Virtual Control for Robotic Navigation
Transcript of Virtual Control for Robotic Navigation
VIRTUAL CONTROL PANELFOR
ROBOTIC NAVIGATION
With Gaming
Application
GROUP NO. 5
PROJECT GUIDE:-
Prof. V. P. PATIL
GROUP MEMBERS: NILESH JAIN [RN 29] PRATHAMESH
GAWANE [RN 19] PRAJYOT HIBARE
[RN 24] ISHWAR JANGLE
[RN 30]
INDEX
Abstract Introduction Literature survey Proposed System Block Diagram Detail Information of Component Technology & Software Project Development stage Scope & Applications Limitations & Drawback Future Modification Goal Summary Reference
Abstract
Robotic navigation is not new concept but with finger touch screen motions makes it different
NEW FEATURE OF VIRTUAL CONTROL PANEL…
Introduction
The name of project is ‘Virtual Control Panel For Robotic Navigation’. As it says virtual control panel ,that means we are not going to use any control panel in real !!!
Any surface will be use as control panel (eg.Desk or Table).
The control panel will be tough sensitive.
Introduction
The proposed system will use web camera connected to the pc on which image processing software is developed.
Introduction
User just have to move fingers on surface. ( According to visibility range of camera.)
Pc side installed software will interpret commands like forward ,backward, right ,left ,stop, etc.
Introduction
These commands will be send to Robot using ‘radio link’.
And robot will navigate accordingly in required direction of user.
Literature Survey
EXISTING SYSTEMSSome existing robotic systems are:1) pc based wired robotic navigation2) pc based wireless robotic navigation3) SMS based robotic navigation4) Bluetooth based wireless robotic
navigation5) RF based remote controlled robotic
navigation.
Drawbacks of existing system
1] Wired robot have limitation of wire length
2] Bluetooth and SMS based robot may face connectivity problem
3] Also all system mentioned ,there is no visual intelligence in the robot which can help it to understand gesture based commands given by human being.
What is a Robot ?
“A re-programmable, multifunctional manipulator designed to movematerial, parts, tools, or specialized devices through various programmedmotions for the performance of a variety of tasks.”
A robot must have the following essential characteristics:
Mobility: It possesses some form of mobility. Programmability: implying computational or symbol-
manipulative capabilities that a designer can combine as desired (a robot is a computer). It can be programmed to accomplish a large variety of tasks. After being programmed, it operates automatically.
Sensors: on or around the device that are able to sense the environment and give useful feedback to the device
Mechanical capability: enabling it to act on its environment rather than merely function as a data processing or computational device (a robot is a machine); and
Flexibility: it can operate using a range of programs and manipulates and transport materials in a variety of ways.
Isaac Asimov's Laws of Robotics
Law Zero A robot may not injure humanity, or, through inaction, allow humanity to come to harm.
First Law A robot may not injure a human being, or, through inaction, allow a human being to come to harm.
Second Law A robot must obey orders given it by human beings, except where such orders would conflict with the First Law.
Third Law A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
Construction & Working of the Basic Robot
Mechanical platforms- the hardware base SensorsMotorsDriving mechanismsPower suppliesElectronic ControlsMicrocontroller systemsLanguagesR/C ServosPneumaticsDriving High-Current Loads from LogicControllers
Proposed system
The basic aim of our project is to develop such a method in which robot can directly understand the navigation or any other commands given by moving the fingers in front of its vision. To demonstrate this we will developed small prototype.
Proposed system
In our system there will be a web camera connected to the pc. And the view range of the camera on the desk will act as a touch screen. When the user will move his finger in any direction on the said Touch Screen, the Robot will also take a movement in the same direction.
Proposed system
For example : If the user moves his finger in forward
direction on the screen Robot will also move in forward direction, etc.
System overview
The system
Hardware Pc software
Power supply Motor DriverRf Tx & Rx GUI COMMANDGENERATION
Image processing
PrinterPort soft
PC
RF Encoder
RF Transmitter
Power Supply
TRANSMITER SECTION
USB web camera
RECEIVER SECTION
RF Receiver
RF decoder
MotorDriver
LeftMotor
RightMotor
Battery PowerSupply
Detail information of components
Power supply: This unit will supply the various voltage
requirements of each unit. This will be consist of transformer , rectifier ,
filter and regulator. The rectifier used here will be bridge rectifier. It will convert 230VAC into desired 5v/12v/ DC.
Power supply implementation
DC Motors
Lorentz Force Law: F = I x B F = force on wire I = current B = magnetic field
Right hand rule:index finger along I, middle finger along B, thumb along F
N S
Inside a DC Motors
Why DC motors?
Workhorse, high power Simple to use, two wires Torque proportional to current, steady state
constant-load speed proportional to voltage Requires gearing Requires feedback
Why DC motors?
Here we are going to use: 10/30/45 RPM gear DC motor. 200mA current will be required. Gears will be used to give more torque.
DC motor driver
This is nothing but H-Bridge driver encapsulated in a single IC.
H-Bridge works along with PWM.
DC Motor Driver
The name "H- Bridge" is derived from the actual shape of the switching circuit which controls the motion of the motor. It is also known as "Full Bridge".
DC Motor Driver
Here we will use L293D IC for DC motor driving. It can drive up to 4 DC in unidirectional mode and 2
DC motors in Bidirectional mode. It can sink up to 600mA per channel.
DC Motor Driver
When these switches are turned on in pairs motor changes its direction accordingly.
This is the basic working of H-Bridge.
DC Motor Driver
We can also make a small truth table according to the switching of H- Bridge explained.
The job of this unit is move robot in desired directions.
It will need +12 VDC for its proper functioning.
Truth Table:
High Left, High Right ,Low Left ,Low Right On Off Off On Motor runs clockwise Off On On Off Motor runs anti- clockwise On On Off Off Motor stops or decelerates Off Off On On Motor stops or decelerates
RF Encoder HT12E
This unit is used to encode the 4-bit data before transmitting it in the communication channel.
Basically it generates a serial bit stream from incoming parallel bit stream and then send to RF transmitter unit.
It require +5V to +12V
RF Decoder HT12D
This unit is used to decode the 4 bit data after receiving it from RF Receiving unit.
Basically it generates a parallel data from the serial incoming bit stream.
This will also require +5v to +12V.
RF TX & RX
RF Transmitter
This unit performs very significant role i.e. it is responsible for the modulation[ ASK,CF-434MHZ] OF MSG or Data can be transferred.
Once data is modulated then is transmitted or launched in air by antenna.
The baud rate is around 1200bps & range will be around 100 ft.
RF Receiver
This unit performs very significant role i.e. it is responsible for the Demodulation of the message or data after reception from air. This section is internally constructed with amplifier unit, Filter unit, peak Detector, sample and Hold circuit and Level shifter.
This only require +5VDC supply.
Prominent features
RF based wireless link at 1200 bps ASK Modulation at 434 MHz. Up to 100 ft range, MATLAB based image processing Finger movement based robotic control
Technology & software
MATLAB 7.0 based application software Parallel communication protocol Eagle software for PCB designing.
Project development steps
MATLAB 7.0 STUDY For image reading, displaying & generation.
Image processing technique
Image Acquisition i.e. video preview , capturing & storing.
Project Development Steps
Interfacing with PC ports Serial port & parallel port
Project development steps
PCB Development using eagle software Program development using MATLAB
functions
Testing & debugging program
Documentation
Scope & Applications
Robotic vision development Exploration robot Spy robot Fire fighting robot Various military applicationsGAMING And many more
Limitations :
Current range is less {100 ft only}
Basic movements only
Require microcontroller & servo motors for moving hands and legs I.e. limited motion done by wheels
Drawbacks:
Using pc for image processing
Speed of processing is slow
Future modifications
There is always chance to improve system.
Our system may be developed as Range will increase Robotic arms can be added One another camera can interface in robot
for bidirectional image processing. GSM can be implemented & controlled .
Our goal
As system is having some drawbacks our goal is to select such application where system will overcome these drawbacks.
As spy robot or military robot may require more range of area and speed.
Where fire fighting robot will need robotic arms & camera interface.
Thus the most significant application for these robot is GAMING.
ROBOTIC GAMING
OUR GOAL
SO OUR GOAL IS TO DEVELOP ROBOT WHICH WILL NAVIGATE BY IMAGE PROCESSING & HAVE HUMAN INTERFACE OF FINGER MOVEMENTS FOR PLAYING GAME.
Summary
Robotic navigation is done by using various methods before.
Our aim is to develop robot which will navigate throw image processing.
Image processing includes image capturing, storing ,transmission.
By using H-Bridge IC we will control motion of DC motors.
Summary
So the logic is very simple to control motions of DC motors using image processing.
Further to implement this project in practical basis we will use it in gaming.
References
BOOKS AUTHORS: P.A.JANAKIRAMAN
{ROBOTICS & IMAGE PROCESSING}
RAMAKANT A. GAYAKWAD
R . P JAIN
{DIGITAL ELECTRONICS} GONZALEZ RAFEL
{MATLAB 7.0}
MAGAZINE ELECTRONIC FOR YOU CHIP
WEBSITES: www.wikipedia.org www.electronicsforu.com
Thank you!!!