Autonomous Indoor payload vehicle

Project Title

Autonomous Indoor payload vehicle

Project Area of Specialization RoboticsProject Summary

There are such offices, factories where sometime workload is more and the requirement of employees for sharing that workload is not so enough. Our autonomous payload vehicle actual start moving towards the user when the user call him through his voice and then the user give some instructions e.g carry this book to the table. The robot will then move to the particular place and the person who is waiting for that book will easily pick it up
There are such offices, factories where sometime workload is more and the requirement of employees for sharing that workload is not so enough. Our autonomous payload vehicle actual start moving towards the user when the user call him through his voice and then the user give some instructions e.g carry this book to the table. The robot will then move to the particular place and the person who is waiting for that book will easily pick it up
 

Project Objectives

The main aim of the project is to design a robot that performs behavior or task with a high degree of autonomy (without external influence). Autonomous robots are particularly desirable in fields such as household maintenance (such as cleaning), and delivering goods and services. Autonomous robots can work continuously around the clock without fatigue.

The main significance of this project is to reduce the work load over the employees of factories  and to decrease the time of carrying objects from source to its destination. It will also help the workersin such a way that they don’t need to carry such heavy loads

Project Implementation Method

Our autonomous payload vehicle works in a way that it moves towards human over his voice. The robot detect his voice by speech recognition (python) and follows the user by using face recognition python and then the user place something on it for example tray, book and file etc and then give some particular instruction i.e take this book and go that place and then the second person who is waiting for that book can easily pick it up from the surface of that robot.

 It covers the distance by carrying things from one source to destination by using location tracing (slam).

Benefits of the Project

1. The main benefit of our project is for factories and such offices where employees and workers are constantly working so our robot can easily help them out by placing their required things from one source to its destination

2.Our robot can easily share the workload of the employees so they can easily focus on their own work

3..It can only work for authenticated people of its own surrounding and not fully available for all

4.It can easily load the weight of approx 10 kg whuch is too heavy for a employee

Technical Details of Final Deliverable

In last we just design a robot which helps in loading things from one source to its destination

Main parts of our project on which we have have to work on:

1.Hardware

2.Speech recognition

3.Path tracking and planning

4.Face recognition

Methodology:Our autonomous payload vehicle works in a way that it moves towards human over his voice. The robot detect his voice by voice recognition (python) and follows the user by using face recognition  python and then the user place something on it for example tray, book and file etc and then give some particular instruction i.e take this book and go that place and then the second person who is waiting for that book can easily pick it up from the surface of that robot.

 It covers the distance by placing things from one source to the other by using python and learning simulator

Hardware Components:

1. sheet and rods

2.Gear motors

3.Wheels

4.L298N

5.Raspberry-pi

Description:

Sheet and rods: The base of the sheet is made of aluminum                                            The length and width of the sheet is 22*16 inch

Gear Motor •Specification:

1)130 rpm

2)Has 24 Volts

3)1-1.5 Amp depends on load

L298N:

The L298N is a dual H-Bridge motor driver which allows speed and direction control of two DC motors at the same time. The module can drive DC motors that have voltages between 5 and 35V, with a peak current up to 2A.

Path Tracking and Planning:

follow the carrot and A* algorithm

System diagram:

Iterations of the program that actually make the robot to follow the path

Path tracking:

1.Algorithm used is called follow-the-carrot.

2.control the robot’s linear velocity and rotational velocity to reach that point.

Method of path tracking:

Goal Position

Now we need to get the goal’s position, we do the same thing we did     with the robot, color thresholding and computing the center of a contour.

Path Planning

we need now is to plan a path from the robot’s position to the goal’s      position taking into account the obstacles, for that we are using A* algorithm

Path smoothing:The path planned by the A* might contain sharp turns that are hard for a non holonomic robot to follow, that’s why we use path smoothing to make it have less of these sharp turns.

Open cv:  

Use in Our Project:

Open CV serves its purpose wherever there is a need to detect images.  The autonomous Robot cannot perform any action without having a knowledge of object. Therefore we will be using Opencv for Object detection.

ALGORITHM (Haar feature based Cascade Classifiers)

Here we will work with face detection. Initially, the algorithm needs a lot of positive images (images of faces) and negative images (images without faces) to train the classifier. Then we need to extract features from it.

?For this, Haar features are used. They are just like our convolutional kernel. Each feature is a single value obtained by subtracting sum of pixels under the white rectangle from sum of pixels under the black rectangle.

Final Deliverable of the Project HW/SW integrated systemCore Industry ITOther IndustriesCore Technology RoboticsOther TechnologiesSustainable Development Goals Responsible Consumption and ProductionRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	57639
Raspberry pi 3	Equipment	1	7050	7050
Galvanized sheet of almuinum	Equipment	1	1489	1489
Body of robot	Equipment	1	30000	30000
HDMI cable +Ethernet cable	Equipment	1	550	550
sensors	Equipment	2	1500	3000
camera	Equipment	1	5000	5000
jumper wires	Equipment	2	100	200
breadboard	Equipment	1	250	250
motors(gear motor)	Equipment	6	500	3000
Battery	Equipment	1	2000	2000
motor driver shield	Equipment	3	200	600
Rods(pillars)	Equipment	1	3500	3500
printing (reports,proposals,research pprs)	Miscellaneous	1	1000	1000