Ses ile kontrol edilen paletli gezgin robot tasarımı
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Dosyalar
Tarih
2017
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Trakya Üniversitesi Fen Bilimleri Enstitüsü
Erişim Hakkı
info:eu-repo/semantics/restrictedAccess
Özet
Gelişen teknoloji ile birlikte gerçekleştirilmesi tehlikeli ve zor işlerde insanların yerine gezgin robotlar yer almaktadır. Bu gezgin robotların kontrolleri de buna paralel olarak önem kazanmıştır. Daha önceden bu robotları kumandalar kullanarak el ile kontrol etmek mümkün olabilmekte iken artık ses ile kontrol etmek de mümkün olabilmektedir.Bu çalışmada, kullanıcı tarafından belirli sesli komutlar verilerek paletli gezgin bir robotun kontrolünü gerçekleştirmek amaçlanmıştır. Sesli komutlar, bir boğaz mikrofonu tarafından alınarak ses modülü tarafından dijital sinyallere çevrilir. Daha sonra oluşan bu dijital sinyaller gezgin robota zigbee modülü üzerinden iletilir. Robot tarafında alıcı zigbee modülü, verici taraftan iletilen komutu alır ve sonra bu komutu mikrodenetleyiciye gönderir. Mikrodenetleyici, komutu analiz ederek uygun eylemi gerçekleştirir. Gezgin robotun, ses ile kontrolü bu şekilde gerçekleştirilmiş olur. Robotun önüne monte edilen bir kamera ile ortam görüntüsü, Android işletim sistemine sahip bir cep telefonuna yüklenen bir program sayesinde izlenebilmektedir. Ayrıca, paletli gezgin robot, öne ve arkaya hareketi süresince bir engelle karşılaşırsa, önüne ve arkasına monte edilen kızılötesi sensörler sayesinde engele çarpmadan durabilmektedir. Çalışmada kullanılan ses komutunu tanıma devresi, robotun ana işlemcisinden bağımsız çalışmaktadır. Konuşma tanıma işlemi için robotun ana CPU’sunun gücü harcanmadığından bu durum bir avantaj oluşturmaktadır. Bu çalışmada, Mikrodenetleyici olarak Arduino Uno ve ses tanıma kartı olarak EasyVR modülü kullanılmıştır. Yazılım kısmı C programlama dili kullanılarak Arduino IDE’de yapılmıştır.
abstract
Mobile robots are preferred instead of people for the use of dangerous and difficult jobs in technologically developed today’s world so controlling of these mobile robots is more important these days. Although mobile robots used to be controlled only manually by remote controllers, today it is also possible to control them via voice, which is quite popular practices.In this study, it is aimed that a tracked mobile robot is controlled with specific voice commands by a user. After the speech is received by a throat microphone, it is converted into digital signals by voice module. Then these digital signals are sent to the mobile robot via zigbee module. On the robot side, the receiver zigbee module receives the commands given by the transmitter side and then sends it to the microcontroller. Microcontroller analyzes the commands and performs the expected operations. The image of the area can be observed via the camera mounted in front of the vehicle with the help of Android application on the mobile phone. When the vehicle comes across an obstacle, infrared sensors which are in the front and at the back of the vehicle prevent the vehicle from crashing and the vehicle stops. When the vehicle comes across an obstacle, infrared sensors which are in the front and at the back of the vehicle prevent the vehicle from crashing and the vehicle stops. The speech-recognition module operates independently from the vehicle’s main brain (CPU- Central Processing Unit). This is a big advantage as the vehicle’s main CPU doesn’t spend any power for speech recognition. For the system control, the hardware development board used in the study is Arduino Uno microcontroller board and EasyVR module is used for voice recognition card. The software part is done in Arduino IDE using Embedded C.
abstract
Mobile robots are preferred instead of people for the use of dangerous and difficult jobs in technologically developed today’s world so controlling of these mobile robots is more important these days. Although mobile robots used to be controlled only manually by remote controllers, today it is also possible to control them via voice, which is quite popular practices.In this study, it is aimed that a tracked mobile robot is controlled with specific voice commands by a user. After the speech is received by a throat microphone, it is converted into digital signals by voice module. Then these digital signals are sent to the mobile robot via zigbee module. On the robot side, the receiver zigbee module receives the commands given by the transmitter side and then sends it to the microcontroller. Microcontroller analyzes the commands and performs the expected operations. The image of the area can be observed via the camera mounted in front of the vehicle with the help of Android application on the mobile phone. When the vehicle comes across an obstacle, infrared sensors which are in the front and at the back of the vehicle prevent the vehicle from crashing and the vehicle stops. When the vehicle comes across an obstacle, infrared sensors which are in the front and at the back of the vehicle prevent the vehicle from crashing and the vehicle stops. The speech-recognition module operates independently from the vehicle’s main brain (CPU- Central Processing Unit). This is a big advantage as the vehicle’s main CPU doesn’t spend any power for speech recognition. For the system control, the hardware development board used in the study is Arduino Uno microcontroller board and EasyVR module is used for voice recognition card. The software part is done in Arduino IDE using Embedded C.
Açıklama
Anahtar Kelimeler
Sesli Komut Tanıma, EasyVR, Mobil Robot Kontrol, Arduino, Voice Command Recognition, Mobile Robot Control
