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Clap Robot

Done by:Salsabeel Ahmad Taha Maram Fathi Balatia

Supervisor:Aladdin Masri

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Outline Background

Applications used

Uses

Main Goals

Hardware component

Chassis of the robot

Logical Structure

Hardware &software

Problems we’ve faced

Future work

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Background

Clap-Robot receives a clap sound and moves toward the source of clapping. It has the ability to change its position after multiple claps and readjusts its path toward the source of sound

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Applications used

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Uses

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Main Goals

Attractive: Robot follow you when you clap.

Simplicity: Easy to use , just clap then it will follow you.

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Hardware component

Pic18LF4620

Microphone sensor(bug rang)

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Hardware component

Dc motor

Wheel

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Chassis of the robot

We have two option :

Buy a robot kit which it didn’t contain all the

Buy a robot kit which it didn’t contain all the

elements needed to build the desired robot.

elements needed to build the desired robot.

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Our Design

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Our Design

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Logical Structure

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Angle Calculation Algorithm Determining the ‘Time of Arrival’ of sound waves naturally

enabled us to compute the angle between the microphones and the sound source.

In fact, the angle can be calculated using simple trigonometry as shown in this equation.

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Angle Calculation Algorithm

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Hardware

The hardware consists of two main circuits:

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Sensor circuitry

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Software

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DC Control and Motion Algorithm

Four variable were used to decide for the value of Motor State.

direction Angle (degrees)

forward 0

Left forward 45

left 90

Left backward 125

backward 180

Right backward 225

Right 270

Right forward 315

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Testing Strategy:

Amplify sound by 20, and we make sure sensor not sensitive to human sound

We make sure motor rotate in all direction

We operate timer0 module separately to ensure that is correct and produce output

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Sensor Circuit

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Robot Response

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Robot Response With angle

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Problems we’ve faced

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Future Work

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Conclusion

Clap Robot met the expectations knowing that he follows the clapping sound, and the sensors are capable of detecting a source that is farther than 3 meters away because they are powerful enough.

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References

https://www.servocity.com/html/twin-motor_gearbox.html

http://www.me.umn.edu/courses/me2011/arduino/technotes/dcmotors/L293/L293.html

http://www.amazon.com/Geeetech-Smart-Wheel-arduino-project/dp/B0081C5B80

http://people.ece.cornell.edu/land/courses/ece4760/FinalProjects/f2013/am2462_ts599/am2462_ts599/am2462_ts599/final_report_ece4760.html

http://www.nileshgoel.com/wp-content/uploads/2010/01/Paper_Presentation-Contest.pdf

http://www.nileshgoel.com/wp-content/uploads/2010/01/Paper_Presentation-Contest.pdf

http://www.boavision.com/mic-audio-mini-cctv-microphone-cable-security-camera-dvr-high-fidelity-p583.html