Location: Ann Arbor, MI | 11/2024 - 01/2025

Github: 

Personal project where I programmed a Raspberry Pi to open my apartment door if it detected the faces of my roommates and myself. Trained the recognition module using sample images of our faces under different angles. Created a small circuit to PWM a high-torque servo from the 5V source, and designed and printed the chassis to fit all of the electronics and circuitry, and actuating servo inside. Pi camera was mounted on a fixture on the outer side of the door which scanned for users trying to enter.  

Used MotionGen to design the 4 bar linkage system that represents the overall system, and designed a mechanism that actuates the handle enough to clear the lock mechanism, while also staying within the range of motion limits of the chosen servo (160 degrees). Once the mechanism design was finalized, a custom length servo horn was printed, and the string used to attach the handle to the horn was cut to the specified size according to the mechanism. 

If a face outside is detected as an authorized user, the Pi actuates the servo in downwards to unlock the door for 12 seconds before returning to the locked, upwards position. Also programmed and hosted the Python script as a process on the Pi that runs upon startup, allowing for rapid deployment and terminal/hassle-free installation when moving doors or making modifications. This design was purposely made compatible with a variety of doors that operate with a handle, and the casing itself is mounted using command strips for ease of installation and removal.