ABSTRACT
A robot is a machine designed to execute one
or more tasks repeatedly, with speed and precision. There are as many different
types of robots as there are tasks for them to perform. A robot can be
controlled by a human operator, sometimes from a great distance. In such type
of applications wireless communication is more important.
The basic idea behind the
project is to develop an artificial intelligence to the machines we use in our
daily life. It has been always a desire for human beings to impart artificial intelligence. In the
process of it we started training our robot to differentiate colours present
the nature.
OUTPUT VIDEO
OUTPUT VIDEO
In the final stages we shall
try to explore new ways of image processing techniques to develop the robot for
real time purpose. Its always better to design something which can work in
indoors and detect different symbols like left arrow, right arrow, up arrow,
down arrow.
To impart these ideas we like
to MATLAB as our image processing tool, to compute various parameters of the
surroundings.
The data is send through the laptop by using two ways. They
are by using doclite software or by using Matlab software. In doclite software
we can send the ASCII values directly and control the robot by giving the baud
rate and com port. The second way is by using Matlab program so that we can control the robot by
pressing different keys A, S, W, D, X or a, s, w, d, x. We can control the
robot by using these 2 ways.
It captures the
video by using two ways. They are by using wireless video transmission or by
using IP web cam app in android mobile phone. In wireless video transmission we
require wireless camera, RF video modulator, and a tuner card. The second one
is by using IP web cam app in android mobile phone. Application is turned on
and writes the IP address given in that application. IP address is opened in
browser and adds video in that laptop. It captures the video in the laptop
where the robot is moving.
1. INTRODUCTION
Robotics is a growing field. This has caused many
universities to offer classes and programs in the field of robotics that
combine elements of electrical engineering, mechanical engineering and computer
science. Additionally, project-based learning is an important part of learning
an engineering discipline.
For that reason, many of these schools use educational
robots as
experimental
platforms. These robots are built to perform basic functions such as line
following and obstacle avoidance. Students can then program them to perform
tasks such as collecting small balls or travelling from one area to another.
The concepts behind a robot that carries radioactive fuel rods and one that
carries red Ping-Pong balls are very similar.
Although the control part of different robots might be
different, the vision part and decision-making part could be compatible with
any other kind of robot. We endeavor to develop a program with universality
which could be taken advantage by different robots. Build a robot that can use
this program to avoid different types of obstacles. The different types of
obstacles include chairs, desks, bottles, walls etc. Despite their different appearances,
the principles of their detection with stereo vision are the same.
TECHNICAL
SPECIFICATIONS
The
technical specifications include hardware and software require for designing a
robot.
2. HARDWARE
REQUIRED
— RS 232
— MAX 232
— Microcontroller ATMEGA16
— Motor driver(L293d)
— DC motor
— Voltage regulator(LM7805)
— Two main wheels, two support wheel
— Vehicle base
— Capacitors
SOFTWARE
REQUIRED
Software specifications: Codevision
AVR software
The Codevision AVR software is used to
convert the code into the hex file in order to dump the code into the
microcontroller. The converted file is thus successfully loaded in the
microcontroller and the desired results are checked by interfacing it to other
components embedded in the circuit.
3.
COMPONENTS
RS 232
Interface between data terminal
equipment and data communications equipment using serial binary data exchange. In
RS-232, user data is sent as a time-series of bits. Both synchronous and
asynchronous transmissions are supported by the standard. In addition to the
data circuits, the standard defines a number of control circuits used to manage
the connection between the DTE and DCE. Each data or control circuit only
operates in one direction, that is, signaling from a DTE to the attached DCE or
the reverse. Since transmit data and receive data are separate circuits, the
interface can operate in a full duplex manner, supporting concurrent data flow
in both directions. The standard does not define character framing within the
data stream, or character encoding.
The MAX232 is a dual driver/receiver that includes a capacitive voltage
generator to RS232 level to TTL levels. When a MAX232 IC receives a TTL
level to convert, it changes a TTL Logic 0 to between +3 and +15 V, and
changes TTL Logic 1 to between -3 to -15 V, and vice versa for converting
from RS232 to TTL. This can be confusing when you realize that the RS232 Data
Transmission voltages at a certain logic state are opposite from the RS232
Control Line voltages at the same logic state.
ATMEGA16 MICROCONTROLLER
FEATURES
• High-performance, Low-power Atmel® AVR® 8-bit Microcontroller
• Advanced RISC Architecture
– 131
Powerful Instructions – Most Single-clock Cycle Execution
– 32 x
8 General Purpose Working Registers
–
Fully Static Operation
– Up
to 16 MIPS Throughput at 16 MHz
–
On-chip 2-cycle Multiplier
• High Endurance Non-volatile Memory segments
– 16
Kbytes of In-System Self-programmable Flash program memory
– 512
Bytes EEPROM
– 1
Kbyte Internal SRAM
–
Write/Erase Cycles: 10,000 Flash/100,000 EEPROM
– Data
retention: 20 years at 85°C/100 years at 25°C (1)
–
Optional Boot Code Section with Independent Lock Bits
In-System
Programming by On-chip Boot Program
True
Read-While-Write Operation
–
Programming Lock for Software Security
• JTAG (IEEE std. 1149.1 Compliant) Interface
–
Boundary-scan Capabilities According to the JTAG Standard
–
Extensive On-chip Debug Support
–
Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface
• Peripheral Features
– Two
8-bit Timer/Counters with Separate Prescalers and Compare Modes
– One
16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture Mode
– Real
Time Counter with Separate Oscillator
– Four
PWM Channels
–
8-channel, 10-bit ADC
• Special Microcontroller Features
–
Power-on Reset and Programmable Brown-out Detection
–
Internal Calibrated RC Oscillator
–
External and Internal Interrupt Sources
– Six
Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby and
Extended Standby
• I/O and Packages
– 32
Programmable I/O Lines
–
40-pin PDIP, 44-lead TQFP, and 44-pad QFN/MLF
• Operating Voltages
– 2.7V
- 5.5V for ATmega16L
– 4.5V
- 5.5V for ATmega16
• Speed Grades
– 0 -
8 MHz for ATmega16L
– 0 -
16 MHz for ATmega16
USB to TTL converter
It is
used to convert the ASCII values voltages from pc i.e. 3v to 25v to TTL
compatible voltages i.e. 0v or 5v and the output of this converter is directly
given to transmitting module(TWS-434 A transmitter)
MOTOR DRIVER (L293D)
The Device is a monolithic integrated
high voltage, high current four channel driver designed to accept standard DTL
or TTL logic levels and drive inductive loads (such as relays solenoids, DC and
stepping motors) and switching power transistors. To simplify use as two
bridges each pair of channels is equipped with an enable input. A separate
supply input is provided for the logic, allowing operation at a lower voltage
and internal clamp diodes are included.
The L293D is a quadruple half H-bridge
bidirectional motor driver IC that can drive current of up to 600mA with
voltage range of 4.5 to 36 volts. It is suitable to drive small DC-Geared
motors, bipolar stepper motor etc.
TRUTH TABLE:
A
|
B
|
DECRIPTION
|
0
|
0
|
Motor Stops or Breaks
|
0
|
1
|
Motor Runs Anti-Clockwise
|
1
|
0
|
Motor Runs Clockwise
|
1
|
1
|
Motor Stops or Breaks
|
Pin Diagram
Pin Description
Pin No
|
Function
|
Name
|
1
|
Enable pin for Motor 1;
active high
|
Enable 1,2
|
2
|
Input 1 for Motor 1
|
Input 1
|
3
|
Output 1 for Motor 1
|
Output 1
|
4
|
Ground (0V)
|
Ground
|
5
|
Ground (0V)
|
Ground
|
6
|
Output 2 for Motor 1
|
Output 2
|
7
|
Input 2 for Motor 1
|
Input 2
|
8
|
Supply voltage for Motors;
9-12V (up to 36V)
|
Vcc 2
|
9
|
Enable pin for Motor 2;
active high
|
Enable 3,4
|
10
|
Input 1 for Motor 1
|
Input 3
|
11
|
Output 1 for Motor 1
|
Output 3
|
12
|
Ground (0V)
|
Ground
|
13
|
Ground (0V)
|
Ground
|
14
|
Output 2 for Motor 1
|
Output 4
|
15
|
Input2 for Motor 1
|
Input 4
|
16
|
Supply voltage; 5V (up to 36V)
|
Vcc 1
|
Specifications
·
Supply
Voltage Range 4.5V to 36V
·
600-mA
Output current capability per driver
·
Separate
Input-logic supply
·
It can
drive small DC-geared motors, bipolar stepper motor.
·
Pulsed
Current 1.2-A Per Driver
·
Thermal
Shutdown
·
Internal
ESD Protection
·
High-Noise-Immunity Input
DC GEARED MOTOR
·
12V DC
SUPPLY
·
1000 rpm
·
50mA
VOLTAGE REGULATOR(LM7805)
The LM78M05 , a three-terminal
positive voltage regulators employ built-in current limiting, thermal shutdown,
and safe-operating area protection which makes them virtually immune to damage
from output overloads.
With adequate heat sinking, they can
deliver in excess of 0.5A output current. Typical applications would include
local (on-card) regulators which can eliminate the noise and degraded
performance associated with single-point regulation.
|
OTHER COMPONENTS
CAPACITORS
·
10 µF
·
1 µF
IC
BASE
·
28 pin
·
16 pin
BUG STRIP
Used for placing the 7805 voltage
regulator.This avoids heat from the soldering rod to reach the IC.
WIRE
CONNECTORS
These connectors are used to connect
wires through the Vero board through which input, power supply or outputs are
taken out through the board.
ROBOTIC
WHEEL
Two types of wheel have been used:
·
Main
wheel(Front)
·
Support
wheel(Rear)
ROBOTIC BASE
It is made up of light weight material
aluminum which provides easy movement of the robotic vehicle. It has following
provision s in it:
·
Slot
for DC motors.
·
Rear
support wheel.
·
Slot to
clamp sensors.
9V battery holder.
4.BLOCK
DIAGRAM
5.CIRCUIT DIAGRAM
6.CODE DESCRIPTION
Microcontroller
code:
#define F_CPU 16000000UL //Set the frequency of the
microcontroller to 16 mhz. If the frequency is different, the corresponding
value should be set
#include <avr/io.h>
#include <util/delay.h>
#define USART_BAUDRATE 9600 //Rate of data transfer
#define BAUD_PRESCALE (((F_CPU / (USART_BAUDRATE * 16UL))) -
1)
void main() {
DDRB = 0xff;
char data;
UCSRB |= (1 << RXEN) | (1
<< TXEN); // Turn on the
transmission and reception circuitry
UCSRC |= (1 << URSEL) | (1
<< UCSZ0) | (1 << UCSZ1); // Use 8-bit character sizes
UBRRL = BAUD_PRESCALE; // Load lower
8-bits of the baud rate value into the low byte of the UBRR register
UBRRH = (BAUD_PRESCALE >> 8); //
Load upper 8-bits of the baud rate value into the high byte of the UBRR
register
for (;;) { // Loop forever
while ((UCSRA & (1 << RXC))
== 0) {}; // Do nothing until data have been received and is ready to be read
from UDR
data = UDR; // Fetch the received byte
value into the variable "ByteReceived"
if(data=='w')//forward condition
PORTB=0b00000101; // Both wheels rotate in
forward direction and bot is moved forward
else if(data=='s')//Backward condition
PORTB=0b00001010;
else if(data=='a')//Left condition
PORTB=0b00001001;
else if(data=='d')//Right condition
PORTB=0b00000110;
else//Default condition
PORTB=0b00001111;
}
}
Matlabcode:
Initialise serial port with the following commands
C=serial(‘com38’);
fopen(‘c’);
Main Programme:
clc;
fprintf(c,'k');
url = 'http://192.168.43.1:8080/shot.jpg';
pause(1);
while(1);
i=imread(url);
i1=rgb2hsv(i);
[len wid
~]=size(i1);
h=i1(:,:,1);
s=i1(:,:,2);
v=i1(:,:,3);
b=im2bw(v,graythresh(v));
imshow(b);
z=arrow(b);
if z==1
fprintf('\n\tTurn Left');
fprintf(c,'k');
pause(0.5);
fprintf(c,'i');
pause(2);
fprintf(c,'w');
elseif z==2
fprintf('\n\tTurn Right');
fprintf(c,'k');
pause(0.5);
fprintf(c,'s');
pause(2);
fprintf(c,'w');
elseif z==3;
fprintf('\n\tForward');
fprintf(c,'k');
pause(0.5);
fprintf(c,'w');
pause(0.5);
fprintf(c,'k');
elseif z==4;
fprintf('\n\tBackward');
fprintf(c,'d');
pause(6);
fprintf(c,'k');
end
pause(0.5);
end
arrow.m
%arrow.m
function a=arrow(c)
o=regionprops(c,'Extrema','Centroid','Orientation');
m=o.Orientation;
i1=o.Centroid;
o=o.Extrema;
%left and right arrow
if abs(m)<10
if
sqrt((o(7,1)-i1(1,1))^2+(o(7,2)-i1(1,2))^2)<sqrt((o(3,1)-i1(1,1))^2+(o(3,2)-i1(1,2))^2)
a=1;
else
a=2;
end
else
if
sqrt((o(1,1)-i1(1,1))^2+(o(1,2)-i1(1,2))^2)<sqrt((o(5,1)-i1(1,1))^2+(o(5,2)-i1(1,2))^2)
a=3;
else
a=4;
end
end
FURTHER DEVELOPED CODES:
%firoz.m
function
y=firoz(s1,l)
[len wid]=size(s1);
l=round(l);
for i=(l-3):len
for j=1:wid
s1(i,j)=0;
end
end
% figure;
% imshow(i1);
i1=im2bw(s1);
i1=bwareaopen(i1,900);
cc = bwconncomp(i1,8);
if(cc.NumObjects==0)
y=4;
else
i3=false(cc.ImageSize);
i3(cc.PixelIdxList{1}) = true;
[~, wid ,~]=size(s1);
xc=wid/2;
d4=regionprops(i3,'BoundingBox');
d4=d4.BoundingBox;
xc1=d4(1)+d4(3)/2;
z=xc-xc1;
if z>10
y=2;
fprintf('\n go left');
elseif z<-10
y=1;
fprintf('\n go
right');
else
y=0;
end
end
end
INDOOR MOVEMENTS:
clc;
% vid=videoinput('winvideo',2);
while(1)
v3=0;
n=0;
e=0;
p=0;
x=90;
s=0;
n=0;
y=90;
z=90;
a=1;
b=1;
d=0;
url =
'http://192.168.43.1:8080/shot.jpg';
s1=imread(url);
%
s1=imread('stop_sign.jpg');
%
s1=getsnapshot(vid);
i1=rgb2hsv(s1);
s2=i1;
h=i1(:,:,1);
s1=i1(:,:,2);
v1=i1(:,:,3);
[len wid]=size(h);
for i=1:len
for j=1:wid
% if((v1(i,j)
>=0.5)&&s1(i,j) <=0.15)
%
h(i,j)=0;
%
s1(i,j)=0;
%
v1(i,j)=1;
% end
% if(v1(i,j)
>=0.3 && s1(i,j)>=0.5&&h(i,j)>0.7)
% h(i,j) =
0.85;
% s1(i,j) =
0.99;
% v1(i,j) =
0.8;
% end
% if(v1(i,j)<0.1)
% h(i,j)=0;
% s1(i,j)=0;
% v1(i,j)=0;
% end
% if(v1(i,j)
>=0.25 && v1(i,j)
<=0.5&&h(i,j)>0.25&&h(i,j)<0.4)
if(h(i,j)>=0.35)&&(h(i,j)<=0.49)
h(i,j) = 0.384;
s1(i,j) = 0.99;
v1(i,j) = 0.694;
end
end
end
i1(:,:,1)=h;
i1(:,:,2)=s1;
i1(:,:,3)=v1;
for i=1:len
for j=1:wid
if(h(i,j)
>=0.85 && h(i,j) <= 1)
v3=v3+1;
elseif(h(i,j)>=0.293 && h(i,j) <=0.399)
n=n+1;
end
end
end
p=im2bw(i1);
p=bwareaopen(p,300);
ar=regionprops(p,'Area');
ar=ar.Area;
ar1=len*wid;
na=ar/ar1;
a=1;
b=1;
[len wid]=size(h);
% if(v3>1000)
%
s=1;fprintf('\nred');
% elseif(n>1000)
%
s=2;fprintf('\ngreen');
% end
s=2;
h=p(:,:,1);
s6=p(:,:,1);
v=p(:,:,1);
for i = 1:len
for j= 1:wid
if( h(i,j) ==
1&&s6(i,j) == 1&&v(i,j) == 1)
d(a)=i;
m(b)=j;
a=a+1;
b=b+1;
end
end
end
o1=i1(:,:,3);
d=min(d)/2;
for i=1:(d)
for j=1:wid
i1(i,j,3)=0;
end
end
v=i1(:,:,3);
imshow(v);
i2=im2bw(v,0.25);
imshow(i2);
i2=bwareaopen(i2,900);
imshow(i2);
cc = bwconncomp(i2,8);
i3= false(size(i2));
i3(cc.PixelIdxList{1}) = true;
e=regionprops(i3,'Extrema');
l=e.Extrema(1,2);
dis=len-l;
% imshow(i3);
i4=edge(i3);
% se= strel('rectangle',[1 15]);
% i4=imdilate(i4,se);
% se= strel('rectangle', [1 15]);
% i4=imerode(i4,se);
% imshow(i4)
if(na>=0.055)
%[x d]=
travel(s2,l);
%if(x==0)
fprintf('\nstop');
pause(0.25);
fprintf(c,'w');
k=symb1(o1,l);
switch k
case 0
fprintf('\nDead end');
fprintf(c,'O');
pause(1);
fprintf(c,'I');
pause(2.3);
fprintf(c,'K');
continue
case 1
fprintf(c,'L');
pause(0.5);
fprintf('\nStop');
fprintf(c,'K');
break;
case 2
if
s==1
fprintf('\nDont go left');
fprintf(c,'k');
pause(2);
fprintf(c,'d');
pause(1.2);
fprintf(c,'w');
continue
elseif s==2
fprintf('\nGo left');
fprintf(c,'k');
pause(2);
fprintf(c,'i');
pause(1.2);
fprintf(c,'w');
%
fprintf(c,'O');
%
pause(0.25);
%
fprintf(c,'K');
continue
end
case 3
if
s==1
fprintf('\nDont go right');
fprintf(c,'k');
pause(2);
fprintf(c,'i');
pause(1.2);
fprintf(c,'w');
continue
elseif s==2
fprintf('\nGo right');
fprintf(c,'k');
pause(2);
fprintf(c,'d');
pause(1.2);
fprintf(c,'w');
% fprintf(c,'O');
%
pause(0.25);
%
fprintf(c,'K');
continue
end
otherwise
continue
end
%
elseif(x==1)
% fprintf('\ngo straight');
%
fprintf(c,'L');
%
pause(0.25);
%
fprintf(c,'K');
%
pause(0.25);
%
fprintf(c,'A');
%
pause(0.25);
%
fprintf(c,'K');
else
y=firoz(v,l);
end
if(y==0)
fprintf('\ngo
straight')
fprintf(c,'k');
pause(0.5);
fprintf(c,'w');
%
pause(0.25);
%
fprintf(c,'A');
%
pause(0.25);
%
fprintf(c,'K');
elseif(y==2)
fprintf('\nturn right')
fprintf(c,'s');
pause(0.1);
fprintf(c,'w');
%
pause(0.25);
%
fprintf(c,'A');
%
pause(0.25);
%
fprintf(c,'K');
elseif(y==1)
fprintf('\nturnleft')
fprintf(c,'i');
pause(0.1);
fprintf(c,'w');
%
pause(0.25);
%
fprintf(c,'W');
%
pause(0.25);
%
fprintf(c,'K');
elseif(y==4)
%
fprintf(c,'O');
pause(0.5)
%
fprintf(c,'K');
elseif(y==3)
continue;
end
end
7. WORKING
·
The
sensors (camera) which are kept at the
front part of the robot detects the symbol.
·
A
signal will be given to the microcontroller whenever an symbol is detected
through matlab.
·
Microcontroller
is programmed in such a way that it interfaces with the motor driver IC
·
Motor
driver IC will drive the robot backwards
and moves left or right based on the program.
8.PROBLEMS ENCOUNTERED
Although
the concept & design of the project seemed perfect, there were some
problems faced while actual implementation:
1. DAMAGE OF ONE WHEEL DRIVING DC MOTOR
During the initial operation of the robot it was
found that one of the DC motor was not running in reverse direction. The motor
was checked by opening its outer case and it was found that geared part of the
motor is damaged.
2. ALIGNMENT
OF WHEELS
Solution:
Many methods were tried to correct the defect but
success was not achieved. Finally a new DC motor was purchased and employed in
the project.
9. APPLICATIONS
•
Surveillance
robots
•
Fire
extinguishing
•
Security
•
Industrial applications
10. SCOPE OF THE PROJECT
SCIENTIFIC
Remote control vehicles
have various scientific uses including hazardous environments, working in the
deep ocean, and space exploration. The majority of the probes to the other
planets in our solar system have been remote control vehicles, although some of
the more recent ones were partially autonomous. The sophistication of these
devices has fuelled greater debate on the need for manned spaceflight and
exploration. The Voyager I spacecraft is the first craft of any kind to leave
the solar system. The Martian explorers Spirit and Opportunity have provided
continuous data about the surface of Mars since
January 3, 2004.
MILITARY AND SECURITY APPLICATIONS
Military
usage of remotely controlled military vehicles dates back to the first half of 20th century. Soviet Red Army
used remotely controlled Tele tanks during 1930s in the Winter War and early
stage of World War II. There were also remotely controlled cutters and
experimental remotely controlled planes in the Red Army. Remote control vehicles
are used in law enforcement and military engagements for some of the same
reasons. Remote controlled vehicles are used by many police department
bomb-squads to defuse or detonate explosives. See Dragon Runner, Military
robot. Unmanned Aerial Vehicles (UAVs) have undergone a dramatic evolution in
capability in the past decade. Early UAV's were capable of reconnaissance
missions alone and then only with a limited range. Current UAV's can hover
around possible targets until they are positively identified before releasing
their payload of weaponry. Backpack sized UAV's will provide ground troops with
over the horizon surveillance capabilities.
SEARCH AND RESCUE
UAVs will likely play an increased role in search and
rescue in the United States. Slowly other European countries (even some
developing nations) are thinking about making use of these vehicles in case of
natural calamities &emergencies. This can be a great asset to save lives of
both people along with soldiers in case of terrorist attacks like the one
happened in 26 Nov, 2008 in Mumbai, India. The loss of military personnel can
be largely reduced by using these advanced methods. This was demonstrated by the
successful use of UAVs during the 2008 hurricanes that struck Louisiana and
Texas.
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