Published January 26, 2022

Robot A.P.R.I.L.I.A

A robot that can move objects with voice commands from android by setting the speed of movement based on the dimensions of the object to be

IntermediateShowcase (no instructions)24 hours242

Things used in this project

Hardware components

MG995 Servo

Arduino Nano R3

HC-05 Bluetooth Module

NVIDIA Jetson Nano Developer Kit

Webcam, Logitech® HD Pro

Software apps and online services

Arduino BlueControl

Arduino IDE

Hand tools and fabrication machines

3D Printer (generic)

Story

Some time ago I got a project assignment on an embedded systems course. then I'm confused what to do. Then I looked at my old movie collection and I saw the Iron man movie. I'm motivated to make F.R.I.D.A.Y like Tony Stark did. so I made it too but in miniature with the name A.P.R.I.L.I.A. Autonomous Programmable Robot Industrial Learning Artificial Intelligence. the name is the name of a beautiful woman so I hope the development of this miniature robot will continue to grow so that it becomes as beautiful as the owner's name.

the first thing I did was to print the A.P.R.I.L.I.A robot parts from base to wrist up side down with a 3d printer machine which took a very long time. After everything is printed then assemble it with a driving motor so that it becomes the following shape.

Then I assembled all the electronic components such as power supply, step down module, Arduino, hc-05, etc.

after that do programming on arduino and nvidia jetson.

https://vt.tiktok.com/ZSeVKKbVH/

#include <SoftwareSerial.h>
#include <Servo.h>
SoftwareSerial hc05(2,3);

Servo base;
Servo dof1;
Servo dof2;
Servo dof3;
Servo dof4;
Servo dof5;

int database,posbase;
int datadof1,posdof1;
int datadof2,posdof2;
int datadof3,posdof3;
int datadof4,posdof4;
int datadof5,posdof5;

void setup() 
{
  Serial.begin(9600);
  hc05.begin(9600);
  base.attach(12);
  dof1.attach(11);
  dof2.attach(10);
  dof4.attach(9);
  dof3.attach(8);
  dof5.attach(7);
  rumah();
}

void loop() 
{
 if(hc05.available())
 {
  unsigned char data = hc05.read();
  if(data=='q'){
                database=base.read(); datadof1=dof1.read(); datadof2=dof2.read(); datadof3=dof3.read(); datadof4=dof4.read();
                
                if(datadof3>=50){for(posdof3=datadof3; posdof3>=50; posdof3-=1){dof3.write(posdof3); delay(30);}}
                if(datadof3<=50){for(posdof3=datadof3; posdof3<=50; posdof3+=1){dof3.write(posdof3); delay(30);}}
                
                if(datadof4>=180){for(posdof4=datadof4; posdof4>=180; posdof4-=1){dof4.write(posdof4); delay(30);}}
                if(datadof4<=180){for(posdof4=datadof4; posdof4<=180; posdof4+=1){dof4.write(posdof4); delay(30);}}
                
                if(datadof1>=100){for(posdof1=datadof1; posdof1>=100; posdof1-=1){dof1.write(posdof1); delay(30);}}
                if(datadof1<=100){for(posdof1=datadof1; posdof1<=100; posdof1+=1){dof1.write(posdof1); delay(30);}}
                
                capit();         delay(1000);
                database=base.read(); datadof1=dof1.read(); datadof2=dof2.read(); datadof3=dof3.read(); datadof4=dof4.read();

                if(datadof4>=90){for(posdof4=datadof4; posdof4>=90; posdof4-=1){dof4.write(posdof4); delay(30);}}
                if(datadof4<=90){for(posdof4=datadof4; posdof4<=90; posdof4+=1){dof4.write(posdof4); delay(30);}}

                if(datadof3>=90){for(posdof3=datadof3; posdof3>=90; posdof3-=1){dof3.write(posdof3); delay(30);}}
                if(datadof3<=90){for(posdof3=datadof3; posdof3<=90; posdof3+=1){dof3.write(posdof3); delay(30);}}

                if(datadof1>=160){for(posdof1=datadof1; posdof1>=160; posdof1-=1){dof1.write(posdof1); delay(30);}}
                if(datadof1<=160){for(posdof1=datadof1; posdof1<=160; posdof1+=1){dof1.write(posdof1); delay(30);}}
               
                if(database>=120){for(posbase=database; posbase>=120; posbase-=1){base.write(posbase); delay(30);}}
                if(database<=120){for(posbase=database; posbase<=120; posbase+=1){base.write(posbase); delay(30);}}
                }
  if(data=='w'){
                database=base.read(); datadof1=dof1.read(); datadof2=dof2.read(); datadof3=dof3.read(); datadof4=dof4.read();
                
                if(datadof1>=100){for(posdof1=datadof1; posdof1>=100; posdof1-=1){dof1.write(posdof1); delay(30);}}
                if(datadof1<=100){for(posdof1=datadof1; posdof1<=100; posdof1+=1){dof1.write(posdof1); delay(30);}}

                if(datadof4>=180){for(posdof4=datadof4; posdof4>=180; posdof4-=1){dof4.write(posdof4); delay(30);}}
                if(datadof4<=180){for(posdof4=datadof4; posdof4<=180; posdof4+=1){dof4.write(posdof4); delay(30);}}

                if(datadof3>=50){for(posdof3=datadof3; posdof3>=50; posdof3-=1){dof3.write(posdof3); delay(30);}}
                if(datadof3<=50){for(posdof3=datadof3; posdof3<=50; posdof3+=1){dof3.write(posdof3); delay(30);}}
      
                lepas();         delay(1000);
                database=base.read(); datadof1=dof1.read(); datadof2=dof2.read(); datadof3=dof3.read(); datadof4=dof4.read();

                if(datadof1>=160){for(posdof1=datadof1; posdof1>=160; posdof1-=1){dof1.write(posdof1); delay(30);}}
                if(datadof1<=160){for(posdof1=datadof1; posdof1<=160; posdof1+=1){dof1.write(posdof1); delay(30);}}

                if(datadof3>=90){for(posdof3=datadof3; posdof3>=90; posdof3-=1){dof3.write(posdof3); delay(30);}}
                if(datadof3<=90){for(posdof3=datadof3; posdof3<=90; posdof3+=1){dof3.write(posdof3); delay(30);}}

                if(datadof4>=90){for(posdof4=datadof4; posdof4>=90; posdof4-=1){dof4.write(posdof4); delay(30);}}
                if(datadof4<=90){for(posdof4=datadof4; posdof4<=90; posdof4+=1){dof4.write(posdof4); delay(30);}}
                
                //if(database>=30){for(posbase=database; posbase>=30; posbase-=1){base.write(posbase); delay(10);}}
                //if(database<=30){for(posbase=database; posbase<=30; posbase+=1){base.write(posbase); delay(10);}}
                } 
  if(data=='h'){rumah();}
  if(data=='m'){Serial.println("Data Informasi Posisi Servo Robot");
                Serial.print("Base   = " ); Serial.println(base.read());
                Serial.print("DOF1   = " ); Serial.println(dof1.read());
                Serial.print("DOF2   = " ); Serial.println(dof2.read());
                Serial.print("DOF3   = " ); Serial.println(dof3.read());
                Serial.print("DOF4   = " ); Serial.println(dof4.read());
                datadof5=dof5.read();
                Serial.print  ("GRIPER = " ); 
                if(datadof5==0){Serial.println("Lepas");} 
                if(datadof5==50){Serial.println("Capit");}
                }
 }
}

void rumah()
{
if(database>=30){for(posbase=database; posbase>=30; posbase-=1){base.write(posbase); delay(10);}}
if(database<=30){for(posbase=database; posbase<=30; posbase+=1){base.write(posbase); delay(10);}}
dof1.write(160); delay(50);
dof2.write(160); delay(50);
dof4.write(90);  delay(50);
dof3.write(90);  delay(50);
dof5.write(0);   delay(50);
}

void capit(){dof5.write(50);delay(10);}
void lepas(){dof5.write(0);delay(10);}

import cv2
from object_detector import *
import numpy as np

# Load Aruco detector
parameters = cv2.aruco.DetectorParameters_create()
aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_5X5_50)


# Load Object Detector
detector = HomogeneousBgDetector()

# Load Cap
cap = cv2.VideoCapture(0)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)

while True:
    _, img = cap.read()

    # Get Aruco marker
    corners, _, _ = cv2.aruco.detectMarkers(img, aruco_dict, parameters=parameters)
    if corners:

        # Draw polygon around the marker
        int_corners = np.int0(corners)
        cv2.polylines(img, int_corners, True, (0, 255, 0), 5)

        # Aruco Perimeter
        aruco_perimeter = cv2.arcLength(corners[0], True)

        # Pixel to cm ratio
        pixel_cm_ratio = aruco_perimeter / 20

        contours = detector.detect_objects(img)

        # Draw objects boundaries
        for cnt in contours:
            # Get rect
            rect = cv2.minAreaRect(cnt)
            (x, y), (w, h), angle = rect

            # Get Width and Height of the Objects by applying the Ratio pixel to cm
            object_width = w / pixel_cm_ratio
            object_height = h / pixel_cm_ratio

            # Display rectangle
            box = cv2.boxPoints(rect)
            box = np.int0(box)

            cv2.circle(img, (int(x), int(y)), 5, (0, 0, 255), -1)
            cv2.polylines(img, [box], True, (255, 0, 0), 2)
            cv2.putText(img, "Width {} cm".format(round(object_width, 1)), (int(x - 100), int(y - 20)), cv2.FONT_HERSHEY_PLAIN, 2, (100, 200, 0), 2)
            cv2.putText(img, "Height {} cm".format(round(object_height, 1)), (int(x - 100), int(y + 15)), cv2.FONT_HERSHEY_PLAIN, 2, (100, 200, 0), 2)



    cv2.imshow("Image", img)
    key = cv2.waitKey(1)
    if key == 27:
        break

cap.release()
cv2.destroyAllWindows()

Credits

Hardi Kurnianto

17 projects • 16 followers

Master student at Intelligent Control and Systems Engineering Department

Robot A.P.R.I.L.I.A

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Code

Program Robot

Program Dimensi

Credits

Hardi Kurnianto

Comments

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Robot A.P.R.I.L.I.A

Robot A.P.R.I.L.I.A

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Code

Program Robot

Program Dimensi

Credits

Hardi Kurnianto

Comments

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