GESTURE CONTROLLED ROBOT
An insignia on technology
By
MOHD HARIS SIDDIQUI
2nd Year
Md. AFTAB USMANI
2nd Year
Md. RASHID AZAM
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.
Accelerometer
ADLX335
100 rpm DC motors
MCU Atmega16
RF Link 434 MHz
HT12E Decoder IC
Motor Driver
(L293D)
HT12D Encoder IC
Voltage regulator
(7805)
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 series
of decoders. It is capable of decoding 12 bits, of which 8 are
address 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 motors
It 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 V
Stall Current: 500 - 600 mA
Shaft 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 Atmega16
It 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
Transmitter Side
Image from simulation file of Proteus
Complete Schematics
Receiver Side
Image from simulation file of Proteus
CODE
Transmitter 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();
else
motor_stop();
}
}
ALGORITHM
• Transmitter Side
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.
ALGORITHM
• Receiver 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.
DEMO
APPLICATIONS
• Hospitals
Wheel Chair
Control
Hospital Bed
Control
APPLICATIONS
• Industrial Robots
Robotic Arm
Control
Self Controlled
Humanoids
APPLICATIONS
• Automobiles
Gesture Controlled Cars!!
Limitations & Further Developments
Hardware
Complications
Speed Control
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.org
2. http://www.freescale.com
3. http://www.ablabs.co.in
4. http://www.onlinetps.com
5. http://www.atmel.com
ACKNOWLEDGEMENT
• AMU ROBOCLUB.
THANK YOU!!
Queries Please!