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