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ABSTRACT--- In today’s world working on robots is growing fast. In this field controlling robots with remotes is a complicated part as there is chance of confusion by the user. Instead we can use concept of gestures i.e. we will control the movement of robot using chromos watch and make hand movements. The users have to wear a chronos watch. The accelerometer present in chromos watch will record hand movement in specific direction and commands the robot to move in that respective direction. The robot which also consists of camera and the watch are connected wirelessly via radio wave which enables to interact in more friendly way. It can also sense the obstacles and responds accordingly. The main objective is it makes a simple and cheap which would help for number of purposes.
I Introduction
In recent years, many efforts were made to develop natural interfaces between users and computer based systems based on human gestures. Generally robots are electro-mechanical machine which perform tasks automatically under some guidance. They can be controlled using remote or a computer interface. When it comes to human-machine interface, we communicate with robots based on the gestures. Gesture recognition can be considered as a way for computer to understand human body language.
The main motto for designing this robot is to help disabled people drive their chairs without even having the need to touch the wheels of their chairs. Not only this, it can be reduce the complexity of operating remote control based robots. For example, military application, industrial robotics, construction vehicles in civil side etc comes under this category. Commands to the robot are sent by chromos watch depending on either Tilt control or Touch control. Once the commands are received by the receiver on robot, it process them in order to change position or speeds. It also develops a real time obstacle detection and obstacle avoidance for autonomous navigation of mobile robots using IR sensors in an unstructured environment. The process of robot control includes,
• Collection of information of the environment (Senses).
• Information collected is used and processed (Process).
• Follows instructions to perform actions (Acts).
In this hierarchical approach, first robot senses the environment and collects the information and then plans the next action. Data collected will be passed to microprocessor to process those data. Obstacles surrounded by the robot can be detected by sensor installed on the robot such as infrared or ultrasonic sensor. This avoids robot collision. Camera installed on robot can provide video feed to user in order to perform inspection in unfamiliar area or narrow tunnel.
Operation of the project
The principle on which our “Controlling Robot using Chronos watch” works is principle of accelerometer. This records hand gestures and passes that data to RF access point i.e. receiver of chronos watch. This receiver assigns proper voltage levels to the recorded movements. After recording the information it is transferred to a Raspberry Pi processor wirelessly via RF on the receiving end. Then information is decoded and then passed onto the microprocessor (Raspberry Pi) which takes various decisions based on the received information. These decisions are sent to the motor driver IC such that the motors are triggered in different configurations to make the robot can move in specific direction. As discussed, our robot has a capability to sense the obstacles and respond to them accordingly. Commands are given by processor. We applied a wireless camera which can be useful for survey purpose. This wireless camera has both transmitter and receiver that will able it transmits information.
Transmission Section:
In this project, the transmission part is through chronos watch which operates at operating frequency of 868 MHz. This watch consists of inbuilt accelerometer followed by the transmitter. Signals are transmitted by this transmitter which consists of coordinates of the chronos watch i.e. accelerometer which is inside the chronos watch.
Receiver Section:
As discussed above, the signals after transmitted from the chronos watch are received by the chronos receiver i.e. RF access point. RF access point which is in an USB mode is connected to one port of the raspberry pi board. When we run a program in the processor RPI , it gives the directions based on the coordinates transmitted from chronos watch. The signals are decoded after receiving them by receiver and then passed onto the RPI. This RPI makes various decisions based on received information. The motor driver IC(L293D) receives these decisions. This triggers the motors in different configurations to make the robot move according to the commands given by chronos watch In specific direction.
Robot has two additional features
1) Robot can sense the objects and responds according to the situation. For sensing the objects we used IR proximities. We have two IR sensors on the either side of the robot. When any one of the IR proximities gets high logic that means an obstacle is present. So robot moves opposite side of the active IR proximity. For example the robot is moving in the forward direction when an obstacle is on the right side of the robot then right IR proximity gets high logic. So, the robot has to move left side to avoid the obstacle. Whenever right proximity activated the processor (we will write the program in processor) sends the signals to the robot to move left side and vice versa. If both the sensors are active then robot stops.
2) Robot can give live streaming of the surroundings by using usb camera. Usb camera is connected to the one port of the raspberry pi. Whenever camera records the data it will send the video signals to processor. By using motion software which is installed in the processor these video signals are transmitted to surroundings by using Wi-Fi router (EDIMAX) which is connected to another port of the raspberry pi. Whenever this router connected with hotspot of any electronic device (laptop, smart phone) which consists of internet connection then router will generate an IP address. When we type this ipaddress:8081 in the browser search box we will get the live streaming in the hotspot connected device(laptop/smart phone.
V Experimental Results
In this section, we will present the experimental results conducted.
Fig (a) shows the forward movement of robot because command given by chromos watch is to move forward.
Fig (b) shows the forward movement of robot because command given by chromos watch is to move forward.
You can find an obstacle on the left side of the robot which is indicated by left IP proximity (high logic). So, in order to avoid the obstacle the robot takes right turn which is done by processor.
Fig © shows the forward movement of robot because command given by chromos watch is to move forward.
You can find an obstacle on the right side of the robot which is indicated by right IP proximity (high logic). So, in order to avoid the obstacle the robot takes left turn which is done by processor.
Fig (d) shows the forward movement of robot because command given by chromos watch is to move forward.
But there is an obstacle which covers the whole path of the robot not giving it chance to move. This is indicated by both left and right IP proximities. So, in order to avoid the obstacle the robot stops.
Fig (e) shows robot giving live stream of the surroundings.
Conclusion and Future work
From this study, a robot with camera which can be controlled using a chronos watch based on gestures had been developed. We developed the robot with a very good intelligence which is easily capable to sense the obstacle through IR sensor. We proposed a model of a robot based on “Human Machine Interfacing Device” utilizing hand gestures. By this we can communicate with embedded systems for tracking of enemies. In the end, all objective are successfully met and an autonomous robot with vision based obstacle avoidance capability is designed and implemented on a Raspberry PI. In future, we can either use some alternate power source for the batteries or replace the current DC Motors with ones which require less power. And also as the robot moves on the flat surface, we can fly the robot in the sky.