# 男子用胶带、旧相机和数控机床打造出由人工智能驱动的硬件"黑客手臂"

- 来源：Hacker News 热门（buzzing.cc 中文翻译）
- 作者：scaredpelican
- 发布时间：2026-04-17 11:00
- AIHOT 链接：https://aihot.virxact.com/items/cmo2clv56027aslbakt0ba3gh
- 原文链接：https://github.com/gainsec/autoprober

## AI 摘要

一名开发者利用胶带、旧相机和数控机床，自制了一款名为AutoProber的AI驱动硬件"黑客手臂"。该项目已开源在GitHub（gainsec/autoprober），相关技术展示在Hacker News上获得104个积分关注。这一低成本解决方案通过人工智能控制机械臂，展示了如何利用现成材料构建自动化硬件安全测试工具。

## 正文

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.

Pn:P

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

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

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/

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/

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

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]

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

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.

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_LOG_PATH

AUTOPROBER_RUNTIME_ROOT: calibration, flat-field, and runtime state directory

AUTOPROBER_RUNTIME_ROOT

AUTOPROBER_MICROSCOPE_SNAPSHOT_URL: microscope snapshot endpoint

AUTOPROBER_MICROSCOPE_SNAPSHOT_URL

AUTOPROBER_SCOPE_HOST / AUTOPROBER_SCOPE_PORT: oscilloscope SCPI endpoint

AUTOPROBER_SCOPE_HOST

AUTOPROBER_SCOPE_PORT

Dashboard: Flask on port 5000

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

.venv

__pycache__

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