Robot parts (4) Sound Sensor

Sound Sensor
Microphone
Microphone is a transducer that turns voice signals into a signal - electrical signals according to the received voice pattern. Electronic system will respond to the signal - voice signals using these components for recorded or recognized

Voice Extreme Module
Voice recognition is not that easy to do, but with the Voice Extreme Module Sensory output then this process can be done with easy. In addition to Voice Extreme Module can work record, recognize and noise, users can also write the C programming language with standard ISO / ANSI-C into it.
This allows Voice Extreme Module customize programmed either to respond to the received voice with another voice or by activating Particular LED. Or vice versa Voice Extreme Module will detect the emphasis certain key to generate a voice that has been recorded previously.
At Extreme Voice Software is a file that has functions
particular are:
-. Ves files: Speech Synthesis files are also a vocabulary tables
-. VEO files: Speech Sentences files or files that store the examples votes
-. VEW files: Used to identify the sound and produce sound different, for example in recognizing the command given to the robot and responded with answers
-. Vem files: Used for music applications

This module also has an IDE (Integrated Development Environtment) is a complex software from a text editor, compiler and downloader for C programming language that allows users to with easy to design and put into the program this module.

Figure 11 Sensory Voice Extreme IDE

The steps to be done to incorporate the program into modules is as follows
- Design the program, for example applications that produce sound "hello world"
Extern Vphelloworld speech;
Main ()
(
Talk (0, & Vphelloworld);
)
- Store in a hello.vec
- Create a new Project by going to Project menu and select New
- Insert hello.vec by doing "Add Document"
- Insert hello.ves by doing "Add Speech"
- Store in a hello.vep, got here the program design process
already completed and ready to try
- Compile the program by selecting "Build" on the Menu Project
- File hello.veb be formed and ready to be filled into the system
- Select "Download" on the Project menu and hello.veb files will go into the
Voice Extreme Module
- Module will directly execute the program and let the voice
"Hello World"

Figure 15 Voice Extreme Module Development

In the picture looks 15 Voice Extreme module is already connected to the module
Development. Development of this module is a module used aid
at the time of designing the program. This module also comes with a Prototyping
Areas that can be used to assemble simple circuits are flexible in
there.

Robot parts (3) Vision Sensor

TCS230 Color Sensor

Figure 8 TCS230

Photodiode on IC TCS230 array arranged in a 8x8 with configuration, 16 Photodiode for red menfilter, 16 Photodiode for the green color filter, 16 Photodiode for the blue color filter, and unfiltered Photodiode 16. Group Photodiode which will be used can be arranged through the leg selector S2 and S3. The combination function of the S2 and S3 can be seen in Table 1.

Table 1

Photodiode will issue the amount of current is proportional to the levels of color basic light on him. This current is then converted into a signal box with a frequency proportional to the amount of current. Output frequency can be scaled by setting the selector foot S0 and S1. Output scaling can be seen in tabel2.

Tabel2.

Thus, programs that we need to get the composition RGB is a frequency counter program. There are two typical ways to calculate the frequency. The first way: We create a timer berperiode 1 second, and during this period we count how many times a wave box. Illustration could seen in the figure 9.

Figure 9

Camera

Vision sensor is the most complex camera that function to change the image into the form of voltage. In the camera output is usually still the form of analog voltage that required high-speed ADC for access. However, with the CMU Cam, Robot CPU only needs to sending commands through the serial port just to this module and CMU Cam will provide image information in the data series as well.

Figure 10 CMU Camera

CMU Cam has a resolution of 160 x 255 and can detect moving objects at 26 frames per second and sends the image data in the form of bitmap. In addition, this module also has 5 ports that can be used to servo motor control is usually used to move the camera.

Robot parts (2) touch sensor

Sensor
Sensors or sensors is a sense of a robot like human senses.

Touch Sensor

Tactile sensor is the simplest sensor of the human senses. A human being blind and deaf can still rely on sensors is to recognize objects or moving through obstacles. Also on a robot is not equipped with sound sensors or vision sensors, tactile sensors are needed, especially for robots robot automatic category.

Limit Switch

Limit Switch is a touch sensor that detects the mechanical and something after the physical contact. The use of these sensors are usually used for limit the maximum movement of a mechanic. For example in the drive arm in where the limit switches will be active and provide input to the CPU to stop the motor in motion when the arm is withdrawn maximum. This sensor is also often used for backup sensor if the sensor others do not work. For example at the edge of a robot, at the time infrared sensor fails to detect an obstacle, then the limit switch will detect and ordered the motor to stop when there is physical contact.

Infrared

Figure 2. Spectrum of Light and Human Response

Infrared, a wavelength of light at the peak point is outside the human eye response is a light that has a lot of functions in the field of electronics and robotics.

Phototransistor ST8-LR2

Figure 3 Infrared sensor circuit with ST8LR2

This component has the same properties that make transistors cut-off conditions and saturation. The difference is, when the transistor state cut-off occurs when no current flows through the base to the emitter and conditions saturation occurs when no current flows through the base to the emitter is at phototransistor cut-off condition occurs when there is no infrared light is received and saturation occurs when infrared light is received.
Cut-off condition is a condition in which the transistors are in OFF state so the current does not flow from the collector to emitter. In a series of figure 3, the flow will flow and the base bias transistor Q2 C9014. Saturation is conditions where the transistor is in ON state so that current from the collector flows into the emitter and causes the transistor Q2 does not have bias or OFF.
Phototransistor ST8-LR2 has a 15-degree angle and area of the protective layer blue sensor that protects the wild lights. In the phototransistor is not equipped with this protective layer, the lights can lead to wild false indications are sent to the CPU and disrupt existing processes in there.
The application of these components as touch sensors are used together with Infrared LED emitted to the ground. If surface soil or light-colored floor, then the infrared signal will be returned to the sensor and accepted by ST8-LR2. But if the ground or floor surface dark then the infrared signal is absorbed and only a few or even no you are welcome.

Hamamatsu P5587

Figure 4 Hamamatsu P5587

This type of sensor is used exclusively for the touch sensor detect differences in black and white lines as in the application on the phototransistor, but because the sensor is designed to touch the sensor this sensor has a more compact form in which the LED Infrared as infrared radiant been included in these sensors. This sensor is also equipped with schmit trigger and reinforce the transistor switching output that can be connecteddirectly to the microcontroller.
This type of sensor is used exclusively for the touch sensor detect differences in black and white lines as in the application on the phototransistor, but because the sensor is designed to touch the sensor this sensor has a more compact form in which the LED Infrared as infrared radiant been included in these sensors. This sensor is also equipped with schmit trigger and reinforce the transistor switching output that can be connecteddirectly to the microcontroller.

GP2D12

This sensor is an infrared sensor that has the ability to detect objects at large distances. Besides the ability to detect objects, this sensor can also measure the distance between the sensor with the target object.

Figure 5
GP2D12 Block Diagram

Rays emitted by the LED will be accepted at the PSD and the modified a voltage analog. The stronger the light it receives, the greater the issued an analog voltage

Ultrasonic
Compared with infrared, ultrasonic has the ability to detect more distant objects, especially for things that hard. In objects has a hard surface waves will be reflected more strongly than objects that have a soft surface.
As the name implies, is an ultrasonic wave has a frequency above human hearing is above 20 KHz. In general circuit uses ultrasonic frequency 40 kHz generated by oscillator circuit. Introduction to object or the distance between the object sensor can be identified by calculating the time difference from the first ultrasonic signal until being re-emitted by the sensor.
SRF-04 module is a module ultrasonic transmitter and receiver are been completed by the microcontroller that calculates the distance to the generating pulse is directly proportional to the distance. As shown in Figure 7, Echo Pulse Output rose after 8 cycles of ultrasonic frequency is raised and returned after ultrasonic waves back to the recipient.

Figure 7
SRF-04 Timing Diagram

The next trigger signal can be generated only after 10 mS Echo accepted for subsequent measurement process.

Robot parts (1) CPU

CPU (Central Processing Unit)

On the PC term is used for a box containing the main part data processing on the PC, as well as on a robot. Only in a robot, this section does not form such a large box on the PC but the form of an electronic circuit is equipped with a microcontroller that can be re-programmed to modify the robot's performance. This section on humans are a part of the brain where the information center should run by other parts such as motor drivers are or where the information should be sent by the other parts such as sensors and control systems must be addressed.

Figure 1
Delta Robo CPU

ROBOT ?

Robots as we know is a human-shaped machine who can talk and walk like a man. The robot is one of types of robots based on the shape of Android category. Based on the form, robot consists of categories:

Turtle
Created in 1970's and Turtle's name is taken from a house-like shape turtle
Rover
These robots tend to form shorter and also have a wheel like the type of vehicle as the R2-D2 in Star Wars. This type of robot is also equipped with several functions for example the ability to detect a fire or detect an object.
Walker
This type of robot is not equipped with such wheels and Rover type vehicles but moved by using the feet. These robots are usually shaped like insects and equipped with 6 feet.
Appendage
This robot arm normally be used to retrieve and move the goods. This arm can be mounted on a mobile robot or the a static place.
Android
Robot is designed to resemble human beings and have the ability to communicate with humans.

While based on the robot control process consists of:
Automatic Robot
Automatic robot moves based on the commands that have been programmed previous or based on input from sensors
Teleoperated
This type of mobile robot based on the commands that are sent in either manually through a remote control, PC or a joystick.

The parts of the Robot

The picture above shows the robot parts in general. Not all section on each robot, it is distinguished by its function alone. For example, the control system is used only in the category of robots teleoperated only.