Accelerometer Based Hand Gesture Controlled Robot

In many application of controlling robotic gadget it  becomes quite hard and complicated when there comes the part of controlling it with remote or many different switches.

Mostly in military application, industrial robotics, construction vehicles in civil side, medical application for surgery. In this field it is quite complicated to control the robot or particular machine with remote or switches, sometime the operator may get confused in the switches and button itself, so a new concept is introduced to control the machine with the movement of hand which will simultaneously control the movement of robot.

Fig a : Robot  

Fig b : Hand gesture sensor (transmitter) 

Fig c : Hand mount

Fig d : Chassey photo (Front view)

Fig d : Chassey photo (Top view open)

Description

A Gesture Controlled robot is a kind of robot which can be controlled by  your hand gestures not by old buttons.You just need to wear a small transmitting device in your hand which included an acceleration meter.This will transmit an appropriate command to the robot so that it can do whatever we want. The transmitting device included a  ADC for analog to digital conversion and an encoder IC(HT12E) which is use to encode the four bit data and then it will transmit by an RF Transmitter module.

At the receiving end an RF Receiver module receive's the encoded data and decode it by and decoder IC(HT12D). This data is then  processed by a microcontroller  and finally our motor driver to control the motor's.  Now its time to break the task in different module's to make the task easy and simple any project become easy  or error free if it is done in different modules. As our project is already divided into two different part transmitter and receiver. We will discuss both of them one by one.

Accelerometer

An Accelerometer is a kind of sensor which gives an analog data while moving in X,Y,Z direction or may be X,Y direction only depend's on the type of the sensor.

Here is a small image of an Accelerometer shown. We can see in the image that their are some arrow showing if we tilt these sensor's in that direction then the data at that corresponding pin will change in the analog form.

The Accelerometer having 6 pin-

1- VDD- We will give the +5volt to this pin

2- GND- We simply connect this pin to the ground for biasing.

3- X- On this pin we will receive the analog data for x direction movement.

4- Y- On this pin we will receive the analog data for y direction movement.

5- Z-  On this pin we will receive the analog data for z direction movement.

6- ST- this pin is use to set the sensitivity of the accelerometer 1.5g/2g/3g/4g.

Block Diagrams & PCB Design

Transmitter Block diagram

Receiver Block Diagram

PCB DESIGN

Components and costing

Sr.no	Components	Qty	Cost  in Rs (INR)
1	433 Mhz RF Module	1	260
2	Ht12e	1	45
3	Ht12d	1	45
4	L293D	2	90
5	AT89S52	1	45
6	7805	2	30
7	CAPACITOR 10 UF 63V	2	2
8	11.0592 Mhz crystal	1	10
9	PBT Connector	6	24
10	PCB Manufacturing cost	2	300
11	Single pole antenna	2	36
12	Resistor 1k	15	7
13	LED 3mm	20	20
14	Atmega 8	1	75
15	Accelerometer ADXL335	1	550
16	Battery 12 v 3.5Ampere	1	350

Above are the standard price

Note : The costing may vary according to region / area

Application

1.       Military application to control robotics

2.       Medical application for surgery purpose.

3.       Construction application.

4.       Industrial application for trolly control, lift control, etc.

.

Circuit:

Code:

#include <mega8.h>
#include <delay.h>
#define ADC_VREF_TYPE 0xE0 // Read the 8 most significant bits
                          // of the AD conversion result
unsigned char read_adc(unsigned char adc_input)
{
ADMUX=adc_input | (ADC_VREF_TYPE & 0xff);
// Delay needed for the stabilization of the ADC input voltage
delay_us(10);
            // Start the AD conversion
ADCSRA|=0x40;
// Wait for the AD conversion to complete
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10;
return ADCH;
}
void main(void)
{
unsigned int x,y,z;
PORTB=0x00;
DDRB=0xFF;
PORTC=0x00;
DDRC=0x00;
PORTD=0x00;
DDRD=0xFF;
TCCR0=0x00;
TCNT0=0x00;
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;f
MCUCR=0x00;
TIMSK=0x00;
UCSRB=0x00;
ACSR=0x80;
SFIOR=0x00;
ADMUX=ADC_VREF_TYPE & 0xff;
ADCSRA=0x83;
SPCR=0x00;
TWCR=0x00;
while (1)
      {
      // Place your code here
      x=read_adc(3);
      y=read_adc(4);
      z=read_adc(5);   
        PORTB=x;                                                
//---------------------------------------------------------------// X AXIS      
//---------------------------------------------------------------     if(x>0xab)
      {
      PORTD=0x0c;        
      }   
            else if(x<0x9b)
      {
      PORTD=0x03;
      }
//-------------------------------------------------------------- // Y AXIS
//------------------------------------------------------------------
    else if(y>0xab)
      {
      PORTD=0x08;        
      }   
            else if(y<0x9b)
      {
      PORTD=0x0e;
      }      
//--------------------------------------------------------------
//---------------------------------------------------------------

       else
      PORTD=0xff; 
      }
}







//Receiver main program

#include<reg51.h>
void main()
{
P2=0xff;
P1=0x00;
while(1)
{
if(P2==0x80)
{
P1=0xaa;
}
else if(P2==0xe0)
{
P1=0x55;
}
else if(P2==0x30)
{
P1=0xa5;
}
else if(P2==0xC0)
{
P1=0x5a;
}
else
P1=0x00;
}
}

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