1. IMAGE RECOGNITION AND REAL TIME
PATH FINDING ROBOT
by
Sujai V. Nair
Urvil P. Parmar
Akash B. Mande
Pankaj S. Nakhale
Guided by
Mrs. P. N. Savagave
2. INTRODUCTION
• Motivation
Integration of obstacle avoider with a path finding algorithm and image recognition to help a
robot reach its destination with only the top view photograph of the path.
• Image recognition
The process of identifying and detecting an object or a feature in a digital image
• Advantages of proposed project
• Real time co-ordinates are calculated automatically.
• Physical measurements are avoided.
• Robot is completely autonomous.
• Can be used as a basis for automation in industrial goods transport.
• Added intelligence to robot can allow canvasing of areas inaccessible to human beings.
• Satellite images can be used for drone airplanes and rovers.
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3. STAGES OF PROJECT
• Identifying suitable sensors for the robot
• Making an obstacle avoiding robot
• Taking sample images for recognition
• Finding physical co-ordinates from image
• Determining path for robot
• Integration of above stages
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6. INTERFACING
TSOP sensor
Motor driver L293D12 V power supply
ATMEGA32 microcontroller 200 RPM DC MotorImage Processing
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7. HARDWARE DESCRIPTION
• 200 RPM Centre Shaft Economy Series DC Motor
• Position Encoder Kit
• Single TSOP Sensor module
• L293D Motor Driver
• ATMEGA32 Development Board
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8. 200 RPM Centre Shaft Economy Series DC Motor
• 200RPM Centre Shaft Economy Series DC Motor is high quality low cost DC
geared motor. It has steel gears and pinions to ensure longer life and better
wear and tear properties.
• Motor gives 200 RPM at 12V but motor runs smoothly from 4V to 12V and
gives wide range of RPM, and torque
• Specifications
- DC supply: 4 to 12V
- RPM: 200 at 12V
- Brush type: Precious metal
- Output shaft: Centred
- Gear assembly: Spur
- Motor weight: 90gms
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9. Position Encoder Kit
• Position Encoder Kit is used to measure speed of motor,
find out distance travelled by robot.
• Kit contents
1-Universal wheel
1-Encoder Disc
1-Motor Mount
1-Encoder Mount
2-12mm star bolt for Motor mount
2-8mm star bolt for Encoder
2-5mm self threading screw for metal disc
1-6.5mm self threading screw for universal wheel
4-M3 Nut
2-Spring washers
• Specification
• Position Encoder with RA Mount
• Encoder resolution: 5.44mm / pulse
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10. Single TSOP sensor module
• The module consists of 555 IC, working in astable multi vibrator configuration.
• The output of TSOP is high whenever it receives a fixed frequency and low otherwise.
• The on-board LED indicator helps user to check status of the sensor without using any additional
hardware.
• It gives a digital output and false detection due ambient light is low.
• Features
• Allows your robot to detect obstacles.
• Typical Maximum Range: 20 cm.
• Modulated IR transmitter to avoid any interferences
• Calibration preset for range adjustment.
• Indicator LED with 3 pin easy interface connector.
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11. L293D Motor Driver
• The L293D is a Dual Full Bridge driver that can drive up to 1 Amp per bridge with supply voltage up to
24V.
• It can drive two DC motors in both direction and 4 DC motor in single direction, relays, solenoids, etc.
• The device is TTL compatible.
• Specifications
• Operating supply voltage up to 24 volts
• It can drive bipolar stepper motor up to 1 Amp.
• Bidirectional control of 2 DC motors up to 1 amp each
• Operating PWM frequency range up to 20 KHz
• Current sensing output
• Over temperature protection
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12. ATMEGA32 Development Board
• High-performance, Low-power AVR® 8-bit Microcontroller
• Advanced RISC Architecture
• Non-volatile Program and Data Memories
• JTAG (IEEE std. 1149.1 Compliant) Interface
• Peripheral Features
• Special Microcontroller Features
• I/O and Packages
• Operating Voltages
• Speed Grades
• Power Consumption at 1 MHz, 3V, 25°C for ATmega32L
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18. Quadrant Left turn Right turn
I
Turn with angle (90-Ɵ)
y = Y - y` - Dist
x = X - x`
turn right with (90- Ɵ`)
Turn with angle Ɵ
y = Y – y`
x = X- x`- Dist
turn left with Ɵ`
II
Turn with angle Ɵ
y = Y - y`
x = X - x` -Dist
turn right with Ɵ`
Turn with angle (90-Ɵ)
y = Y – y`- Dist
x = X- x`
turn left with (90-Ɵ`)
III
Turn with angle (90-Ɵ)
y = Y - y` - Dist
x = X - x`
turn right with (90- Ɵ`)
Turn with angle Ɵ
y = Y – y`
x = X- x`- Dist
turn left with Ɵ`
IV
Turn with angle Ɵ
y = Y - y`
x = X - x`- Dist
turn right with Ɵ`
Turn with angle (90-Ɵ)
y = Y – y`- Dist
x = X- x`
turn left with (90-Ɵ`)
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19. 1st Quadrant 2nd Quadrant
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20. 3rd Quadrant 4th Quadrant
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21. ERRORS
• In Image Capturing
• In MATLAB
• In hardware
• Motors
• Wheels
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22. CORRECTIONS
• During angle measurement
• During Distance measurement
• For projection in image
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23. LIMITATIONS
• Resolution of encoder
• Wheel
• Wheel Diameter
• Wheel Grips
• Motors
• Software
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25. BIBLOGRAPHY
• www.campuscomponent.com
• www.alldatasheets.com
• www.mathworks.in
• en.wikipedia.org
• www.nex-robotics.com
• www.atmel.in
• Digital Image Processing …third edition
by Rafael C. Gonzalez and Richard E. Woods
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