Things used in this project

Hardware components:
SP Robotic Works SPduino
×2
Digilent sabertooth 2X60A
×1
PDX132 - 132:1 Gearmotor
×1
UltraSonic Distance Sensor (PWM O/P)
×17
lenovo yoga 510
×1
Targus Car Power Inverter
×1
Multimedia speakers 2.1
×1
21.5 inchs touch display
×1
lead acid 160Ah 12v battries
×1
logitech camara
×1
A000066 iso both
Arduino Arduino UNO & Genuino UNO
×1
Software apps and online services:
RoboRealm
RoboRealm is an application for use in machine vision, computer vision, image analysis, and robotic vision systems.
Ide web
Arduino Arduino IDE
Hand tools and fabrication machines:
Sheet rolling machine
Arc welding
laser sheet cutting machine

Custom parts and enclosures

2D CAD model

Code

Obstacle Monitor and Motor Driving with Arduino
This is the Arduino program that pings the ultrasonic sensors of the robot to detect any obstacle in front/side of the robot and to stop if anything/anyone is present. If there is no obstacle, then it will listen for direction data received through Serial communication from the RoboRealm application and drives the motors accordingly. The obstacle status data (in JSON format) will be written to the Serial port continuously. The Serial communication module in RoboRealm will receive and parse this data to play the robot's voice if any obstacle/person is in front.
Object tracking using RoboRealm
This repository contains the RoboRealm project file and the necessary python script to aid the image processing. The object tracking module will track the ceiling structure using the images that were trained with the module. Camera present on the top of the robot will be used for this purpose. Based on the coordinates of the object being tracked, the direction in which the robot should move in order to keep the ceiling structure in the focus of the camera is decided. The robot will keep on moving forward as long as the oval shape ceiling structure is in the focus. If it's going out of frame, then the robot will turn left/right accordingly to keep the structure within the frame, This will ensure that the robot is roaming only in the central atrium with a virtual perimeter. The direction data generated in the form of JSON in the python script will be continuously sent to Arduino through the Serial Communication module. Arduino will be programmed to receive this data and drive the motors accordingly. Open the EA_Object_Tracker.robo file using the RoboRealm application. This will start the image processing. The images of the ceiling structure would have been trained already with the Object tracking module to track it in real time.

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