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!!!