VIRTUAL CONTROL PANEL FOR 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 SYSTEMS Some existing robotic systems are:

1) pc based wired robotic navigation 2) pc based wireless robotic navigation 3) SMS based robotic navigation 4) Bluetooth based wireless robotic navigation 5) 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 move material, parts, tools, or specialized devices through various programmed motions 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 symbolmanipulative 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 Sensors Motors Driving mechanisms Power supplies Electronic Controls Microcontroller systems Languages R/C Servos Pneumatics Driving High-Current Loads from Logic Controllers

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

Rf Tx & Rx

Motor Driver

GUI

Printer Port soft

Image processing

COMMAND
GENERATION

TRANSMITER SECTION
USB PC web camera

RF Encoder

RF Transmitter Power Supply

RECEIVER SECTION

RF Receiver

RF decoder

Motor Driver

Battery Power Supply

Left Motor

Right Motor

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=IxB F = force on wire I = current B = magnetic field Right hand rule: index finger along I, middle finger along B, thumb along F

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 HBridge explained. The job of this unit is move robot in desired directions. It will need +12 VDC for its proper functioning.

Truth Table:

High On Off On Off

Left, High Right ,Low Left ,Low Right Off Off On Motor runs clockwise On On Off Motor runs anti- clockwise On Off Off Motor stops or decelerates 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. it generates a parallel data from the serial incoming bit stream. will also require +5v to +12V.

Basically

This

RF TX & RX

RF Transmitter
This

unit performs very significant role i.e. it is responsible for the modulation[ ASK,CF434MHZ] 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. only require +5VDC supply.

This

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. processing technique

Image 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 development using MATLAB

Program

functions

Testing

& debugging program

Documentation

Scope & Applications

Robotic

vision development Exploration robot Spy robot Fire fighting robot Various military applications
GAMING
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 of processing is slow

Speed

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!!!