Synopsis

on

Gesture Robot with Voice Processor

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Introduction

In this project we will use Accerlometer as a main component. We read lot

of gesture sensors on internet like 7620 , adxl33xx and other ic based. But

out of them only adxl335 available in market. So we are planning to make

project based on it. It our final year major project , that’s we are quite

serious about project. In this project first of all we will use adxl335 as sensor

get axis x,y, and z readings. For x axis we will move our robo arm ir moving

robot in one direction. For y axis we will move our robotic arm or rob in

other . for z axis we will move in third.

We collected all datasheets regarding project components. We know waiting

approval from our college end for this project.

After it we will collect electronics component from electronics vendors.

In circuit accelerometer will give signal to ADC – analog to digital

convertor. We are studying more better methods to interface Accelerometer

with Microcntroller or PLC.

In this project we use ic 89s52 microcontroller as a main processor. IC

89s52 is a 40 pin microcontroller. We program this ic with the help of

computer. Software is written in the assembley language and then transfer

into the blank ic with the help of programmer kit.

In addition with the anti falling concept we use auto collosion concept.

In this project we show that how we design a future vehicle for automation.

By using this automation we design the vehicle for auto path finding. We

use this concept for remote area. Where we control the robot from remote

are . Or we send the machine in any small tunnel. If we fit a wireless camera

with this robot then it is possible for us to capture the all detail of facing

area.

In this project we use accelerometer to sense. These sensor are reflective

type sensor.. Microcontroller circuit sense the input signal and compare this

signal with the other eye signal and then change the direction of one motor.

When there is no deflection from any sensor then there is no signal from the

sensor and at that time both the motor of the vehicle run smoothly to the

forward direction.

In this vehicle we use total two motor for the forward and reverse direction.

When one motor stop then vehicle change its direction for a short second

and then again came to the origional position.

Main circuit is based on the microcontroller. Here in this project we use

89s52 microcontroller as a main processor. Motor’s control by a H bridge

circuit. For two motor we use two H bridge circuit. Here in this project we

use two slow speed dc gear motor .

In this project we will attach APR33xx Voice processor additionally to play

recorded message during any movement of Robot. Voice processor will get

signal from Microcontroller when any change in any axis from

accelerometer. Then voice processor will play recorded message on speaker.

APR can record 11 Min message and 8 Tags.

About Accelerometer-

Block Diagram:

Control Panel having Microcontroller or PLC Device

Accelerometer With ADC circuit

Current and Voltage Amplifications According To DC motor

Motors with Tyres

Working

In this project we use ic 89s52 is a main processor. IC 89s52 is a family

member of 8051 micrcontroller. Pin no 20 is connected to the positive

supply. Pin no 10 is connected to the negative supply. Pin no 1 is act as a

reset pin. On this pin we use one capacitor and resistor network. Two infra

red sensor is connected as a collosion sensor. We using two infra red sensor

and infra red sensor for a anti falling concept. These sensors are connected

to the port p3.0, p3.3 and port p3.4. On this pin we directly connect a

photodiode as a receiver sensor. In fra red led is directly connected with

the 5 volt supply through 100 ohm resistor. Port p1.0 , p1.1 and port p1.2

and port p1.3 is output pin. IN this controller we use negative input and

negative output circuit. Output of the microcontroller is connected to the

four different optocoupler connectivity. Output of the optocoupler is

inverted by the inverter circuit. Output of the inverter circuit is connected to

the H bridge circuit. Here we use H bridge circuit to control the direction of

the motor. IN this project we use two slow speed motor so with the help of

dc motor we move forward and reverse the robot.. when we insert the battery

then robot move to forward. If there is any obstruction on one sensor then

one photodiode is get a signal and so that negative signal is applied to the

photodiode . Photodiode receive the signal and so on microcontroller stop

one motor and so that robot move to another direction. Now if the robot

sense a bit then depth sensor active and stop both the motor. Now when both

motor stop and with small delay motor reverse back to few step . after

taking back few step robot changes its direction to right and again move

forward. So when robot falling any depth then takes back few step and

changes its direction and again go forward

P1.0 and p1.1 is connected to the one motor. When both the pins are high

logic then motor stop. At the same time when both the pins are 0 then again

motor stop. To move a motor forward and reverse we provide a high logic

on one pin and 0 logic on second pin. If we change the logic 0 and 1 then we

change the direction of motor

BASIC OF ROBOTICS

ROBOTICS:

A mechanical device that sometimes resembles a human and is capable of

performing a variety of often complex human tasks on command or by being

programmed in advance is defined as a ROBOT

A Robot never becomes fulfill until it can take decisions. We can’t go for

computers for the computation & intelligence. But we can use single chip

microcontrollers for controlling. This robot is not going to do any big tasks

there will only be predefined tasks. The robot’s full control is embedded into

one chip which is otherwise known as embedded systems designing.

To make a robot we must surely know to at least use a single

microcontroller. So let us see about Embedded System thru 8051.

What is Open SYSTEM?

An open system is the normal desktop computer where you can use it for

any tasks. If you want to process text documents you can install Ms-word if

you want to send mail you can use outlook express and counts on.

What is Embedded System ?

An embedded system is the system where you can use it for a specific task.

Microcontroller:-

A microcontroller (often abbreviated MCU) is a single computer chip that

executes a user program, normally for the purpose of controlling some

device hence the name microcontroller.

A microcontroller is differed from microprocessor in many ways. Basically

microprocessors are the devices which can process huge amount of data. A

microprocessor can’t do anything on it own. Even to light a led a

microprocessor needs minimum of a ROM, RAM, Latch, Address decoders,

PORT controllers. But for the same application if you take a microcontroller

you barely need a crystal and some capacitors.

.

The H-Bridge Circuit

This circuit known as the H-bridge (named for its topological similarity to

the letter "H") is commonly used to drive motors. In this circuit two of four

transistors are selectively enabled to control current flow through a motor.

opposite paAccelerometer ADXL335of transistors (Transistor One and

Transistor Three) is enabled, allowing current to flow through the motor.

The other paAccelerometer ADXL335is disabled, and can be thought of as

out of the circuit.

By determining which paAccelerometer ADXL335of transistors is enabled,

current can be made to flow in either of the two directions through the

motor. Because permanent-magnet motors reverse theAccelerometer

ADXL335direction of turn when the current flow is reversed, this circuit

allows bidirectional control of the motor.

Object Detection

Detecting objects without whiskers doesn’t require anything as sophisticated

as machine vision. Some robots use RADAR or SONAR (sometimes called

SODAR when used in aAccelerometer ADXL335instead of water). An even

simpler system is to use infrared light to illuminate the robot’s path and

determine when the light reflects off an object.The ACCELEROMETER

ADXL335illuminators and detectors are readily available and inexpensive.

Infrared As Headlights

The infrared object detection system we’ll build on the Bot is like a car’s

headlights in several respects. When the light from a car’s headlights reflects

off obstacles, your eyes detect the obstacles and your brain processes them

and makes your body guide the car accordingly. We will be using infrared

LEDs for headlights. They emit infrared, and in some cases, the infrared

reflects off objects and bounces back in the direction of the Bot. The eyes of

the Bot are the infrared detectors. The infrared detectors send signals to the

Microcontroller indicating whether or not they detect infrared reflected off

an object. The brain of the Bot, the microcontroller makesdecisions and

operates the motors based on this sensor input.

More about ACCELEROMETER ADXL335- Detector

The ACCELEROMETER ADXL335detectors have built-in optical filters

that allow very little light except the 980 nm infrared that we want to detect

onto its internal photodiode sensor. The infrared detector also has an

electronic filter that only allows signals around 38.5 kHz to pass through. In

other words, the detector is only looking for infrared that’s flashing on and

off 38,500 times per second.

This prevents common ACCELEROMETER ADXL335interference sources

such as sunlight and indoor lighting. Sunlight is DC interference (0 Hz), and

indoor lighting tends to flash on and off at either 100 or 120 Hz, depending

on the main power source in the region where you reside. Since 120 Hz is

way outside the electronic filter’s 38.5 kHz band pass frequency, it is, for all

practical purposes, completely ignored by the ACCELEROMETER

ADXL335detectors.

As the receivers detects only modulated signals we need to have our

ACCELEROMETER ADXL335LEDs modulated in 36 KHz to 40 KHz. We

can use 555 timer to make this 40 KHz pulse. The simple circuit is given

below.

Receiver

Pin 1 is ground

Pin 2 is Vcc

Pin 3 is DataData Pin gives logic 0 when ever it

detects ACCELEROMETER ADXL335Pulse.

MOTORS FOR LOCOMOTION.

Your car needs an engine to run, Even your can opener probly has

a little motor inside to spin the can around. Your robot also needs

something to make it run.

An actuator activated a mechanical device and is basically

anything that causes movement on your robot. Motors, such as the

motors that drive a robot, are the most common type of actuator.

Motors come in several varieties such as the gear motor and the

servo motor.Motors vary in power, speed , accuracy and power

consumption. Some motors have shaft that rotate continuosly ;

other types turn less than a complete rotation.

DC GEAR MOTOR.

The two types of motor’s that you are likely to use in robotic

adventure are DC motors and RC servo motors. The most common

motor for robotics is the DC gear motor, which works by gearing

down a fast Dc motor to make the motor turn at a slower speed and

give the motor a higher torque suitable for robot locomotion.

A dc gear motor is basically a regular DC motor with a special

gear box attached to the output shaft . Your robot electrical drive

circuitary can control the dc gear motor to rotate the wheels of

your robot for locomotion.

You can get a DC motor without a gear head, but generally these

are too fast ( around 15,000 RPM). For a robot to move at a

reasonable rate you have to gear down a DC motor to about 30 to

80 RPM . When you gear down a DC motor, you get a slower

speed and plenty of torque.

Material Required:

Microcontroller 89s52 /PLC delta 14ss

Crystal 11.0592 Mhz- Metallic

Accelerometer ADXL335

H bridge IC L293D

Motors- Servo VTS01- 2 pieces

LM7805 voltage Regulator

LM7812 voltage regulator

Capactors 10µf, 1000 µf , 470 µf, 100 µf, 22 µf, 104pf

Resistors 100 Ω, 370 Ω, 1k Ω, 10k Ω ± 5% ¼ watt

Software required:

Orcad for PCB designing

Keil/SDCC for Program compilation and simulation

Bibliography

www.atmel.comwww.yahoosearch.comwww.projectideas.comwww.majorprojects.comhttp://www.kmitl.ac.th/~kswichit%20/#8051http://www.bobblick.com/techref/projects/hbridge/hbridge.html