gesture controlled robot an insignia on technology by mohd haris siddiqui md. rashid azam md. aftab...

GESTURE CONTROLLED ROBOT

An insignia on technology

By

MOHD HARIS SIDDIQUI

Md. RASHID AZAM

Md. AFTAB USMANI

2nd Year

2nd Year

2nd Year

CONTENT

• Introduction• Components Used• Components Specifications• Complete schematics• Code• Algorithm • Applications• Conclusion• Acknowledgement• References

INTRODUCTION

Gesture recognition enables humans to communicate with the machine and

interact naturally without any mechanical devices. These gestures can originate from any bodily motion or state but commonly

originate from the face or hand. In this project we have tried to control a robot by

hand gestures using an accelerometer sensor in conjunction with a MCU and RF

link.

COMPONENTS USED

RF Link 434 MHz HT12E Decoder IC

Accelerometer ADLX335

100 rpm DC motors

HT12D Encoder IC

MCU Atmega16

Voltage regulator(7805)

Motor Driver(L293D)

Components Specifications

• Accelerometer Sensor

The ADXL335 is a small, thin, complete 3-axis accelerometer. It measures acceleration with a minimum full-scale range of ±3

g. It is can be used in the static as well as dynamic applications.

Components Specifications

• RF Link 434 MHz

This RF link comprises of an RF Transmitter and an RF Receiver. The (Tx/Rx) pair operates at a frequency of 434 MHz. An RF transmitter

receives serial data and transmits it wirelessly through RF through its antenna connected at pin4. The transmitted data is received by an RF receiver operating at the same frequency as that of the transmitter.

Components Specifications

• HT12E Encoder IC

HT12E is an encoder integrated circuit of 212 series of encoders. It encodes the 12 bit parallel data into serial for transmission through an RF transmitter. These 12 bits are

divided into 8 address bit s and 4 data bits.

• Encoding

Components Specifications

• HT12D Decoder IC

It is a decoder integrated circuit that belongs to 212 seriesof decoders. It is capable of decoding 12 bits, of which 8

areaddress bits and 4 are data bits. The data on 4 bit latch

type output pins remain unchanged until new is received.

• Decoding

Components Specifications

• 100 rpm DC motorsIt is a low cost DC motor suitable for most robotic and general applications. It has a output shaft with a hole for easy mounting of wheels or pulleys. Input Voltage: 6-12 VStall Current: 500 - 600 mAShaft length: 2.4 cm

Components Specifications

• Motor Driver

The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is designed to provide bidirectional drive currents of

up to 600-mA at voltages from 4.5 V to 36 V.

Components Specifications

• MCU Atmega16It is Low-power AVR 8-bit Microcontroller with 16KB

In-System Self-Programmable Flash.It has 32 Programmable I/O Lines with Real Time Counter with

Separate Oscillator & Four PWM Channels

Components Specifications

• Voltage regulator (7805)

7805 is a voltage regulator integrated circuit. The voltage regulator IC maintains the output voltage at a constant value. It provides +5V regulated power supply.

Complete Schematics

Image from simulation file of Proteus

Transmitter Side

Complete Schematics

Receiver Side

Image from simulation file of Proteus

CODETransmitter side:while (1)

{ x=read_adc(0); y= read_adc(1); itoa(x,a); itoa(y,b); lcd_gotoxy(0,0); lcd_putsf("X axis="); lcd_gotoxy(0,1); lcd_putsf("Y axis="); lcd_gotoxy(10,0); lcd_puts(a); lcd_gotoxy(10,1); lcd_puts(b); PORTB=0x00; if(x>370) PORTB=0b00000001; else if(x<280) PORTB=0b00000010; else if(y>370) PORTB=0b00000100; else if(y<290) PORTB=0b00001000; }

CODE

Receiver Side

while(1) {if(PIND&(1<<4))motor_forward();else if(PIND&(1<<5))motor_backward();else if(PIND&(1<<6))motor_left();else if(PIND&(1<<7))motor_right();elsemotor_stop();}}

ALGORITHM

Accelerometer

• It will detect the gesture and send analog output to the ADC of Atmega16 on the corresponding axis.

Atmega16• The Microcontroller will send the command based on

threshold set on the ADC of respective axis to the RF encoder Module .

RF Encoder• The Encoder Module (IC HT12E) will send the

correscponding Databit using RF transmitter to the RF Reciever.

• Transmitter Side

RF Decoder

• The RF Reciever will send the command to IC HT12D and the corresponding Data bit will be pulled high.

Atmega 16• By checking the status of Data bits of the Decoder IC the

microcontroller will send the command to the motor Driver to start or stop the motors.

L293D• It will Recieve the commands from the Atmega16 and

will Reverse the polarity/diretcion whenever required.

ALGORITHM

• Receiver Side

DEMO

APPLICATIONS

• Hospitals

Wheel ChairControl

Hospital BedControl

APPLICATIONS

• Industrial Robots

Robotic ArmControl

Self Controlled Humanoids

APPLICATIONS

• Automobiles

Gesture Controlled Cars!!

Limitations & Further Developments

Speed ControlHardware

Complications

Specific gestures

Conclusion

Gesture control which is a emerging technology finds many applications in various fields. The work we have done is a

little part of it. Controlling the motion of wheeled robot through this system is not the only thing, with further

research we can take it too far.

REFERENCES

1. http://www.wikipedia.org2. http://www.freescale.com3. http://www.ablabs.co.in4. http://www.onlinetps.com5. http://www.atmel.com

ACKNOWLEDGEMENT

• AMU ROBOCLUB.

THANK YOU!!

Queries Please!