IR Vision Snake ROBOT using Arduino
Ayush Dixit (1802721032)
Ayush Ranjan (1802721033)
Apoorv Dhananjay Chauhan (1802721022)
Devaditya Yadav (1802721035)
Snake robot
Snake robots are a class of hyper-redundant mechanisms
consisting of kinematically constrained links chained together in
series, whose many degrees of freedom allow them to navigate a
wide range environments .
Our Group has been developing a robot that rely solely on its IR
vision sensor and microcontroller based programming to produce
serpentine motion along with having a camera fixed over its head
for motion tracking .
Topics to be covered in Presentation:
1) Construction part
2) Electronics part
3) Programming part
So, from Construction Part, we will discuss about the major
components we are going to use in this project with their
specifications and uses.
while , from Electronics part, we will be discussing about the circuit
diagram along with the the pin diagram connections.
Components being used in a nutshell:
1) DUAL SHAFT SERVO MOTOR
2) ARDUINO MEGA 2560
3) SERVO SENSOR SHIELD
4) IR DISTANCE SENSOR
5) HC-05 BLUETOOTH MODULE
6) Li-ION 7.4V CHARGEABLE BATTERY
7) LONG ALUMINIUM SERVO BRACKET
8) SG90 MICRO SERVO
DUAL SHAFT SERVO MOTOR
FUNCTION:
It will be used to provide the flexibility in serpentine motion by
attaching the multiple servos with the accessories like servo
bracket.
ARUINO MEGA 2560
FUNCTION:
Arduino MEGA is micro-controller which will contain a program that will
coordinate with the sensor and servo motor.
SERVO SENSOR SHIELD
FUNCTION:
It is a type of extension board that can support various sensors
and multiple servos at a time.
IR DISTANCE SENSOR
FUNCTION:
It will be used to measure the object at distance in range of 10-80 cm and will
decide the path on which the snake must move to avoid that object collision.
HC-05 BLUETOOTH MODULE
FUNCTION:
It is used for the Over The Air (OTA) code upload to the Arduino board and
also for the communication for the external source.
Li-ION 7.4 VOLT CHARGEABLE BATTERY
FUNCTION:
It will be used to power the Sensor Shield in order to provide separate
energy source to the servos connected to Arduino Sensor Shield. The
Arduino will be supplied a separate power through 5 1.5V AA Battery
using battery holder.
LONG ALUMINIUM SERVO BRACKET
FUNCTION:
It will be used to provide the platform for placing the Arduino and Batteries at
the end and front side of the length of the snake .
SG90 MICRO SERVO
FUNCTIONS:
It will be mechanically coupled with IR sensor and will rotate it to the specified degrees to
measure the suitable distance where the bot must take turn and not hit the obstacle.
ESP32 CAM WiFi Module Bluetooth
with OV2640 Camera Module 2MP
Circuit diagram
Proteus Design Suite
The Proteus Design Suite is a proprietary software tool suite used
primarily for electronic design automation. The software is used
mainly by electronic design engineers and technicians to create
schematics and electronic prints for manufacturing printed circuit
boards.
Brief Diagram Explanation
?The 12 Dual shaft servos are connected to the Arduino
MEGA from pins 2 to 13
?The micro servo which is also named as pan servo is
connected to the pin 14 to board.
?The IR sensor is connected to the pin 15 of the Arduino which
reads the distance of the obstacle from range 10cm –80 cm.
?The distance measured will be displayed in the LCD Display
?The ground and supply voltage i.e. VCC is given to the
Arduino Board and the different servo motors.
?The Arduino board will be programmed in order to detect the
object and take decision that in which direction the snake will
move.
SNIPPETS FROM CODE
1.Serpentine Motion Code
2.Timer Interrupt Initialization
3.User Control ISR Function
Camera Web Server Code
PHOTOGRAPHS
