Presented by

P. HYNDAVI11RG1A0235

SENSOR BASED MOTION CONTROL

OF MOBILE CAR ROBOT

It contains different modules

Object detection and angle determination in the path using IR sensor.

SMS protocol (F-Bus) development.

Design of RF circuits for data transfer.

"A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks"

What is a robot?

Role of Robotics in Industrial standards

Mostly automatic manipulation of rigid parts with well-know shape in a specially prepared environment.

In Medical Mostly semi-automatic manipulation of deformable objects in a

naturally created, space limited environment.

Robot Manipulators

Mobile Robots

Walking Robots

Humanoid Robots

Different types of ROBOTICS

Sensor-Driven Robot Control• To accurately achieve a task

in an intelligent environment, a robot has to be able to react dynamically to changes ion its surroundingRobots need sensors to perceive

the environment

Most robots use a set of different sensors• Different sensors serve different

purposes

Information from sensors has to be integrated into the control of the robot

Robot Sensors• Proximity sensors are used to measure the

distance or location of objects in the environment. This can then be used to determine the location of the robot.– Infrared sensors determine the distance to an object by

measuring the amount of infrared light the object reflects back to the robot

– Ultrasonic sensors (sonars) measure the time that an ultrasonic signal takes until it returns to the robot

– Laser range finders determine distance by measuring either the time it takes for a laser beam to be reflected back to the robot or by measuring where the laser hits the object

Robot Sensors• Computer Vision provides robots with the

capability to passively observe the environment– Stereo vision systems provide complete

location information using triangulation

– However, computer vision is very complex• Correspondence problem makes stereo vision even

more difficult

Ways of connecting of mobile car robot

Robot Vs Human Human

advantages:

IntelligenceFlexibilityAdaptabilitySkillCan LearnCan Estimate

Robot Advantages:

StrengthAccuracySpeedDoes‘nt get tiredDoes repetitive tasksCan Measure

SMS based remote control system

BLOCK DIAGRAM

Nokia 3310 phone has F-Bus connection that can be used to connect the phone to a microcontroller.

TRIAC CIRCUIT

The device is driven by a triac circuit that acts as solid state relay . The triac circuit is driven by DC voltage input and typically 10 mA of current , which the microcontroller can provide very easily . Thus turning on/off can be accomplished by giving a logic high/low to the input of triac circuit

Design of RF circuits for data transfer

Radio is a device that wirelessly transmit or receive signals in the radio frequency (RF) part of the electromagnetic spectrum to facilitate the transfer of information. The front-end of a radio is comprised of transmitter and receiver. Cellular/mobile radio communications, WLAN, etc.,

Components involved in designing RF circuits:

Low Noise AmplifiersMixersClock generatorsPower AmplifiersAntennaDuplexerOnchip passive components (Inductor, Capacitor and transformer)

Example for RF circuit

ANY QUERIES?