Design And Prototyping Of Human Following Mobile Robot.
UNIVERSITI TEKNIKAL MALAYSIA MELAKA
DESIGN AND PROTOTYPING OF HUMAN FOLLOWING
MOBILE ROBOT
This report submitted in accordance with requirement of the Universiti Teknikal
Malaysia Melaka (UTeM) for the Bachelor Degree of Manufacturing Engineering
(Robotic and Automation) with Honours.
By
MUHAMMAD NORPAZMIL BIN CHE PA
FACULTY OF MANUFACTURING ENGINEERING
2010
DECLARATION
I hereby, declared this report entitled “DESIGN AND PROTOTYPING OF
HUMAN FOLLOWING MOBILE ROBOT” is the results of my own research
except as cited in references.
Signature
: ____________________________________
Author‟s Name
: MUHAMMAD NORPAZMIL BIN CHE PA
Date
: 20 OCTOBER 2009____________________
APPROVAL
This report is submitted to the Faculty of Manufacturing Engineering of UTeM as a
partial fulfillment of the requirements for the degree of Bachelor of Manufacturing
Engineering (Robotic and Automation) with Honours. The member of the
supervisory committee is as follow:
………………………………
(EN. MOHD HISHAM BIN NORDIN)
ABSTRACT
The purpose for this project was to build a mobile robot prototype that can follow
people in linear motion during walking. It will produce an intelligent robot, in which
we called it as Human Following Mobile Robot. The robot is not controlled by
controller; however it uses microcontroller (PIC) as a controller where the Infrared
Sensor and Ultrasonic Sensor act as a detector for human movement. The infrared
sensor consists of transmitter and receiver. For ultrasonic sensor are consists of two
receivers and two transmitter which being applied to the robot. The object and
human position will be defined by the reflection of the signals send by transmitter to
receivers. Each signals received by the receivers is processed by the microcontroller
in digital form. Then, it will send the order to the mechanical system to produced
movement to the robot. The receiver is located at the front of the robot where human
will holding the transmitter. The direction for the robot is determined by toward the
transmitter signal to the receiver. In a nut shell robot will follow the signal from
transmitter and avoid the obstacles by using ultrasonic sensor. Further research will
be done to ensure the project will achieve the goal.
i
ABSTRAK
Tujuan penulisan kertas kerja ini dijalankan adalah untuk membina sebuah prototaip
robot mobil yang berkemampuan mengikut manusia berjalan dalam keadaan garis
lurus. Projek ini akan menghasilkan sebuah robot pintar dengan tajuk yang diberikan
sebagai Robot Mobil Mengikut Manusia Berjalan (Human Following Mobile Robot).
Robot ini akan beroperasi dengan menggunakan alat kawalan arah pergerakkan
seperti pengesan Infra-merah( Infrared Sensor).Pengesan Infra-merah akan
digabungkan dengan Pengesan Ultrasonik (Ultrasonic Sensor)dimana akan
digunakan sebagai deria kepada robot yang akan mengesan pergerakkan dan dikawal
dengan menggunakan pengawal mikro (PIC). Pengesan ultrasonic tersebut terdiri
daripada dua buah penerima dan dua penghantar gelombang ultrasonic manakala
untuk pengesan infra-merah terdiri daripada satu penghantar dan satu penerima yang
akan dipasang pada robot mobil. Tindak balas yang diberikan oleh pengesan inframerah pengesan ultrasonik terhadap penerima dan penghantar gelombang akan
menentukan kedudukan objek dan manusia. Setiap gelombang yang diterima oleh
penerima akan diproses oleh pengawal mikro sebagai suattu nilai digital lalu
menghantar arahan ke bahagian litar keluaran yang terdiri daripada sistem
mekanikal, seterusnya akan menghasilkan pergerakan pada robot mobile tersebut.
Kombinasi penerima dan penghantar di letakan di bahagian hadapan robot mobil
membantu menguatkan isyarat. Perbezaan antara isyarat yang dihantar dan diterima
akan menentukan arah pergerakan robot mobil. Kajian-kajian akan dilakukan bagi
memastikan projek ini dapat dihasilkan dengan jayanya.
ii
DEDICATION
Dedicated to my father, Che Pa Bin Wahab and my mother, Che Normah Binti Ishak.
To my supervisor, En. Mohd. Hisham Bin Nordin, lecturers and friends for all of
their help and friendship.
iii
ACKNOWLEDGEMENT
I would like to convey my appreciation and indebtedness to those who has been great
surprised and helpful for the completion at the project to bring it to success in respect
with favorable advice and feasible solution. Thus, I feed comfortably to take this golden
opportunity to express my millions of gratitude to my supervisor, En. Mohd. Hisham Bin
Nordin for her kindly advice and guidance during the project providing tremendous
considerately and useful comment and materials to overcome each obstacle I had faced.
Also special thanks to my friends that give me some help during doing this project.
Thanks extended to FKP lecturer who had provided technical help and assistance
throughout the project. Lastly I would like to thank my family, who has been the
loveliest advisor to give continually support and inspiration throughout my campus life.
iv
TABLE OF CONTENT
Abstract
i
Abstrak
ii
Dedication
iii
Acknowledgement
iv
Table of Content
v
List of Table
viii
List of Figure
ix
List of Abbreviations, Symbols, Specialized Nomenclature
xii
1. INTRODUCTION
1
1.1
Project Background
1
1.2
Problem Statement
4
1.3
Objective of Project
5
1.4
Scopes of project
5
2. LITERATURE REVIEW
6
2.1
Introduction
6
2.2
Introduction of Robotic
7
2.2.1
Human Following Mobile Robot
8
2.2.2
Human Following Mobile Robot Related Projects
9
2.2.2.1 An Implementation of a Color Following System using the CMUcam3
9
2.2.2.2 Obstacles Avoidance Method for an Autonomous Mobile Using Two
10
IR Sensor
2.2.2.3 Detecting and Following Humans with a Mobile Robot
14
2.2.2.4 Object Capture with a Camera-Mobile Robot System
16
2.2.2.5 Toward Real-time Human Detection and Tracking in Diverse
18
Environment
2.2.2.6 Intelligent Escort Robot Moving Together With Human
21
2.2.2.6(a) Human Detecting Using Light Emitting Device (LED)
21
v
2.2.2.6(b) Human Detecting Using Ultrasonic Transponder
24
2.2.2.7 Obstacles Avoidance for Mobile Robot Exploration Robot
27
with Onboard Embedded Ultrasonic Range Sensor
2.3
Mechanical Structure
31
2.3.1
Stainless Steel
31
2.3.2
Acrylic
32
2.3.3
Aliminium
33
2.3.4
Carbon Fiber
33
2.3.5
Teflon
34
2.4
Actuator
35
2.4.1
Electrical Motor
35
2.4.1.1 Stepper Motor
36
2.4.1.2 Servo Motor
37
2.4.1.3 Brush Motor (BDC)
37
2.5
Sensor
39
2.5.1
Infrared Sensor (IR Sensor)
39
2.5.2
Ultrasonic Sensor
40
2.6
Mechanical Software
40
2.6.1
Solid Work
41
2.6.2
AutoCad
42
2.7
Programming Software
43
2.7.1
MPLab Software
43
2.7.2
Micro C Compiler software
44
2.8
Electrical Software
45
2.8.1
Proteus PCB Express
46
2.9
Power Source
47
2.8.1
Rechargeable Batteries
47
3. METHODOLOGY
48
3.1
Introduction
48
3.2
Project Planning
48
3.2.1
Title Selection
52
3.2.2
Preliminary Research Work
52
3.2.3
Problem Review
52
vi
3.2.4
Problem Analysis
52
3.2.5
Data Collection
52
3.2.6
Literature Review
53
3.2.7
Analysis and Components Consideration
54
3.2.8
Methodology
55
3.2.9
Design and Prototyping Consideration
55
3.2.10 Project Design and Prototyping
55
3.2.11 Testing and Analyzing
55
3.3
Software Development
56
3.3.1
Mechanical Software
56
3.3.2
Electrical Software
56
3.3.3
Programming Software
57
3.4
Project Tools
58
3.4.1
Bending Machine
58
3.4.2
Laser Cutting Machine
59
3.4.3
Cutting Machine
60
3.4.4
Cordless Drills Machine
61
3.4.5
Solder Iron
61
3.5
Components Selection
62
3.5.1
Pugh Chart Method
63
3.6
Preliminary Design
64
3.6.1
Design of Mobile Robot
65
4. DESIGN AND PROTOTYPING
67
4.1
Introduction
67
4.2
Bill of Materials
67
4.3
Mechanical Design and Develop
69
4.4
Electrical Part
72
4.4.1
Controller Board
73
4.4.2
PIC16F877A Microcontroller
76
4.4.3
DC Motor Driver
79
4.4.4
Ultrasonic Board Sensor
83
4.4.5
Infrared Board Sensor (Receiver/Transmitter)
85
4.5
Human Following Mobile Robot System Operation
87
vii
5. TESTING, RESULT AND DISCUSSION
89
5.1
Introduction
89
5.2
Test 1: Obstacles Sensing and Collision Avoidance
89
5.3
Test 2: Human Following in Linear Motion
93
5.4
Discussion
96
6. CONCLUSION AND RECOMMENDATION
101
6.1
Conclusion
101
6.2
Recommendation
102
6.2.1 Electrical Components
102
6.2.2 Programming
103
REFERENCES
104
APPENDICES
107
viii
LIST OF TABLES
2.1
Advantages and disadvantages DC motor
38
3.1
Components selection for sensors
63
3.2
Components selection for actuators
63
3.3
Components selection for mechanical structure
64
3.4
Description of robot parts
65
4.1
Human Following Mobile Robot design and prototyping materials and
components
68
4.2
Process to developing the Mechanical Structure
69
4.3
Pins tasks for each function
77
4.4
Pin Function Description
80
4.5
Description of MD30B board
81
4.6
Connection between ultrasonic sensor and AR40B controller
84
5.1
The result of distance versus voltage
92
5.2
The results of voltage efficiency versus distance
95
5.3
Comparison between literature review project and human following
96
mobile robot
ix
LIST OF FIGURES
1.1
Idea of the project
2
2.1
CMUcam3 Hardware
9
2.2
Vehicle platform with CMUcam3 without screen
2.3
The position of IR sensors
2.4
The actions of the mobile robot
12
2.5
Examples of possible situation
12
2.6
The command system
13
2.7
A human detection and tracking scenario
15
2.8
The complete mobile robot/camera system consists of an overhead.
17
10
11
Webcam, a computer, and a mobile robot vehicle equipped with
a device to capture tennis balls. The overhead camera simplifies
the system; pixels approximately correspond to physical coordinates
2.9
The description of the figure shown below
17
2.10
Swiss Range SR-3000 3D time of flight camera
2.11
iRobot PackBot EOD mobile robot
2.12
iRobot Create mobile robot, with Swiss Ranger camera
2.13
Sample data returned from Swiss Ranger camera
2.14
The robot follows human using camera
22
2.15
The schema of the image of LED obtained from camera mounted on
22
18
19
20
21
the robot
2.16
Determination of the path for human following. The position
23
of the human is recorded at a moderate interval
2.17
Light-emitting device used in the project
2.18
Principles of angle measurement using two ultrasonic receivers
24
24
Light-emitting device used in the project
2.19
Position detection of a specific object using the ultrasonic transponder 25
2.20
Ultrasonic sensor on the robot
25
2.21
The timing of transmission and reception of the pulses in the double
26
pulse coding
2.22
Experimental setup for the target position tracking using
the ultrasonic transponder
x
26
2.23
A single reading from the ultrasonic range finder
28
2.24
The second reading from the ultrasonic range finder overlapping
29
the first
2.25
Test setup for ROAMER
30
2.26
Path of ROAMER in the test runs
30
2.27
Stainless Steel Products
32
2.28
Acrylic Product
32
2.29
Aluminium structure of Robot
33
2.30
Carbon Fiber Plate
34
2.31
Teflon products
35
2.32
Stepper motor
36
2.33
Servo motor
37
2.34
Brushless motor
38
2.35
Infrared sensor
39
2.36
Ultrasonic Sensor
40
2.37
Solid Work design
42
2.38
Catia DS V5 Software
43
2.39
MPLab Programming Software
44
2.40
Micro Compiler Software
45
2.41
Proteus PCB Express Software
46
2.42
Rechargeable batteries
47
3.1
Project Schedule; Gantt chart for PSM I
49
3.2
Project Schedule; Gantt chart for PSM II
50
3.3
Project flow chart
51
3.4
Catia DS V5 logo; Mechanical design
56
3.5
PCB Express software; Electrical design
57
3.6
Micro Compiler Software; Programming
57
3.7
PICkit 2; programmer ICSP interface
58
3.8
Bending machine
59
3.9
Laser cutting machine
60
3.10
Cutting machine
60
3.11
Drill machine
61
3.12
Solder iron
62
xi
3.13
Human Following Mobile Robot design
65
4.1
Structure of Human Following Mobile Robot
72
4.2
Control Board (AR40B)
73
4.3
Connection from power source port to 12V battery
74
4.4
AR40B Schematic Diagram
75
4.5
PIC16F877A at AR40B controller
76
4.6
PIC16877A 40-Pin PDIP
77
4.7
Basic command by using Micro C Compiler
78
4.8
MD30B board system
80
4.9
MD30B board layout
81
4.10
MD30B board in robot prototype
82
4.11
Connection of brush port to motor driver
82
4.12
ES-15 (V2) Ultrasonic Sensor
83
4.13
The connection of ES-15 (V2) Ultrasonic Sensor
84
4.14
Infrared Sensor (Receiver)
85
4.15
The connection between receiver and AR40B controller
85
4.16
The connection between receiver and AR40B controller
86
4.17
Infrared sensor (Transmitter)
87
4.18
Prototype operation flow chart
88
5.1
Robot move in linear motion
90
5.2
Robot detect the obstacle
90
5.3
Robot avoid the obstacles
91
5.4
Robot detection area
91
5.5
Commands signals graph (distance versus voltage)
92
5.6
Receiver detect the signal from transmitter
93
5.7
Robot follows the human
94
5.8
Distance of IR sensor
94
5.9
IR sensor graph; voltage efficiency versus distance
95
6.1
Ultrasonic range finder
103
xii
LIST OF ABBREVIATIONS
PIC
-
Microcontroller
AVGs
-
Automated Guided Vehicles
PWM
-
Pulse-Width Modulated
IR Sensor
-
Infrared sensor
SVM
-
Support Vector Machine
RvCAD
-
Robot Vision CAD
HRI
-
Human Robot Interaction
LED
-
Light Emitting Device
ROAMER
-
Obstacle Avoiding Mobile Exploration Robot
PTFE
-
Polytetrafluoroethylene
IDE
-
Integrated Development Environment
DDS
-
Dunfield Development Systems
xiii
CHAPTER 1
INTRODUCTION
1.1
Background
Nowadays in manufacturing field, robot development has focused on robotic
engineering. Robots gradually made their way into factories for dangerous repetitive
accurate tasks (automobile assembly), handling hazardous wastes in the nuclear
industries, great dexterity and precision (computer chip assembly) and delivery
robots. The robots were designed to provide functionality or very useful.
Robot is a computer-controlled machine that is programmed to move, manipulate
objects, and accomplish work while interacting with its environment. Robots are able
to perform repetitive tasks more quickly, cheaply, and accurately than humans. The
word robot has been used since to refer to a machine that performs work to assist
people or work that humans find difficult or undesirable. (Capek, 1921)
Autonomous robots are robots which can perform desired tasks in unstructured
environments without continuous human guidance. Many kinds of robots have some
degree of autonomy. Different robots can be autonomous in different ways. A high
degree of autonomy is particularly desirable in fields such as space exploration,
cleaning floors, mowing lawns, and waste water treatment. (Capek, 1921)
Some modern factory robots are "autonomous" within the strict confines of their
direct environment. It may not be that every degree of freedom exists in their
surrounding environment but the factory robot's workplace is challenging and can
often contain chaotic, unpredicted variables. The exact orientation and position of the
1
next object of work and (in the more advanced factories) even the type of object and
the required task must be determined. This can vary unpredictably (at least from the
robot's point of view). One important area of robotics research is to enable the robot
to cope with its environment whether this is on land, underwater, in the air,
underground, or in space.
In a development of robot, it is have a wide variety of measuring devices to
collecting data from manufacturing process for used in feedback control. Basically,
there are the main devices to measuring the robot activities like sensor and
transducer. The figures below show the steps to develop a robot. It is start from
develop the structure and electrical part. Then, for the programming part, computer is
used with the interface to program the microcontroller by follow the tasks of the
robot.
a)
Computer for microcontroller programming
b) Mobile Robot
Figure 1.1 Idea of the project
2
1.2
Robot Technology
Robot is a virtual or mechanical artificial agent. In practice, it is usually an electromechanical machine which is guided by computer or electronic programming, and is
thus able to do tasks on its own. Another common characteristic is that by its
appearance or movements, a robot often conveys a sense that it has intent or agency
of its own.
A robot can be controlled by a human operator, sometimes from a great distance. But
most robots are controlled by computer, and fall into either of two categories: a) An autonomous robot acts as a stand-alone system, complete with its own
computer (called the controller).
b) Insect robots work in fleets ranging in number from a few to thousands, with all
fleet members under the supervision of a single controller. The term insect arises
from the similarity of the system to a colony of insects, where the individuals are
simple but the fleet as a whole can be sophisticated.
1.2.1
History of Robot
The word 'robotics' comes from "Runaround", a short story published in 1942 by
Isaac Asimov. One of the first robots Asimov wrote about was a robo-therapist. A
Massachusetts Institute of Technology Professor, Joseph Weizenbaum, wrote the
Eliza program in 1966, a modern counterpart to Asimov's fictional character.
Weizenbaum initially programmed Eliza with 240 lines of code to simulate a
psychotherapist. The program answered questions with questions.
Asimov created the four laws of robot behavior, cyber laws all robots had to obey
and a fundamental part of positronic robotic engineering. The Isaac Asimov FAQ
states, "Asimov claimed that the laws were originated by John W. Campbell in a
conversation they had on December 23, 1940. Campbell in turn maintained that he
picked them out of Asimov's stories and discussions, and that his role was merely to
3
state them explicitly. The first story to explicitly state the three laws was
"Runaround", which appeared in the March 1942 issue of "Astounding Science
Fiction". Unlike the Three Laws, however, the Zeroth Law is not a fundamental part
of positronic robotic engineering, is not part of all positronic robots, and, in fact,
requires a very sophisticated robot to even accept it." (Capek, 1921)
a) Law Zeros
A robot may not injure humanity, or, through inaction, allow humanity to come
to harm.
b) Law One
A robot may not injure a human being, or, through inaction, allow a human being
to come to harm, unless this would violate a higher order law.
c) Law Two
A robot must obey orders given it by human beings, except where such orders
would conflict with a higher order law.
d) Law Three
A robot must protect its own existence as long as such protection does not
conflict with a higher order law.
1.3
Problem Statement
The idea to invents and develops the Human Following Mobile Robot begin when
some of the challenges come to mind at the golf course. Today, golf player need a
caddy to carry-off the golf sticks. The same cases like in the hospital where the
doctor are bring files and tools to the operation room or from operation room to the
office. Sometimes they need an assistant to help them. It is not flexible. By using
robots, it can replace the role of human. Robots are able to perform repetitive tasks
more quickly, cheaply, and accurately than humans. In order to follow and get the
human walking, robots should know the position of target person. The robots should
4
also estimate the next position of the person in order to move without delay follow
the human. To realize this, human and robots need to be in close proximity to each
other as much as possible. Moreover, it is necessary for their interactions to occur
naturally. It is desirable for a robot to carry out human following, as one of the
human affinitive movements. The human following robot requires several techniques
such as the recognition of the target human, the recognition of the environment
around the robot, and the control strategy for following human stably. In this
research, an intelligent environment is used in order to achieve these goals.
1.4
Objective of the project
The aim of this project is to develop a mobile robot that can follow human.
1.5
Scopes
Project scopes are important in order to develop these projects and it is required to
assist and guide the development of the project. The scopes will be covered on
design and programming of a mobile robot. Part of design will include the
application of Catia DS Software. It is for mechanical structure to select the material
should be use. Electrical and electronic part are related in programming where need
to develop the interface between programming, electronic circuit and mechanical
system. The scopes of this project are:
a) The designing and developing of mechanical structure will be performed
manually by the author criteria.
b) The system of Human Following Mobile Robot is control by using PIC
microcontroller and program the PIC via programming software.
c) The robot prototype only works on plane surface.
d) The robot prototype follow human in linear motion.
e) Sensing obstacles is required in the robot; it depends on the sensor and
programming whether to avoid the obstacles or stop when found out the
obstacles.
5
CHAPTER 2
LITERATURE REVIEW
2.1
Introduction
This chapter will focuses on data collecting from various resources for this project. It
is actually discussing about the past project that similar with this project, the parts of
autonomous robot whether from mechanical system, electronic circuit and
programming. There are several of hardware related issues will be discusses in this
section with involved the development of an actual robot.
Actually, autonomous mobile robot is a generally topic of robot. There are many
different types of robots and the classification of such machines can be constructed in
various ways. There many categories of robot available depending on its function
and ability such as industrial robot, humanoids robot, and special function robot.
These robot can be controlled either by human (remote control) or operating
autonomously. In this project, a special function autonomous robot is build to
complete the tasks given.
6
2.2
Introduction of Robot
The term of robot comes from a Czech word, robota, meaning "forced labor.” In
other words, the robots eventually overthrow their human creators. Actually, robot
can defined as a machine that gathers information about its environment (senses) and
uses that information (thinks) to follow instructions to do work (acts). This is the
working definition of robots that Robotics exhibit developers used for this exhibit.
Today, technology is revolution of rates making the identification of a robot
somewhat difficult. However, robotic engineers would probably not say the VCR or
thermostat is a robot. In other words, robots are doing more and more. Today's robots
are incorporating multiple sensors and are able to use this information to behave
autonomously that means, its can making decisions for them based on information
that they receive. There is endless variety in the size, shape and jobs of robots. Some
robots are used day after day in factories, while others are highly experimental and
use artificial intelligence to behave more and more like living creatures, able to act
independently in changing environments. Robots are being designed to perform
precision surgery, explore space, the ocean and other dangerous areas. (Capek, 1921)
The designs of robots in movies give the impression that robots look and act like
humans. The activities in this guide are designed to help those who see the exhibit
recognize:a)
How everyday activities that humans do are quite complex.
b)
That they can do some things that robots cannot do and vice versa, robots can
do some things that they cannot do.
c)
There are many different kinds of robots each specially designed to do
particular tasks.
d)
How robots think, sense, and act.
7
DESIGN AND PROTOTYPING OF HUMAN FOLLOWING
MOBILE ROBOT
This report submitted in accordance with requirement of the Universiti Teknikal
Malaysia Melaka (UTeM) for the Bachelor Degree of Manufacturing Engineering
(Robotic and Automation) with Honours.
By
MUHAMMAD NORPAZMIL BIN CHE PA
FACULTY OF MANUFACTURING ENGINEERING
2010
DECLARATION
I hereby, declared this report entitled “DESIGN AND PROTOTYPING OF
HUMAN FOLLOWING MOBILE ROBOT” is the results of my own research
except as cited in references.
Signature
: ____________________________________
Author‟s Name
: MUHAMMAD NORPAZMIL BIN CHE PA
Date
: 20 OCTOBER 2009____________________
APPROVAL
This report is submitted to the Faculty of Manufacturing Engineering of UTeM as a
partial fulfillment of the requirements for the degree of Bachelor of Manufacturing
Engineering (Robotic and Automation) with Honours. The member of the
supervisory committee is as follow:
………………………………
(EN. MOHD HISHAM BIN NORDIN)
ABSTRACT
The purpose for this project was to build a mobile robot prototype that can follow
people in linear motion during walking. It will produce an intelligent robot, in which
we called it as Human Following Mobile Robot. The robot is not controlled by
controller; however it uses microcontroller (PIC) as a controller where the Infrared
Sensor and Ultrasonic Sensor act as a detector for human movement. The infrared
sensor consists of transmitter and receiver. For ultrasonic sensor are consists of two
receivers and two transmitter which being applied to the robot. The object and
human position will be defined by the reflection of the signals send by transmitter to
receivers. Each signals received by the receivers is processed by the microcontroller
in digital form. Then, it will send the order to the mechanical system to produced
movement to the robot. The receiver is located at the front of the robot where human
will holding the transmitter. The direction for the robot is determined by toward the
transmitter signal to the receiver. In a nut shell robot will follow the signal from
transmitter and avoid the obstacles by using ultrasonic sensor. Further research will
be done to ensure the project will achieve the goal.
i
ABSTRAK
Tujuan penulisan kertas kerja ini dijalankan adalah untuk membina sebuah prototaip
robot mobil yang berkemampuan mengikut manusia berjalan dalam keadaan garis
lurus. Projek ini akan menghasilkan sebuah robot pintar dengan tajuk yang diberikan
sebagai Robot Mobil Mengikut Manusia Berjalan (Human Following Mobile Robot).
Robot ini akan beroperasi dengan menggunakan alat kawalan arah pergerakkan
seperti pengesan Infra-merah( Infrared Sensor).Pengesan Infra-merah akan
digabungkan dengan Pengesan Ultrasonik (Ultrasonic Sensor)dimana akan
digunakan sebagai deria kepada robot yang akan mengesan pergerakkan dan dikawal
dengan menggunakan pengawal mikro (PIC). Pengesan ultrasonic tersebut terdiri
daripada dua buah penerima dan dua penghantar gelombang ultrasonic manakala
untuk pengesan infra-merah terdiri daripada satu penghantar dan satu penerima yang
akan dipasang pada robot mobil. Tindak balas yang diberikan oleh pengesan inframerah pengesan ultrasonik terhadap penerima dan penghantar gelombang akan
menentukan kedudukan objek dan manusia. Setiap gelombang yang diterima oleh
penerima akan diproses oleh pengawal mikro sebagai suattu nilai digital lalu
menghantar arahan ke bahagian litar keluaran yang terdiri daripada sistem
mekanikal, seterusnya akan menghasilkan pergerakan pada robot mobile tersebut.
Kombinasi penerima dan penghantar di letakan di bahagian hadapan robot mobil
membantu menguatkan isyarat. Perbezaan antara isyarat yang dihantar dan diterima
akan menentukan arah pergerakan robot mobil. Kajian-kajian akan dilakukan bagi
memastikan projek ini dapat dihasilkan dengan jayanya.
ii
DEDICATION
Dedicated to my father, Che Pa Bin Wahab and my mother, Che Normah Binti Ishak.
To my supervisor, En. Mohd. Hisham Bin Nordin, lecturers and friends for all of
their help and friendship.
iii
ACKNOWLEDGEMENT
I would like to convey my appreciation and indebtedness to those who has been great
surprised and helpful for the completion at the project to bring it to success in respect
with favorable advice and feasible solution. Thus, I feed comfortably to take this golden
opportunity to express my millions of gratitude to my supervisor, En. Mohd. Hisham Bin
Nordin for her kindly advice and guidance during the project providing tremendous
considerately and useful comment and materials to overcome each obstacle I had faced.
Also special thanks to my friends that give me some help during doing this project.
Thanks extended to FKP lecturer who had provided technical help and assistance
throughout the project. Lastly I would like to thank my family, who has been the
loveliest advisor to give continually support and inspiration throughout my campus life.
iv
TABLE OF CONTENT
Abstract
i
Abstrak
ii
Dedication
iii
Acknowledgement
iv
Table of Content
v
List of Table
viii
List of Figure
ix
List of Abbreviations, Symbols, Specialized Nomenclature
xii
1. INTRODUCTION
1
1.1
Project Background
1
1.2
Problem Statement
4
1.3
Objective of Project
5
1.4
Scopes of project
5
2. LITERATURE REVIEW
6
2.1
Introduction
6
2.2
Introduction of Robotic
7
2.2.1
Human Following Mobile Robot
8
2.2.2
Human Following Mobile Robot Related Projects
9
2.2.2.1 An Implementation of a Color Following System using the CMUcam3
9
2.2.2.2 Obstacles Avoidance Method for an Autonomous Mobile Using Two
10
IR Sensor
2.2.2.3 Detecting and Following Humans with a Mobile Robot
14
2.2.2.4 Object Capture with a Camera-Mobile Robot System
16
2.2.2.5 Toward Real-time Human Detection and Tracking in Diverse
18
Environment
2.2.2.6 Intelligent Escort Robot Moving Together With Human
21
2.2.2.6(a) Human Detecting Using Light Emitting Device (LED)
21
v
2.2.2.6(b) Human Detecting Using Ultrasonic Transponder
24
2.2.2.7 Obstacles Avoidance for Mobile Robot Exploration Robot
27
with Onboard Embedded Ultrasonic Range Sensor
2.3
Mechanical Structure
31
2.3.1
Stainless Steel
31
2.3.2
Acrylic
32
2.3.3
Aliminium
33
2.3.4
Carbon Fiber
33
2.3.5
Teflon
34
2.4
Actuator
35
2.4.1
Electrical Motor
35
2.4.1.1 Stepper Motor
36
2.4.1.2 Servo Motor
37
2.4.1.3 Brush Motor (BDC)
37
2.5
Sensor
39
2.5.1
Infrared Sensor (IR Sensor)
39
2.5.2
Ultrasonic Sensor
40
2.6
Mechanical Software
40
2.6.1
Solid Work
41
2.6.2
AutoCad
42
2.7
Programming Software
43
2.7.1
MPLab Software
43
2.7.2
Micro C Compiler software
44
2.8
Electrical Software
45
2.8.1
Proteus PCB Express
46
2.9
Power Source
47
2.8.1
Rechargeable Batteries
47
3. METHODOLOGY
48
3.1
Introduction
48
3.2
Project Planning
48
3.2.1
Title Selection
52
3.2.2
Preliminary Research Work
52
3.2.3
Problem Review
52
vi
3.2.4
Problem Analysis
52
3.2.5
Data Collection
52
3.2.6
Literature Review
53
3.2.7
Analysis and Components Consideration
54
3.2.8
Methodology
55
3.2.9
Design and Prototyping Consideration
55
3.2.10 Project Design and Prototyping
55
3.2.11 Testing and Analyzing
55
3.3
Software Development
56
3.3.1
Mechanical Software
56
3.3.2
Electrical Software
56
3.3.3
Programming Software
57
3.4
Project Tools
58
3.4.1
Bending Machine
58
3.4.2
Laser Cutting Machine
59
3.4.3
Cutting Machine
60
3.4.4
Cordless Drills Machine
61
3.4.5
Solder Iron
61
3.5
Components Selection
62
3.5.1
Pugh Chart Method
63
3.6
Preliminary Design
64
3.6.1
Design of Mobile Robot
65
4. DESIGN AND PROTOTYPING
67
4.1
Introduction
67
4.2
Bill of Materials
67
4.3
Mechanical Design and Develop
69
4.4
Electrical Part
72
4.4.1
Controller Board
73
4.4.2
PIC16F877A Microcontroller
76
4.4.3
DC Motor Driver
79
4.4.4
Ultrasonic Board Sensor
83
4.4.5
Infrared Board Sensor (Receiver/Transmitter)
85
4.5
Human Following Mobile Robot System Operation
87
vii
5. TESTING, RESULT AND DISCUSSION
89
5.1
Introduction
89
5.2
Test 1: Obstacles Sensing and Collision Avoidance
89
5.3
Test 2: Human Following in Linear Motion
93
5.4
Discussion
96
6. CONCLUSION AND RECOMMENDATION
101
6.1
Conclusion
101
6.2
Recommendation
102
6.2.1 Electrical Components
102
6.2.2 Programming
103
REFERENCES
104
APPENDICES
107
viii
LIST OF TABLES
2.1
Advantages and disadvantages DC motor
38
3.1
Components selection for sensors
63
3.2
Components selection for actuators
63
3.3
Components selection for mechanical structure
64
3.4
Description of robot parts
65
4.1
Human Following Mobile Robot design and prototyping materials and
components
68
4.2
Process to developing the Mechanical Structure
69
4.3
Pins tasks for each function
77
4.4
Pin Function Description
80
4.5
Description of MD30B board
81
4.6
Connection between ultrasonic sensor and AR40B controller
84
5.1
The result of distance versus voltage
92
5.2
The results of voltage efficiency versus distance
95
5.3
Comparison between literature review project and human following
96
mobile robot
ix
LIST OF FIGURES
1.1
Idea of the project
2
2.1
CMUcam3 Hardware
9
2.2
Vehicle platform with CMUcam3 without screen
2.3
The position of IR sensors
2.4
The actions of the mobile robot
12
2.5
Examples of possible situation
12
2.6
The command system
13
2.7
A human detection and tracking scenario
15
2.8
The complete mobile robot/camera system consists of an overhead.
17
10
11
Webcam, a computer, and a mobile robot vehicle equipped with
a device to capture tennis balls. The overhead camera simplifies
the system; pixels approximately correspond to physical coordinates
2.9
The description of the figure shown below
17
2.10
Swiss Range SR-3000 3D time of flight camera
2.11
iRobot PackBot EOD mobile robot
2.12
iRobot Create mobile robot, with Swiss Ranger camera
2.13
Sample data returned from Swiss Ranger camera
2.14
The robot follows human using camera
22
2.15
The schema of the image of LED obtained from camera mounted on
22
18
19
20
21
the robot
2.16
Determination of the path for human following. The position
23
of the human is recorded at a moderate interval
2.17
Light-emitting device used in the project
2.18
Principles of angle measurement using two ultrasonic receivers
24
24
Light-emitting device used in the project
2.19
Position detection of a specific object using the ultrasonic transponder 25
2.20
Ultrasonic sensor on the robot
25
2.21
The timing of transmission and reception of the pulses in the double
26
pulse coding
2.22
Experimental setup for the target position tracking using
the ultrasonic transponder
x
26
2.23
A single reading from the ultrasonic range finder
28
2.24
The second reading from the ultrasonic range finder overlapping
29
the first
2.25
Test setup for ROAMER
30
2.26
Path of ROAMER in the test runs
30
2.27
Stainless Steel Products
32
2.28
Acrylic Product
32
2.29
Aluminium structure of Robot
33
2.30
Carbon Fiber Plate
34
2.31
Teflon products
35
2.32
Stepper motor
36
2.33
Servo motor
37
2.34
Brushless motor
38
2.35
Infrared sensor
39
2.36
Ultrasonic Sensor
40
2.37
Solid Work design
42
2.38
Catia DS V5 Software
43
2.39
MPLab Programming Software
44
2.40
Micro Compiler Software
45
2.41
Proteus PCB Express Software
46
2.42
Rechargeable batteries
47
3.1
Project Schedule; Gantt chart for PSM I
49
3.2
Project Schedule; Gantt chart for PSM II
50
3.3
Project flow chart
51
3.4
Catia DS V5 logo; Mechanical design
56
3.5
PCB Express software; Electrical design
57
3.6
Micro Compiler Software; Programming
57
3.7
PICkit 2; programmer ICSP interface
58
3.8
Bending machine
59
3.9
Laser cutting machine
60
3.10
Cutting machine
60
3.11
Drill machine
61
3.12
Solder iron
62
xi
3.13
Human Following Mobile Robot design
65
4.1
Structure of Human Following Mobile Robot
72
4.2
Control Board (AR40B)
73
4.3
Connection from power source port to 12V battery
74
4.4
AR40B Schematic Diagram
75
4.5
PIC16F877A at AR40B controller
76
4.6
PIC16877A 40-Pin PDIP
77
4.7
Basic command by using Micro C Compiler
78
4.8
MD30B board system
80
4.9
MD30B board layout
81
4.10
MD30B board in robot prototype
82
4.11
Connection of brush port to motor driver
82
4.12
ES-15 (V2) Ultrasonic Sensor
83
4.13
The connection of ES-15 (V2) Ultrasonic Sensor
84
4.14
Infrared Sensor (Receiver)
85
4.15
The connection between receiver and AR40B controller
85
4.16
The connection between receiver and AR40B controller
86
4.17
Infrared sensor (Transmitter)
87
4.18
Prototype operation flow chart
88
5.1
Robot move in linear motion
90
5.2
Robot detect the obstacle
90
5.3
Robot avoid the obstacles
91
5.4
Robot detection area
91
5.5
Commands signals graph (distance versus voltage)
92
5.6
Receiver detect the signal from transmitter
93
5.7
Robot follows the human
94
5.8
Distance of IR sensor
94
5.9
IR sensor graph; voltage efficiency versus distance
95
6.1
Ultrasonic range finder
103
xii
LIST OF ABBREVIATIONS
PIC
-
Microcontroller
AVGs
-
Automated Guided Vehicles
PWM
-
Pulse-Width Modulated
IR Sensor
-
Infrared sensor
SVM
-
Support Vector Machine
RvCAD
-
Robot Vision CAD
HRI
-
Human Robot Interaction
LED
-
Light Emitting Device
ROAMER
-
Obstacle Avoiding Mobile Exploration Robot
PTFE
-
Polytetrafluoroethylene
IDE
-
Integrated Development Environment
DDS
-
Dunfield Development Systems
xiii
CHAPTER 1
INTRODUCTION
1.1
Background
Nowadays in manufacturing field, robot development has focused on robotic
engineering. Robots gradually made their way into factories for dangerous repetitive
accurate tasks (automobile assembly), handling hazardous wastes in the nuclear
industries, great dexterity and precision (computer chip assembly) and delivery
robots. The robots were designed to provide functionality or very useful.
Robot is a computer-controlled machine that is programmed to move, manipulate
objects, and accomplish work while interacting with its environment. Robots are able
to perform repetitive tasks more quickly, cheaply, and accurately than humans. The
word robot has been used since to refer to a machine that performs work to assist
people or work that humans find difficult or undesirable. (Capek, 1921)
Autonomous robots are robots which can perform desired tasks in unstructured
environments without continuous human guidance. Many kinds of robots have some
degree of autonomy. Different robots can be autonomous in different ways. A high
degree of autonomy is particularly desirable in fields such as space exploration,
cleaning floors, mowing lawns, and waste water treatment. (Capek, 1921)
Some modern factory robots are "autonomous" within the strict confines of their
direct environment. It may not be that every degree of freedom exists in their
surrounding environment but the factory robot's workplace is challenging and can
often contain chaotic, unpredicted variables. The exact orientation and position of the
1
next object of work and (in the more advanced factories) even the type of object and
the required task must be determined. This can vary unpredictably (at least from the
robot's point of view). One important area of robotics research is to enable the robot
to cope with its environment whether this is on land, underwater, in the air,
underground, or in space.
In a development of robot, it is have a wide variety of measuring devices to
collecting data from manufacturing process for used in feedback control. Basically,
there are the main devices to measuring the robot activities like sensor and
transducer. The figures below show the steps to develop a robot. It is start from
develop the structure and electrical part. Then, for the programming part, computer is
used with the interface to program the microcontroller by follow the tasks of the
robot.
a)
Computer for microcontroller programming
b) Mobile Robot
Figure 1.1 Idea of the project
2
1.2
Robot Technology
Robot is a virtual or mechanical artificial agent. In practice, it is usually an electromechanical machine which is guided by computer or electronic programming, and is
thus able to do tasks on its own. Another common characteristic is that by its
appearance or movements, a robot often conveys a sense that it has intent or agency
of its own.
A robot can be controlled by a human operator, sometimes from a great distance. But
most robots are controlled by computer, and fall into either of two categories: a) An autonomous robot acts as a stand-alone system, complete with its own
computer (called the controller).
b) Insect robots work in fleets ranging in number from a few to thousands, with all
fleet members under the supervision of a single controller. The term insect arises
from the similarity of the system to a colony of insects, where the individuals are
simple but the fleet as a whole can be sophisticated.
1.2.1
History of Robot
The word 'robotics' comes from "Runaround", a short story published in 1942 by
Isaac Asimov. One of the first robots Asimov wrote about was a robo-therapist. A
Massachusetts Institute of Technology Professor, Joseph Weizenbaum, wrote the
Eliza program in 1966, a modern counterpart to Asimov's fictional character.
Weizenbaum initially programmed Eliza with 240 lines of code to simulate a
psychotherapist. The program answered questions with questions.
Asimov created the four laws of robot behavior, cyber laws all robots had to obey
and a fundamental part of positronic robotic engineering. The Isaac Asimov FAQ
states, "Asimov claimed that the laws were originated by John W. Campbell in a
conversation they had on December 23, 1940. Campbell in turn maintained that he
picked them out of Asimov's stories and discussions, and that his role was merely to
3
state them explicitly. The first story to explicitly state the three laws was
"Runaround", which appeared in the March 1942 issue of "Astounding Science
Fiction". Unlike the Three Laws, however, the Zeroth Law is not a fundamental part
of positronic robotic engineering, is not part of all positronic robots, and, in fact,
requires a very sophisticated robot to even accept it." (Capek, 1921)
a) Law Zeros
A robot may not injure humanity, or, through inaction, allow humanity to come
to harm.
b) Law One
A robot may not injure a human being, or, through inaction, allow a human being
to come to harm, unless this would violate a higher order law.
c) Law Two
A robot must obey orders given it by human beings, except where such orders
would conflict with a higher order law.
d) Law Three
A robot must protect its own existence as long as such protection does not
conflict with a higher order law.
1.3
Problem Statement
The idea to invents and develops the Human Following Mobile Robot begin when
some of the challenges come to mind at the golf course. Today, golf player need a
caddy to carry-off the golf sticks. The same cases like in the hospital where the
doctor are bring files and tools to the operation room or from operation room to the
office. Sometimes they need an assistant to help them. It is not flexible. By using
robots, it can replace the role of human. Robots are able to perform repetitive tasks
more quickly, cheaply, and accurately than humans. In order to follow and get the
human walking, robots should know the position of target person. The robots should
4
also estimate the next position of the person in order to move without delay follow
the human. To realize this, human and robots need to be in close proximity to each
other as much as possible. Moreover, it is necessary for their interactions to occur
naturally. It is desirable for a robot to carry out human following, as one of the
human affinitive movements. The human following robot requires several techniques
such as the recognition of the target human, the recognition of the environment
around the robot, and the control strategy for following human stably. In this
research, an intelligent environment is used in order to achieve these goals.
1.4
Objective of the project
The aim of this project is to develop a mobile robot that can follow human.
1.5
Scopes
Project scopes are important in order to develop these projects and it is required to
assist and guide the development of the project. The scopes will be covered on
design and programming of a mobile robot. Part of design will include the
application of Catia DS Software. It is for mechanical structure to select the material
should be use. Electrical and electronic part are related in programming where need
to develop the interface between programming, electronic circuit and mechanical
system. The scopes of this project are:
a) The designing and developing of mechanical structure will be performed
manually by the author criteria.
b) The system of Human Following Mobile Robot is control by using PIC
microcontroller and program the PIC via programming software.
c) The robot prototype only works on plane surface.
d) The robot prototype follow human in linear motion.
e) Sensing obstacles is required in the robot; it depends on the sensor and
programming whether to avoid the obstacles or stop when found out the
obstacles.
5
CHAPTER 2
LITERATURE REVIEW
2.1
Introduction
This chapter will focuses on data collecting from various resources for this project. It
is actually discussing about the past project that similar with this project, the parts of
autonomous robot whether from mechanical system, electronic circuit and
programming. There are several of hardware related issues will be discusses in this
section with involved the development of an actual robot.
Actually, autonomous mobile robot is a generally topic of robot. There are many
different types of robots and the classification of such machines can be constructed in
various ways. There many categories of robot available depending on its function
and ability such as industrial robot, humanoids robot, and special function robot.
These robot can be controlled either by human (remote control) or operating
autonomously. In this project, a special function autonomous robot is build to
complete the tasks given.
6
2.2
Introduction of Robot
The term of robot comes from a Czech word, robota, meaning "forced labor.” In
other words, the robots eventually overthrow their human creators. Actually, robot
can defined as a machine that gathers information about its environment (senses) and
uses that information (thinks) to follow instructions to do work (acts). This is the
working definition of robots that Robotics exhibit developers used for this exhibit.
Today, technology is revolution of rates making the identification of a robot
somewhat difficult. However, robotic engineers would probably not say the VCR or
thermostat is a robot. In other words, robots are doing more and more. Today's robots
are incorporating multiple sensors and are able to use this information to behave
autonomously that means, its can making decisions for them based on information
that they receive. There is endless variety in the size, shape and jobs of robots. Some
robots are used day after day in factories, while others are highly experimental and
use artificial intelligence to behave more and more like living creatures, able to act
independently in changing environments. Robots are being designed to perform
precision surgery, explore space, the ocean and other dangerous areas. (Capek, 1921)
The designs of robots in movies give the impression that robots look and act like
humans. The activities in this guide are designed to help those who see the exhibit
recognize:a)
How everyday activities that humans do are quite complex.
b)
That they can do some things that robots cannot do and vice versa, robots can
do some things that they cannot do.
c)
There are many different kinds of robots each specially designed to do
particular tasks.
d)
How robots think, sense, and act.
7