TOPIC
21TC06 ELECTRIC CIRCUITS
MINIPROJECT REPORT
Submitted by
BHAVAN KEERTHI S. (20T104)
GAUTAM.S.V. (20T106)
PRAVEN S.R. (20T116)
in partial fulfillment for the award of the degree of
BACHELOR OF ENGINEERING
IN
ELECTRONICS AND TELECOMMUNICATION
ENGINEERING
ANNA UNIVERSITY, CHENNAI
MARCH 2023
KARPAGAM COLLEGE OF ENGINEERING
(Autonomous)COIMBATORE-641 032
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TOPIC NAME
Bonafide record work done by
BHAVAN KEERTHI S. (20T104)
GAUTAM.S.V. (20T106)
PRAVEN S.R. (20T116)
Dissertation submitted in partial fulfilment of the requirements for the degree of
BACHELOR OF ENGINEERING
IN
ELECTRONICS AND TELECOMMUNICATION
ENGINEERING
Of Anna University, Chennai
MARCH 2023
………………………. ………………………..
Ms.ANJU R KRISHNAN Dr. C Arvind M.S.,
Faculty guide Head of the Department
ACKNOWLEDGEMENT
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We would like to show our gratitude to the management of Karpagam College
of Engineering Dr. R Vasanthakumar, BE., (Hons), D.Sc. Chairman and
Managing Trustee, Karpagam Educational Institutions for providing us with all
sorts of supports in completion of this project.
We express our sincere and profound gratitude to our Principal Dr. P
Vijayakumar M.E., Ph.D., MIEEE for his guidance and sustained
encouragement for the successful completion of this project.
We feel immense pleasure in expressing our humble note of gratitude tour Head
of the Department Dr. C Arvind M.S., Ph.D., for his remarkable guidance and
besides his positive approach he has offered incessant help in all possible way
from the beginning.
We are grateful to our Miniproject Guidance Faculty Ms.ANJU R
KRISHNAN Assistant Professor, Department of Electronics and
Telecommunication Engineering for Her valuable suggestions and guidance
throughout the course of this project.
We also extend our thanks to other faculty members, parents and friends for
providing their moral support in successfully completing this Miniproject.
ABSTRACT
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In this modern era the human follow robots have been researched and
developed actively these decades. The human follow robots are designed and
developed mainly for obstacle avoiding and the target following. We have
designed this robot to assist the elderly people which follows the human within
a specific range. The communication between the human and the robot is the
most significant factor and the sensor satisfies this process in our project. We
use infrared sensor and ultrasonic sensor in our project. Infrared sensors are
used to move the robot in both the direction and ultrasonic sensor for both the
forward and reverse direction. The main aim of this project is for assist the
elderly people and we use this robot for AAL technique.
INDEX
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S.NO CONTENT PG.NO
COMPONENTS REQUIRED 6
1 INTRODUCTION 7
2 PROJECT MODULES 8
BLOCK DIAGRAM
2.1 8
EXPLANATION OF COMPONENTS
2.2 9
11
2.3 WORKING PRINCIPLE
3 FLOWCHART 12
4 FUTURE WORK 13
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5 CONCLUSION
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COMPONENTS REQUIRED:
ARDUINO UNO
IR SENSOR
ULTRASONIC SENSOR
ULTRASONIC SENSOR MOUNT
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SERVO MOTOR
DRIVER MODULE
7.5 V LITHIUM ION BATTERY
9V RECHARGEBLE BATTERY
SWITCH
CHASIS
CHAPTER 1
INTRODUCTION
Robotic technology has increased appreciably in past couple of years. Such
innovations were only a dream for some people a couple of years back. But in
this rapid moving world, now there is a need of robot such as “A Human
Following Robot” that can interact and co-exist with them. The development
of robot technology had increased significantly due to industrial, medical and
military applications. In various fields with harsh environment such as
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underground mining, war-zones, medical, construction, space exploration etc.
the work done by one is extremely dangerous. Life of individuals assisting are
also put at risks. Tasks performed by humans have its own limitations in many
ways. In order to perceive beyond the human limitation in vision, speed,
consistency, flexibility, quality e.tc we should make use of robots. A key
requirement for these robots is the ability to detect humans and to interact with
the min non-technical way. The main objective of this dissertation is to make a
robot that can help humans with various tasks.. In this paper, we present a
prototype of a human following robot that uses Arduino Uno and different
sensors for detection and following an object. The Robot must follow the
following objectives:
The robot must be capable of accurately follow a person.
It should be capable of taking various degrees of turns.
The robot must be insensitive to environmental factors such as noise.
The robot must be capable to avoid collision.
CHAPTER 2
PROJECT MODULES
2.1 BLOCK DIAGRAM:
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2.2 SYSTEM COMPONENTS
2.2.1 Arduino Uno
It is the brain of our project. It can give all the command to their sub ordinate
components which should by operated by the human behavior . And it also give
feedback to the other components and human. So that it can be the used as a
medium of communication between human and robots & vice versa. . It has
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specification of 8 bit CPU, 16 MHZ clock speed, 2 KB SRAM 32 KB flash
Memory, 1 KB EEPROM.
2.2.2 DC Motors
DC Motor is a device that converts any form of energy into mechanical energy
or imparts motion. In constructing a robot, motor usually plays an important
role by giving movement to the robot. Here 4 DC motor are used to drive the
robot.
2.2.3 Motor Shield
The Motor Shield is a driver module for motors that allows you to use Arduino
to control the working speed and direction of the motor. . The Motor Shield can
either be powered by Arduino directly or by an external 6V~15V power supply
via the terminal input. Here Motor Driver Board is designed to Work with
L293D IC.
2.2.4 Ultrasonic sensor
An ultrasonic sensor is an instrument that measures the distance to an object
using ultrasonic sound waves. The working principle of this module is simple, it
sends an ultrasonic pulse out at 40kHz which travels through the air and if there
is an obstacle or object, it will bounce back to the sensor. By calculating the
travel time and the speed of sound, the distance can be calculated.
2.2.5 IR Sensor
IR sensor is an electronic device, that emits the light in order to sense some
object of the surroundings. An IR sensor can measure the heat of an object as
well as detects the motion. Usually, in the infrared spectrum, all the objects
radiate some form of thermal radiation. These types of radiations are invisible to
our eyes, but infrared sensor can detect these radiations. The emitter is simply
an IR LED (Light Emitting Diode) and the detector is simply an IR photodiode
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2.2.6 Lithium ion battery
A Lithium-ion or Li-ion battery is a type of rechargeable battery which uses the
reversible reduction of lithium ions to store energy. It is the predominant battery
type used in portable consumer electronics and electric vehicles. It also sees
significant use for grid-scale energy storage and military and aerospace
applications. Compared to other rechargeable battery technologies, Li-ion
batteries have high energy densities, low self-discharge, and no memory effect
(although a small memory effect reported in LFP cells has been traced to poorly
made cells).
2.2.7 9V rechargeable battery
The nine-volt battery, or 9-volt battery, is an electric battery that supplies a
nominal voltage of 9 volts. Actual voltage measures 7.2 to 9.6 volts, depending
on battery chemistry. Batteries of various sizes and capacities are manufactured;
a very common size is known as PP3, introduced for early transistor radio
2.3 WORKING PRINCIPLE
A common approach to program social cues into robots is to first study human–
human behaviors and then transfer the learning. For example, coordination
mechanisms in human–robot collaboration are based on work in neuroscience
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which examined how to enable joint action in human–human configuration by
studying perception and action in a social context rather than in isolation...
Our system consists of a four wheel robotic vehicle mounted with a separate
microprocessor and control unit along with different sensors and modules i.e.
ultrasonic sensor, infrared sensors which helps them to move with respect to
people in their surroundings. The above sensors work in unison with each other
and helps the robot in its operation and to navigate its path by avoiding the
obstacles and maintaining a specific distance from the object. We used
ultrasonic sensor for obstacle avoidance and to maintain a specific distance for
the object. The ultrasonic sensor works accurately within a range of 4 meters
and it is specificly designed for following the human rather than object when it
is blocked by an object or any material it would not follow it and when it feels it
is a obstacle it will automatically avoid it with the use of ultrasonic sensor.
This ultrasonic sensor is placed at the top of robot and pair of IR sensors are
attached on either side of the ultrasonic sensor. We used ultrasonic sensor for
obstacle avoidance and to maintain a specific distance for the object. Infrared
sensors detect the object’s distance with infrared radiations when the beam from
transmitter detects an object it returns to the receiver with an angle after
reflection also known as method of triangulation this also helps in calculation of
distance travelled by robot and eliminate any further error in the robotic
movement due to displacement.IR sensor controls the movement of motors and
ultrasonic sensor detects the obstacle and stops the motor
CHAPTER 3
FLOWCHART
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CHAPTER 4
FUTURE WORK
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There are many interesting applications of this research in different fields
whether military or medical.. our main moto of this project is to use this for
AAL(Ambient assitent living) for healthy ageing peoples .
Nursing robots are aimed to provide assistance to elderly people who may have
faced a decline in physical and cognitive function, and, consequently, developed
psychosocial issues. By assisting in daily physical activities, physical assistance
from the robots would allow the elderly to have a sense of autonomy and feel
that they are still able to take care of themselves and stay in their own homes.
Long-term research on human-robot interaction could show that residents of
care home are willing to interact with humanoid robots and benefit from
cognitive and physical activation that is led by the robot Pepper.
CHAPTER 5
CONCLUSION
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A successful implementation of a person follower robot is illustrated in this
research. This robot does not only have the detection capability but also the
tracking and following ability as well. The tracking is basically performed on
the tag and the human is followed on the basis of that detection. It was also kept
in mind that the „following‟ capability of the robot should be as efficient as
possible. The tests were performed on the different conditions to pin point the
mistakes in the algorithm and correct them. The different sensors that were
integrated with the robot added an additional advantage. Human following robot
are used for many applications based on the thoughts of the user. Here we use
the human following robot to assist the elderly people to lead their independent
life happily.
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