A robot with an eye (RobE) was our final year project.
The reliability and robustness of our algorithm enable RobE to use in various Applications. RobE is equipped with features like Obstacle detector, Line tracking, long and short distance control, Image identification etc.
sensor involved in achieving this is ultrasonic Sensor. Some decision making algorithms were also introduced. We have a small circuit incorporated with Ultrasonic sensor which will provide the distance between the nearest obstacles in front of the Robot to the master processing unit of the Robot. This input was the key to decision making. The whole idea is to move the robot without hitting any obstacles in the path.
Challenge: There can be steps/depressions in front of the robot which will be undetectable for the Ultrasonic sensor. To address this we used a Limit Switch (which is like a refrigerator door switch). The switch is placed in a way that it will be closed during normal operation. If there is a dip/Step the switch will be open, and this was also made available to master processing unit.
2) Line tracking- This can be achieved in two ways
One is using IR LEDs and another way is to track line using image processing. RobE has an Eye (Camera) which will capture images from the surroundings and can recognize if a line present there. This line is tracked in video sequences and RobE can follow it.
Challenge: To do image processing in a micro controller (pic 16f877), it was very difficult. So we changed the concept. We introduced a controller station which is a computer. The video input was provided to the station from there all the video processing will happen and the result is sent to RobE's master processing unit by RF
b) Manual- if the robot needs to be controlled manually, we had some different options.
1) Voice controlled: RobE can understand and follow the user instructions, so that it can be controlled by voice commands. In fact it is not just commands moreover it is like a conversation. There are some other logics to capture and understand the user what he is saying; let’s say which day is today during the week or greeting the user, etc. So we can have a conversation with Robot? Yes that was the idea. If we are able to do the conversation then we should define the behavior of the robot, we were able to define the mood for robot by taking surrounding temperature and some other input. So the conversation varies according to the mood of the robot. We also defined different impersonation from a robot that is we can choose the robot voice and behavior.
Challenge: Again to do this in a micro controller was difficult. We used the concept of Station to process the voice and send the result to the robot by RF to the master processing unit. We used Microsoft Voice SDK for voice processing.
2) Control the RobE Remotely
a) Long distant control
Control the RobE from a very distant place say I need to control a robot which is located in India from New-York?
This is achieved by making use of the internet. The Station which Robot is connected will act as a web server. And the video from the robot is published so that it is accessible by an internet user with proper credentials.
From that web page user can issue commands to move the robot. The station will send the commands to a server by RF.
b) Short distant control
A simple joystick control for robot
3) Path from Predefined track.
User can draw a path in the station (computer) so that RobE moves through that predefined path or through a saved path which robot traveled before.
3) Battery Operated: 7Ah battery was used in the robot.
Challenge: The battery operating time was only 1 hour. Image streaming we made as discrete in an intervals of 5 secs rather than continuing. But the improvement obtained was only additional 8 mins.
Applications:
The Movement
a) Automatic-
1) Ultrasonic sensor- The key 
Challenge: There can be steps/depressions in front of the robot which will be undetectable for the Ultrasonic sensor. To address this we used a Limit Switch (which is like a refrigerator door switch). The switch is placed in a way that it will be closed during normal operation. If there is a dip/Step the switch will be open, and this was also made available to master processing unit.
2) Line tracking- This can be achieved in two ways
One is using IR LEDs and another way is to track line using image processing. RobE has an Eye (Camera) which will capture images from the surroundings and can recognize if a line present there. This line is tracked in video sequences and RobE can follow it.
Challenge: To do image processing in a micro controller (pic 16f877), it was very difficult. So we changed the concept. We introduced a controller station which is a computer. The video input was provided to the station from there all the video processing will happen and the result is sent to RobE's master processing unit by RF
b) Manual- if the robot needs to be controlled manually, we had some different options.
1) Voice controlled: RobE can understand and follow the user instructions, so that it can be controlled by voice commands. In fact it is not just commands moreover it is like a conversation. There are some other logics to capture and understand the user what he is saying; let’s say which day is today during the week or greeting the user, etc. So we can have a conversation with Robot? Yes that was the idea. If we are able to do the conversation then we should define the behavior of the robot, we were able to define the mood for robot by taking surrounding temperature and some other input. So the conversation varies according to the mood of the robot. We also defined different impersonation from a robot that is we can choose the robot voice and behavior.
Challenge: Again to do this in a micro controller was difficult. We used the concept of Station to process the voice and send the result to the robot by RF to the master processing unit. We used Microsoft Voice SDK for voice processing.
2) Control the RobE Remotely
a) Long distant control
Control the RobE from a very distant place say I need to control a robot which is located in India from New-York?
This is achieved by making use of the internet. The Station which Robot is connected will act as a web server. And the video from the robot is published so that it is accessible by an internet user with proper credentials.
From that web page user can issue commands to move the robot. The station will send the commands to a server by RF.
b) Short distant control
A simple joystick control for robot
3) Path from Predefined track.
User can draw a path in the station (computer) so that RobE moves through that predefined path or through a saved path which robot traveled before.
Extras:
1) Image identification. Predefined images such as numbers alphabets etc. Which are taught to Robot can be identified and perform some actions.
1) Image identification. Predefined images such as numbers alphabets etc. Which are taught to Robot can be identified and perform some actions.
- Eg: if there is an image that shows 1+1=Then robot will be able to tell the answer as 2.
3) Battery Operated: 7Ah battery was used in the robot.
Challenge: The battery operating time was only 1 hour. Image streaming we made as discrete in an intervals of 5 secs rather than continuing. But the improvement obtained was only additional 8 mins.
Applications:
- Security surveillance.
- Interactive Robot.
greetings from trichur
ReplyDeleteplease come to my home on 12th may 2011 for trichur pooram.
letz celebrate............
best compliments
unniyettan