절연 테이프와 구형 CNC로 만든 AI 하드웨어 해킹 로봇 팔

AutoProber AutoProber is the hardware hacker's flying probe automation stack for giving your agent everything it needs to go from "there's a new target on the plate" to probing individual pins in a safe way. Demo video: https://gainsec.com/autoprober-demo-mp4/ Flow Tell the agent to ingest the project. Connect all the hardware. Tell the agent to confirm that all parts are functioning. Have it run homing and then calibration. Attach the custom probe and microscope header. Tell the agent that there is a new target on the plate. It will find where the target is on the plate, then take individual frames, keeping a record of the XYZ while noting pads, pins, chips, and other interesting features. It will stitch the frames together and annotate the map, including pins and interesting components it identified. It will add probe targets to the web dashboard for you to approve or deny. It will probe the approved targets and report back. All hardware can be controlled through the web dashboard, Python scripts, or by the agent itself. This repo is a self-contained source-available release candidate. It contains the Python control code, dashboard, CAD files, and documentation needed to create your own AutoProber. Safety Model This project can move physical hardware. Treat it as a machine-control system, not a normal web app. The required safety design is: GRBL Pn:P is ignored. The CNC probe pin is not a trusted endstop. The independent safety endstop is read from oscilloscope Channel 4. Channel 4 must be continuously monitored during any motion. Any Channel 4 trigger, ambiguous voltage, CNC alarm, or real X/Y/Z limit pin is a stop condition. The agent/operator must stop and report. Recovery motion is not automatic. Read docs/safety.md and docs/operations.md before running hardware. Repository Layout apps/ Operator-facing scripts and Flask dashboard entrypoint autoprober/ Reusable Python package for CNC, scope, microscope, logging, safety dashboard/ Single-page web dashboard docs/ Architecture, device references, operations, and safety guidance cad/ Printable STL files for the current custom toolhead config/ Example environment/configuration files AGENTS.md Agent/operator safety rules LICENSE PolyForm Noncommercial 1.0.0 license and commercial contact pyproject.toml Python project metadata uv.lock Locked Python dependency resolution Hardware Stack The tested project architecture uses: GRBL-compatible 3018-style CNC controller over USB serial USB microscope served by mjpg_streamer Siglent oscilloscope over LAN/SCPI for Channel 4 safety monitoring and Channel 1 measurement Optical endstop wired to an external 5V supply and oscilloscope Channel 4 Optional network-controlled outlet for lab power control Current printable custom toolhead parts in cad/ Default runtime assumptions are documented in the device docs. Replace them with your own lab settings before use. For a shopping-oriented hardware list, see docs/BOM.md . Reference Parts These are the specific parts or part classes used for the prototype release. Verify current listings, dimensions, voltage, and connector compatibility before buying. My build: Optical End Stop USB Microscope SainSmart Genmitsu 3018-PROVer V2 Matter Smart Power Strip , individually controlled AC outlets with 2 USB-A and 2 USB-C ports Siglent SDS1104X-E Oscilloscope Dupont wires Pen spring or similar light compression spring 3D printer for the printable toolhead parts in cad/ Optional / interchangeable: Universal Oscilloscope Probes USB power brick, 5V USB 2.0 pigtail cable Hardware Architecture flowchart LR Operator[Operator] --> Dashboard[Web Dashboard] Dashboard --> Apps[Python Apps] Apps --> CNC[GRBL CNC over USB serial] Apps --> Microscope[USB Microscope via mjpg-streamer] Apps --> Scope[Oscilloscope over LAN / SCPI] Apps --> Outlet[Optional LAN Power Outlet] Endstop[Optical Endstop] --> ScopeC4[Scope C4 Safety Voltage] Pogo[Pogo Measurement] --> ScopeC1[Scope C1 Measurement] ScopeC4 --> Apps ScopeC1 --> Apps Loading Runtime Architecture flowchart TD Preflight[Preflight] --> SafetyCheck{Channel 4 clear?} SafetyCheck -- no --> Stop[STOP State] SafetyCheck -- yes --> Motion[Monitored Motion] Motion --> Monitor[EndstopMonitor thread >= 10 Hz] Monitor --> C4{C4 clear?} C4 -- yes --> Capture[Microscope Capture] C4 -- no --> FeedHold[Immediate feed hold] FeedHold --> Stop Capture --> Stitch[Stitch / Map] Stitch --> Review[Manual Probe Review] Review --> Approved{Approved target and measured probe offset?} Approved -- no --> Stop Approved -- yes --> Probe[Bounded probe motion] Loading STOP State stateDiagram-v2 [*] --> Running Running --> STOP: C4 triggered / C4 fault / CNC alarm / real limit pin STOP --> Report: log voltage, status, action Report --> WaitForOperator: no automatic recovery motion WaitForOperator --> Running: operator explicitly clears condition Loading Quick Start Install dependencies: uv sync Start the dashboard on a configured hardware host: PYTHONPATH=. python3 apps/dashboard.py The dashboard defaults to port 5000 . Configuration Start from config/autoprober.example.env . Do not publish lab-specific IPs, hostnames, credentials, calibration files, or captured target images unless you intend to release them. Important runtime values are configurable: AUTOPROBER_LOG_PATH : runtime log path AUTOPROBER_RUNTIME_ROOT : calibration, flat-field, and runtime state directory AUTOPROBER_MICROSCOPE_SNAPSHOT_URL : microscope snapshot endpoint AUTOPROBER_SCOPE_HOST / AUTOPROBER_SCOPE_PORT : oscilloscope SCPI endpoint Dashboard: Flask on port 5000 Do not commit local environment files that contain lab-specific hosts, paths, or target data. Main Workflows Run preflight checks. Verify Channel 4 is clear. Home and calibrate only when the physical setup is ready. Capture microscope frames with monitored motion. Import or generate target map artifacts for review. Approve probe candidates manually. Execute any probe motion only after microscope-to-probe offset is measured and stored. What Is Excluded This release candidate intentionally excludes: Trial microscope captures and stitched target images Uploaded reference images Local backups and archives .venv , __pycache__ , Playwright artifacts Runtime logs, calibration cache, flat-field images Machine-specific SSH/deploy state See RELEASE_MANIFEST.md for details. License This project is source-available under the PolyForm Noncommercial License 1.0.0. You may use, modify, and share this project for noncommercial purposes. Commercial use requires a separate paid commercial license. For commercial licensing, contact: autoprober@gainsecmail.com Current Limitations The microscope-to-pogo XY offset must be measured before real probing. Calibration must not be fabricated; the runtime calibration file should be generated on the machine that will move. The dashboard is a lab-control tool and should not be exposed to untrusted networks. Responsible Use This project is intended for controlled lab work on equipment and targets you are authorized to test. Do not use it to probe, damage, or analyze systems without permission. Authors Jon 'GainSec' Gaines