Development of Assistive moving robot for commercial and educational purposes

Project Title

Development of Assistive moving robot for commercial and educational purposes

Project Area of Specialization RoboticsProject Summary

The proposed project aims to provide assitance to users at commercial or educational premises. The robot will be able to move autonomously at the provided environment using encoders, ultrasonic sensors and Laser sensor.

The Robot surveys the environment and makes a map of its surrounding using Laser sensor, which is then be used for its navigation from one coordinate to the other coordinate avoiding the obstacles present at it's surrounding.

The project also includes interactive GUI based touch screen enabling the user to interact with the robot. Moreover, another screen is used as the face of the robot. 

Project Objectives

The following are the objectives of the project among which few have been acheived.

• The development of mechanical hardware capable to carry 20-25 kg of weight and a height of 5 feet (approx.)
• Connection and interfacing of sensor and actuators (suitable enough to displace 25 kg object)
• Localization of the Robot
• User Interfacing.

Project Implementation Method

Implemented Methods:

The mechanical model will be developed having three units which is the base, user-interaction screen and the face screen. For each part the CAD model build first than the hardware.
It is crucial for the robot to move smoothly to the desired location for which encoder will be used which will enable us to control the speed of the robot. Then Instrumentation circuitry will be done which include the interfacing of sensors and actuators to the raspberry pi which will be further Connected to the ROS platform.

Benefits of the Project

Advantages:

• Malls can use this project in order to provide assistance for the people helping them to navigate through the mall.
• Banks can also used this as a help desk.
• It makes assitance easier.
• Locate the desired shop/location faster.
• Versatile in terms of different applied fields.

Technical Details of Final Deliverable

HARDWARE DESIGNING:

DIMENSIONS OF ASSISTIVE ROBOT:

MATERIALS REQUIRED:

Materials Required To Build Hardware Structure:

• Square Piping of 2 x 1 inch was used to make the outer frame of the Robot.
• Square Piping of 1 x 1 inches is used for the borders of the base
• Galvanized Sheet For Base of 24 x 24 inches
• Powdered Coated Steel Sheet of 18 gauge For Body
• The internal structure made up of mild steel
• Material Type: Mild Steel.

INSTRUMENTATION DESIGN:

COMPONENTS SELECTION:

Components that we used to build our electrical system are:

• 21 Inches Touch screen Interactive Display
• 7 Inches LCD Display (For Gesture Display)
• 12 V LiPO Battery x 2 (For Powering Raspberry Pi)
• 12 V Lead Acid Battery (For Motors Localization)
• 12 V To 5 V DC-DC Buck Converter x 3
• 12 V DC Geared Motors x 2
• BTS7960 Motor Driver x 2
• Raspberry Pi x 2
• Arduino Mega x  2
• Rotary Encoders x 2
• Cameras (For Surveillance Purpose)

CIRCUIT DIAGRAM:

The above Diagram Shows The Circuitry Of Our System

The Most important circuit boards and drivers that are used for powering our actuators and processors are:

• 12V to 5V DC to DC Converter
• BTS7960 Motor Driver

SMALL ROVER NAVIGATION:

INTRODUCTION:

Before navigating our final product, the navigation has been done on a small rover (pic attached). The differential drives small rover is made in such a way that it can be navigated through the keyboard using ROS (Robot Operating System). Teleop twist keyboard has been used to send the signal from the keyboard to the controller which then makes the rover move in the specified direction.

ELECTRONIC SYSTEM:

Following are the components that have been used in the small rover:

• Arduino Mega 2560
• Motor Driver (L298N)
• 9V Battery
• DC motors

Four motors have been used, and each side of the two motors is connected parallelly which is then been controlled by the dual motor driver(L298N).

The PC is installed with ROS (Robot Operating System) which is connected to Arduino Mega which is then connected to the Motor drivers to drive the motors.

The laptop is the Master node whereas Arduino Is the slave node which is receiving instruction from a laptop which in turn drives the motors.

The above picture includes two motors which represent four motors each connected parallel to the other.

ROBOT MOVEMENT AND NAVIGATION:

Now, the same code which was used in our small rover is used in our main robot to operate the motors.

Afterward encoders are attached to the wheels. Encoders can give 1000 pulses per revolution.

SOFTWARE IMPLEMENTATION:

TOUCH ASSISTIVE SCREEN:

The screen includes a graphical user interface that is designed for the shopping mall perspective and displays the internal map of the mall and also the location where you are standing.

GUI OF INTERACTIVE SCREEN

Fig 2 GUI screen

Fig 3 Map of mall      

         Fig 4 Indicating your location

Furthermore, it also includes advertisements for the brands that are on sale and also tells the direction to that particular store

Fig 5 Advertisement

   Fig 6 Direction to the store

RESULTS:

            

Final Deliverable of the Project HW/SW integrated systemCore Industry OthersOther IndustriesCore Technology RoboticsOther TechnologiesSustainable Development Goals Good Health and Well-Being for People, Quality Education, Decent Work and Economic Growth, Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	79200
Arduino Mega	Equipment	2	2600	5200
21 inch LCD Touchscreen	Equipment	1	15000	15000
DC Geared Motors	Equipment	2	8000	16000
8 inch TFT Screen	Equipment	1	8000	8000
Hardware Body	Equipment	1	25000	25000
Tyres + Free Wheeling	Miscellaneous	2	2500	5000
Motor Drivers And Other Modules	Miscellaneous	1	5000	5000