRn8RPxh8BzjUfdJEFRwl5UCsRgdJ//MoxAgO2QLqVDrMlMJgzpgQDRdMcimDpdltQJYxbXySx1Hf1QSx1Hv9hs/9iF41M0BRaURib+6oqCqhX///oQoRL2nZq7ri//MoxAcOMS7VQAvWKtQqrK7uB0X/BWAadj8P5RdVTQLlX90fH2rqbIA86N6o7x0uZvkvr702aNesGQEkHm5GBihIjjjTUFAF//MoxAkOcZcW/gJOHsBsP52DQbGACuLMg5QKGf/6GZ7GcCAJTfHyypxWR88xvPb6p6G/p//9o6uhn//7aKIFCTiF3QMD6hLN//MoxAoPIT7i7GsFBIniWhAC2dEcxvAu0U+PgnRi9AmB/LLNYMFbzOb3BYfZ1Et7fUU/lE/F91TtmIf///dWmgY4R2NXjViC//MoxAgNuNcfHivWToA+4B+oKePifxnVXoQy+PyJdV04E43W+xRtl7SWCSyP1VtOjnst/9Z7Tk//+p8vBjxVRmud0kIAPnRP//MoxAwMyLb3HmpKyDWOMRgHolFquPgZWwuAJsVK+dcy0tkgUa8LPOuyORf9/2fX3///9CoIREp61kH1nB91nDw8gpLOkLg///MoxBMMWO7mWGoK5r+XV9XZImTYmhcEF3EQf2D7dgp9X/boy3PNFxGxIrUMRIyXWAEgPNHwi3NcIabJS7xqM3GV/UwcU4hq//MoxBwM8LrmXDvETgHPJCjKNqGByJXWnmWf/9VD7LEf//2NoTYi3NsyWoBuRFEhdYSrxrQrnmTCzAFOnYO+sbCJiGzMFv0a//MoxCMMMFLdvgLGBvPOcxK0AA951vO//f+hAZccAgASgAUTvUU3modVAWDMLPCgUDaP/+//73eJmA0M56S//XoUDScqAtSL//MoxC0LiGbBvgCGJgkqC/jgAauUDLlA8Jgu4FgZi1ChX///9L8c9gcWDhU6K4i/Zo+/kRYOCVxN9ynJHq6MrQCYAAqf4A+7//MoxDkMKAbBtgDGAi0Eg8Bh7amf////////95dNS0pK6lQxgIULhsqEgq9fURRZX/pWdEpEFSTzILodg9wDdTsB88Axz8DX//MoxEMMuYqRn0UQABwBoQd/xcB5MZj/yKFQ3dv/03l8vv//l8vm5oOsd4m///8LIxP5ByfUHphcGSQBwP///8PnGTIuRc3I//MoxEsYEw6UAZOgAbjnkTJxo4P////yPHGQRF0y+bmlw+r2zA+U6fgdxthAzghDFO4ECewRYSMlU3JyZcFw3WeXmb5h/b2q//MoxCUWghbYAY9oAP///2LhX1rMkvTZFMtmCBPMikXDMvMYOskS6Yl3TUspOcnLKWtVac2eEnaa+gVa5c5E/rTpEBvwaw////MoxAYNQGbU9c8QAPVhA6ijJ62MONsI7DCWoMX5hK6MdcWCrpYCuqPOz3Y7bjztYKu/p4Nd///2//+WQQV2iAUQHK6gxmR1//MoxAwPeYaxHg5OLD0r9sZ1Z0hOIleIIwu4d9WrZ546HXfNMI/HTBapvOcYWj6N//1/OH+7//7FLCxL///TImjtFtDEAH/z//MoxAkOUVLtvliM0ovNjhCwysegEz5WQ56mUDedOd1//p/Q7d2iIvYy7tyekCEg4XRMnv/UCAIen/9PSpUCD8A/h/C8QcFQ//MoxAoNwmrNjIAFEGRMaRkMeHvFs3ZqjM4/7f/U981Q4xvqxnpPm1eCZM5ERm34stKooswwTIxb6gMLLba0CA/lQQFRH6sm//MoxA4MQUr5vDvEjpOKmWmWwORY3elPI6J9QN/oT+xOlgMX+RfU4tsu/QQ///+QAxakkjA/mBZEUqcSBAsxc91GAS/PQXge//MoxBgMgU75uFPLYi34Xn1UV9L1GS3xTDApiSWzjW3FQF01QQFWEjiUlQK1iZtf3ChC1T5pjPNgl0+ksYOjVvU5voaS+YFw//MoxCEMMQbIyAPONAkYJJOHhOMBxJ4sbrBo5lnIxARIVS/lE7TxcShv//knMW8y8Th9BwWJF4XY6PmFfrrW/fKObmtb4YnG//MoxCsMEEbMAABWAO/qd3s6lQJI5AIBYTggpni4tY5IcT+WTZ///Zc1mswkaDR1oKPd/+1F3+bYCp5zgmguSGERpqQVAGtl//MoxDUMUCb6VgAGArbY0qg2aqjMWxxiQyuqGbHRQAGGhM0ibQdDI6G1AyNa5jCwwl2fGLud//u5J1F3//UqOrUktib4DBWR//MoxD4NCJbuXAAGBgnnk6QjgkWAyg1Em8mscKg48a8Kow+GRokjl+FilrEUWhxUlDlt7pL/oTUb///38CDbwAWGamzpbHKC//MoxEQM2GL1vABGAiSBayZH+zKVOKYdpemWFmzWn1VFtUERV0LErjZn/+s0sPbUKgSFSC99mAPmQgGTe5WMv79QGoKNP/SN//MoxEsMyIcCWABeAFDGCydtY0hzDFusl7+mUX+bJXFf/V1PzupuIhnE5L/+3Oxmo6E6c7NQAQWhGKHjfUO+QQR2G8USubJB//MoxFIMgNbq+A5aLBPpHFJsf+j9eSItKBcAmV0Bybff/2SUAMOcwNpkjQxmn0/9SU+fnTzq+p7nZIZwGCYPhIZCIx4rZX/s//MoxFsL6LcSWGlGVjyUq/6/zY1Rg1ve5RNT7tbGUUN3YGri+zjng4SWPYF0JStACWoisCHwyowHFIGnJVCUUtY1iG/vxCN///MoxGYNoQcaXgBGLv9z66//SgPv/vrYooA/pHbkRsgwmLcqIVmbuynajzNhnCBdIEWKNDyAu0a6x91Sqh3apOpq2WJUmKE6//MoxGoNKEbSWgGGBNaprlwoABLCT+WAX92LHoAaA2ATmOe2wXIN4NYUaI7nnqYTQKYhzz0RT1bR3t07qp5mh3/66IYceb1Q//MoxHANINLWXUEYAOf/qerMpqMhCy/qymHKfPfz5h7UWck0hY24YnnfrD/ifjVf7n8GDt6KEaegu6DoBqVZkh4bFxEUAYy+//MoxHYWep64AY1QAGgGkIcfB6BrMg5qyaoFKWYrBM1CcTHFag8WtLR20vt/////ukaf7/1uYKfWt2WbOiXE2Wy0akrGZgc0//MoxFcYIkrIC5hoACL3c4WZ8cr8eTUA4Bgvf8Rscf/+sUP18ZL2D5W1Aq62Ys0nV0bf/WOD3qoYuNCEUqtt7jccyf9PDwgL//MoxDEQ6N7aX89IAKGsPhiz///uDpH/rFJBRT///0p/AM+gRAFHqR1IlCRtaD1fjx6+pp01m1TvGPubHgWmllVQaxHc/WPE//MoxCgWambAFDmHRUeBEqbUf4rV33/Mv5dHpobk8XPet5HZ5wznFEGADqxClTwV/ZsrYXa5U+bjHYe6T9B9Akjv9ONI/KFJ//MoxAkO4V7iOhBMnlMRD0Kc0cmWdQNiKFBybVJHOZZwiCJoZY6aUXF5JrGFfnERwuJAqKMrcwDGCIRLf/papQB9t/XNLIes//MoxAgMkALSVUIIAMG3EUlDA4CFwqaYfF+PPl2DhirV0PJ0KQ1Dt/7nCtX0UrUp12jSq5vZ+hX5Xy0W4JFsblAAXPyfFAhD//MoxBAPaWLIAY1YANAx/1syEGwrNI9nMuukUmmYJlzvjuIryWSixhM3Oh1W2f/0ltaRWn/ztiv//Gr6yYFxNUlrY6CtjlNU//MoxA0M2UrcAc0oAFVx5AsTVuIB8v0/Qr/MpTcjiIrxoDCJldHAQzW0FjMpkBO+r//91RAxAVJABEfNIgL3VzqgMCYpXUFk//MoxBQM2bbqWlAFYJfkRN9CX839P+rflf0MydSnfhwwkIpDmDhx6xYP//1KNmLf+gICD/fRBgRXZ2peG4R26IBm8YDdlCTh//MoxBsM6NLtvFlSqt8oMdQYHu6s6RpMc///7YtZrd////+rv1UyEtyRoAAQeUwRBb2zjry5Gka72rpY567H6vYk7/9XJzuQ//MoxCIKuyLpvigFro2eR////1+EEAN77tvpAABh+jVUyFcUiNdSVZGVr3mpV3Q5TldDNrp/+9lLtK2jhVoCiySyVMCCj8WH//MoxDIJ4yMOXhAHsowYFzbSQeBMm0ePQwikmdIg6D/1mwkF0F5D/////7S6P/rW8ypI8gwD//ba2AAkBSgA8JCBbCoMky7D//MoxEUMgCLmWAAGApAMBmpQlaWDgDkeueNISAucjxW4vZyJ3WnP4fooZqvsTYLkSSVtroFSdMW27MIcSUt9eh3uq/4wPG+H//MoxE4LoJ8WWAPQNh/ZL9Q+q8YCjxbZyivqIC+iTnv//nowM1ws6qg/jG2ZZOAcQ7rWnRAJBm5nw+nf+Sqf2Klx10wmgcbq//MoxFoNMT7VgJPKcFCt5kAhXqFDsqCXIxQ9gwUaoDOVr9WIpVJxBVnNUBJravNWJp5LpoUMvHESIJRs6PeJmhUexA4UV9Qy//MoxGAMOSLNkGrElKX//rXPDmH+QsI2eCkdMYcYBuVxOFBPEQ9cFwi7zd+ICP7ZApD5BAgWT8RDFrxdXPXf17IYj0r4N3Tg//MoxGoMoKqoChYSKGf7ljdK4IkAbdLK9+/1d5tuojhhranEzh2//Uio+b/MFgr8Yu8FcP1mhZ3Rgl3fP+WeB8/7hODPSu6f//MoxHIMmNasABPMNS/jwHQKACEUH1kcFiapbSWWAaSFbE6gqwJnA5gG0i2dFRK29ykPOySANXP4qB0zugkDV8v/9RIz+imX//MoxHoQ4VK8ABYeNbGJ9X////6t+r6zv///107stB0CAiCEID5m+CafuDLAgMIQYmr+28tgwTQiz6+8Dx+4jMDYtuPaSgvh//MoxHESOtrJZJqLJFdinI//7ez///eRDsNBgB/9+CCZYzsdR4o5h5KdSI57t6xK9hpG1tnAQzr8Ujz8pDI/HI8DT2f//Drq//MoxGMMwLLNlAvWNIr///WqEkyaSQ/xAxDj7VBmDzA/anJoZawAaTZicJwi4N+CywA8IcjyTWXRLg+AYg4PmxOJnDQWQQMc//MoxGsNCNasP08YAANA3/UgaIJqJxalKb/TQS1W9f/W9NT7uzoMbt//tUz90L/qQOXf8ufLsVUT7HQh5FSecuooDqCAjhJ0//MoxHEYGmrEy4+IANknHUEIDqiwkRLqzozwXqAPUSIoIoEDBvGYnTFR9y8LnJYsmqpTIePKVlumigrqUj+r9BB/oHnboF80//MoxEsWIZbIodGAAAssWFOzb28eNBIoVCLFBogS50INX118sQsWvEzDsO462ePvvIod7JJXW289xJMJwriQE64qDRQKxT29//MoxC0SAZbVaAPQPIjCh7x20918Wn88T//Kf9FDnA45YzK//ZqHGghiJSHr1fkRCIVAET70LMYunBaDUx8VFXkNEJWdGOsc//MoxCAMwQbqMAJGHKar5e0Pya4kKGONe/R/TiKOIBdAKU+Uum5ChYRbHrNSRSmsAYDQaXFRNbOLMq6kzVdija7HTq/9KrAI//MoxCgMsRK80AJGHFIG4l+VKuX4aCp5Cqp+SWsFCjzwQOiRKkpkPAotjqlBjGVRRkUPInsL3ZsljEodLkPT/FnpUWQdmQoV//MoxDAMuRa1mAAGAgkLVg/+4zj6Zj4jQaWRIoMv04CTQ9yiA+JHHGguD7W5rfFWO2Jpa76hsmRU5iVf//euei/0M+N/Hgcf//MoxDgMOQZsCUlAApOJUc/+YnDQ0/8kzhHHoX//yVKZKF4xKf/+bjsLB4F84Uv//zQe5dNi4XCeUy////ty4slRzlwkiwc4//MoxEIXqyKwAYdoAPo80yj///7p/hUxljBjsLBMAtgFAB+BXDETgvmCCId3+1twF/9twQhASUviG2jXMEbxfXh1H8/bC+lO//MoxB4M+QM6+c84Aoze4gnADKMup/7f/vczHDCYYe7//9cJSmygWbYUcAfKAYS31TI71Sst83ofiq+Jl8IAL6iZvQQK3URD//MoxCUM4OcK/jvKTM9BY7kv//BZg7//1ri5JRl14UAFQRAB+hAE7zSKFyS0FZQHAzXHwHhMa9QuDo5+V+eXO1BvBLFcCnsB//MoxCwM6L7qXgJOFH/WiIWf/+piGddlaStEFAFwHAaW0IwoyXmNDr3zp2BwjTOLFB99YdiAHpcCuw0sRNUZ3//1tFSV3/+Q//MoxDMNAIsWXgKYEpYELD4PPrGOJU+l35eZvekhJYuNUORL0zmATwTZVbxuChUL+7OrGZ4HBWUJf//4hOjGf/9dAiggACY8//MoxDoM6MrNQANeDAVDsL27gDA2Wd4FDutJgCStzKASNvwHgJlW4gNf7QPxdKXQPQKut0//6nhIkgkIIAAxARABgEDF1wCU//MoxEEMqNbSUALSHAxa3imRlKpwTqaowGcTW1arbBKvqMwuDtaqod+nb//U+M//6UqqQywBmB8MUb63sSFU31tlJ8qa10xM//MoxEkM0NbWXgFWANfGyhgJ+aj1TShnCgkeBlxV0r///g0DISPIW//+JQqaaAkgAmf7wlD20K5ckD6iV2ap0TyEOR9euRgZ//MoxFAMwMbEXFPENHku1lIM2EjQhDqHr///0oS5eeq7//+LlulZTcNMjOEgBiT0U4UYXYFs83QZARofx7jz/enIyh6nC383//MoxFgNQKqk/0wYAjA0NE3YL0CYHIKwX/+m7KaxAKRJn2PI/9bv9kTilOZUf///2POyqqaFZ7//7/bfmii4Xx5lIoLLrwG6//MoxF4XYxKsAYdoAQPZSvf1LQMBwKdBUFQChAKgqGp8RCUFXiV3rcROyx60UYBkFuubUrpPtX/////zt7LSShcwRfXbXurg//MoxDsMwALaX8AQAMQbKzCk2X12Urt//os1ZgxgwcBKAhSDGJHmVbsVFbRKHDwvd///egtVAIDllTs0ABP/l40JhMFATOzb//MoxEMMCSqcygDEPCfq2+Wjqm5SgIhAIT6w0oq5iZZxYOlix5rt2/Z2N8RAqtoWM91IjCJVQxDqhhxDjqsWEZIoKWZ1Za1y//MoxE0MqRadvgBEcH9zcpUFQEMcSCAhgatZR/jJYFRELf/u9XbV0RoFk60V40/RMiliHoioa+WfY/Tp4pQqlzbBWuhKj7M4//MoxFUMySJUAEjEdNmLe5W6lv/9587p///UkoPjSFCgLRajiCKyAuCdcEdQxzZW845pdCqqKdkd2HkN2Pu01fo97f3d/9ug//MoxFwLuKJMADJGDLGsRNItj1ULCLaBg4iEr4iBoGTpZ+SKhrf8SqDvbUHRUNVu8Gf+IhwPDDxgsLC3/////ULEgMCwsLB4//MoxGgK+HZMAEmGKAQSFhIbGCzf////+sVYkeKioqpMQU1FMy4xMDCqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqq//MoxHcKAE4wAEiCgKqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqq//MoxIoJmATwtABEAKqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqq",
                "audio_txt": "Hi, I'm your faithful FREISA Robot Dog."
            },
            "wires": [
                [
                    10063633,
                    1900860965,
                    1606222889
                ]
            ]
        },
        {
            "id": 1900860965,
            "type_id": 99,
            "type": "sensecraft alarm",
            "index": 2,
            "version": "0.0.1",
            "params": {
                "silence_duration": 10,
                "text": "Hi, I'm your faithful FREISA Robot Dog."
            },
            "wires": []
        },
        {
            "id": 10063633,
            "type_id": 5,
            "type": "local alarm",
            "index": 5,
            "version": "0.0.1",
            "params": {
                "sound": 1,
                "rgb": 1,
                "img": 1,
                "text": 1,
                "duration": 10
            },
            "wires": []
        },
        {
            "id": 1606222889,
            "type_id": 6,
            "status": 1,
            "index": 3,
            "type": "uart alarm",
            "version": "0.0.1",
            "params": {
                "output_format": 1,
                "include_big_image": false,
                "include_small_image": false,
                "include_boxes": true,
                "text": "Hi, I'm your faithful FREISA Robot Dog."
            },
            "wires": []
        }
    ],
    "type": 0
}

Credits

Gianpaolo Macario
5 projects • 14 followers
Embedded and Open Source architect for work and passion.
Contact
Davide Macario
1 project • 5 followers
ICT for Smart Societies student at Politecnico di Torino && ECE student at UIC
Contact
Pietro d’Agostino
1 project • 4 followers
PhD student in Computer and Control engineering at Politecnico of Turin
Contact
Orso Eric
1 project • 4 followers
Robot Maker
Contact

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