So the project is to build a robot which can carry a camera and walk around. Roomba is cheap and easy to develop on it.
This is a Nvidia Jetson tx1 board. It has a GPU along with a powerful ARM chip on it. The greatest stuff here is this board only consumes 10W power.
I already opened up a Roomba, and try to mount this board on it. If you don't know how to open it, you can read this inversely.
Step 1: Open It Up and Drill Holes
After removing the top&bottom cover, wheels, battery, bumper, motherboard. Here is what your Roomba should look like.
I drill four holes for the tx1 board, but if you got other boards, make sure you measure the right length before drilling anything.
Step 2: Put Motherboard Back and Connect Pins
Step 3: Put Front Pad and Screws Back
Step 4: Connect Bumper Wire, Put Bumper Back
Step 5: Put Top Cover and Screws Back
Step 6: Put Wheels, Battery, and Back Cover Back to Its Place
Step 7: Mark Useless Part and Cut It Away
I found out that the Tx1 board is actually larger than the circle shape of the Roomba after a while. So I decided to cut the dust bin open and live more space to the board.
The red line on the bin indicate the cutting line.
Step 8: Prepare Power/Reset Button
As the power/reset button on the board is hidden inside the Roomba, I soldered wires to buttons and later mount it on the dustbin.
I should choose two different color to distinguish Power and Reset... 0_o