QUADRUPED INSPECTION ROBOT / ESP32 APPLICATION
Mechadog
경비·산업안전 점검 4족 보행 로봇 — ESP32 온보드 안전 · Host PC 비전 추론·행동 FSM · FastAPI/WebSocket 관제
About this project
About this project
A four-legged patrol robot that takes one kind of judgement per run: night-guard mode checks people and badges, factory mode looks for fallen bodies, blocked paths and missing protective gear. Walking, obstacle stops and the failsafe live on the Hiwonder MechDog's ESP32 board; a Seeed XIAO ESP32S3 Sense streams VGA JPEG to a Windows machine with an RTX 3080, which runs YOLOX-S and a Qwen2-VL model and never trusts state echoed from the robot. Commands and telemetry run at 10 Hz, 600 ms without a fresh command latches the robot safe, and ultrasonic readings under 7 cm stop it. A LiDAR node on a second ESP32 handles localisation. A mock robot lets the dashboard run without the hardware.
From the README
From the README
- Host
- Windows 11 PC: RTX 3080 10GB, i7-10700K, RAM 32GB
- Limit
- 마지막 유효 명령 뒤 600ms 동안 다음 명령이 없으면 스스로 페일세이프로 래치합니다
Hardware
Native board: Seeed XIAO ESP32S3
Boards: ESP32
Supported hardware: ESP32. Confirm the exact board revision and pin map in the upstream repository.
What the source supports
Upstream evidence: Reviewed from public README media at commit a0868782d345 under Apache-2.0. Firmware was not executed.
Media credit & rights
Upstream project media · rights remain with its owner · Credit: PJW-1
Screenshots decoded from the upstream README at a pinned commit. Repository code and firmware were not executed; the license texts are included in the preview package.
View original source ↗ Copyright & removal · Reviewed
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