Furthermore, I am trying to expand to Arduino

Published December 31, 2021 © GPL3+

Homework Copying Robot | Handwriting Copying Robot

This is a robot that copies others' homework and writes it in your handwriting. Best in Online Classes during Pandemic.

BeginnerWork in progress1,353

Homework Copying Robot | Handwriting Copying Robot

Things used in this project

Hardware components

Arduino UNO

SG90 Micro-servo motor

Jumper wires (generic)

USB-A to B Cable

Software apps and online services

Arduino IDE

Hand tools and fabrication machines

Scissor, Electrician

Soldering iron (generic)

Solder Wire, Lead Free

Breadboard, 830 Tie Points

Story

Whole Project is displayed in this video

This project is about making a robot. That can write for me. In my handwriting. A robot that copies my friend's homework and writes it for me in my handwriting. I don't even need to touch pen & paper. I just need someone's homework and feed it into this robot. And this robot will write it for me on paper. And no one can guess that if this is written by a robot & not by me.

I decided to make it because I was bored of writing homework. Just copying homework is boring. So, I decided to make this robot.

This robot works on the principle of OCR and image combination. This can be fed to the Arduino program. The Arduino then controls two servo motors (SG90). To draw a shape on paper. The motors operate on an inverse kinematics mechanism.

1 / 3 • Images of the required characters

For this robot to generate text in your handwriting, it requires sample data of your handwriting.

So, you need to write all the alphabets, numbers, and symbols.

Take a blank page.

Write all upper case alphabets (Capital letters) i.e. A-Z.

Write all lower case alphabets (Small letters) i.e. a-z.

Write all digits (numbers) i.e. 0-9.

Write all the possible special characters like " ',. ? ! = + - * etc.

Take a clear photograph of the pages.

1 / 2 • Scanned Images of all characters

The photograph may not be aligned straight. So, use any document scanner. And align the images straight. And make the background white (this is very important).

Cropped images of each alphabet

Then you need to crop the images into individual images. Each image should contain a character in it.

Select any image size (dimensions height x width) and keep it fixed for the entire duration. I used a 60x40 image size.

Name the cropped images as per the character they contain. For example- an image for 'a' can be named as a.png whereas an image for 'A' can be named as 'a_capital' or 'a_c', so it will be easy to access them in code.

Now write the code to combine images as per text and enjoy.

Handwritten Input image Scanned

This image is the homework. This is my friend's handwriting. Which I will convert to my own handwriting.

For doing so, I will scan and convert it to text with the help of google lens. Paste this text into a text file. The path to this file is provided in Code.

Go to IDE & Run the code and you. will see the magic.

Output generated by python code

And the homework got written in my handwriting. I can easily send this homework to my teacher. The generated homework is in image format. Which can be converted to pdf if required.

Text to handwriting

If you have any assignment/ homework and you got the answer from google. Then just paste it into the document(text file). And run the code.

Screenshot of Input Text file

Your assignment will be generated within seconds. Without writing.

Output image

The generated image/ assignment is 70-80% similar to what human handwriting looks like. This efficiency can easily be increased if the image quality is good. And the scanner is good enough.

Circuit Schematic

Furthermore, I am trying to expand to Arduino.

Handwriting Robot With Arduino

The python code will send data to Arduino ide. And depending on the character received, the Arduino will control the two servo motors.

Two Servo Motor Mounted on Rigid Support

The two servos motors will be connected to a rigid support. They will form a 5 bar mechanism. It consists of inverse kinematics mechanisms.

5 Bar Mechanism

The code in Arduino IDE uses inverse kinematics to make accurate angle calculations for the servo motor.

Inverse Kinematics

The angle calculation for the motors is done by trigonometry. So, by placing it in front of paper it can draw anything. Thus producing whatever sent to it.

Image of Character X

If we want to print X.

Matrix for alphabet X, stored in arduino code

The Adruino IDE already has the matrix format for each character. So whenever a character arrives at Arduino IDE from Python IDE. The respective matrix is used.

As of now, only straight lines, circles & squares are drawn from it. I am trying to improve it further to draw characters.

This can draw line, circle & square

My teacher didn't catch me, hope neither yours. (Just kidding - I haven't submitted this to my teacher, neither you should do it).

This project is just for technology demonstration prototype & not for malpractice.

That's all for now.

Happy Tinkering!!

Robotics EveryDay!!!

Code

Untitled file

#include <Servo.h>

Servo ml,mr;    

int i,j;

float pi= 3.1428;
float l=6; //l = 6 cm length of link 

float x,y,dl,dr,hl,hr;
float pl1,pl2,pr1,pr2;
int tl,tr;

float angle_left(float x, float y){
  Serial.println("Left : ");
  
  dl= sqrt((x*x)+(y*y)); //distace between origin left and (x,y) point
  
  hl=sqrt((l*l)-((dl/2)*(dl/2))); //height of the triangle
  
  pl1=atan2(hl,dl/2); // phi 1, angle between d and axis
  
  pl2=atan2(y,x); // phi 2, angle between d and l 
  
  tl= (pl1+pl2)*180/pi; // anglie between axis and l

  Serial.println(hl);
  Serial.println(pl1*180/pi);
  Serial.println(pl2*180/pi);
  Serial.println(tl);
  return tl;
  }

float angle_right(float x, float y){
  x-=6;

  Serial.println("Right : ");
  
  dr= sqrt(((x)*(x))+(y*y)); //distace between origin right and (x,y) point

  hr=sqrt((l*l)-((dr/2)*(dr/2))); //height of the triangle

  pr1=atan2(hr,dr/2); // phi 1, angle between d and axis

  pr2= atan2(y,x); // phi 2, angle between d and l 

  tr=(pr2-pr1)*180/pi;

  Serial.println(hr);
  Serial.println(pr1*180/pi);
  Serial.println(pr2*180/pi);
  Serial.println(tr);
  return tr;
  }

// Extreme Left Point
void xleft(){ 
  mr.write(110);
  ml.write(110);
  }

// Extreme Right Point
void xright(){ 
  mr.write(45);
  ml.write(45);
  }


// Extreme Top Point
void xtop(){
  mr.write(90);
  ml.write(90);
}

//Extreme Bottom Point 
void xbottom(){
  mr.write(60);
  ml.write(120);
}

void vertical_straight_line(){
  x=3;
  y=6;

  for(y=6;y<12;y+=0.5){ 
    ml.write(angle_left(x,y));
    mr.write(angle_right(x,y));
    delay(50);
  }

  for(y=11;y>5;y-=0.5){ 
    ml.write(angle_left(x,y));
    mr.write(angle_right(x,y));
    delay(50);
   }
}


void horizontal_straight_line(){
  x=0;
  y=6;
  for (x;x<7;x+=1){
    ml.write(angle_left(x,y));
    mr.write(angle_right(x,y));    
    delay(500);
   }
  
}

 
void setup() {
  ml.attach(5);  
  mr.attach(6);
  Serial.begin(9600);
}

void loop() {
  //int a[8][2]=[[1, 1], [0, 2], [1, 3], [2, 3], [3, 3], [4, 2], [3, 1], [2, 1]] //making 0
  //int a[12][2]={{1, 1}, {0, 2}, {0, 3}, {1, 4}, {2, 5}, {3, 5}, {4, 4}, {5, 3}, {5, 2}, {4, 1}, {3, 0}, {2, 0}}; //making O or dimond
  //int a[12][2]={{0,0}, {1,1}, {2,2}, {3,3}, {4,4}, {5,5},{5,5}, {4,4}, {3,3}, {2,2}, {1,1}, {0,0}};// making / digonal line
  //int a[20][2]={{0,0},{0,1},{0,2},{0,3},{0,4},{0,5},{1,5},{2,5},{3,5},{4,5},{5,5},{5,4},{5,3},{5,2},{5,1},{5,0},{4,0},{3,0},{2,0},{1,0}}; // making [] square
 
  for (i=0;i<sizeof(a)/4;i+=1){
    x=a[i][0];
    y=a[i][1]+5;
    
    ml.write(angle_left(x,y));
    mr.write(angle_right(x,y));
    delay(300);  
  }
 
  x=1;
  y=1*2;
  y+=3;
  ml.write(angle_left(x,y));
  mr.write(angle_right(x,y));
  
  delay(500);

  x=0;
  y=2*2;
  y+=3;
  ml.write(angle_left(x,y));
  mr.write(angle_right(x,y));
  
  delay(500);

  x=1;
  y=3*2;
  y+=3;
  ml.write(angle_left(x,y));
  mr.write(angle_right(x,y));
  
  delay(500);

  x=2;
  y=3*2;
  y+=3;
  ml.write(angle_left(x,y));
  mr.write(angle_right(x,y));
  
  delay(500);

  x=3;
  y=3*2;
  y+=3;
  ml.write(angle_left(x,y));
  mr.write(angle_right(x,y));
  
  delay(500);

  x=4;
  y=2*2;
  y+=3;
  ml.write(angle_left(x,y));
  mr.write(angle_right(x,y));
  
  delay(500);

  x=3;
  y=1*2;
  y+=3;
  ml.write(angle_left(x,y));
  mr.write(angle_right(x,y));
  
  delay(500);

  x=2;
  y=1*2;
  y+=3;
  ml.write(angle_left(x,y));
  mr.write(angle_right(x,y));
  
  delay(500);
  
  
  x=3;
  y=11;
  ml.write(angle_left(x,y));
  mr.write(angle_right(x,y));
  
  
  xtop();
  delay(1000);
  xright();
  delay(300);
  xbottom();
  delay(1000);
  xleft();
  delay(300);
  
}

Credits

Robotics EveryDay

0 projects • 9 followers

Homework Copying Robot | Handwriting Copying Robot

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Furthermore, I am trying to expand to Arduino.

Schematics

mighty_jaban_5UAcFwgxst.png

Code

Untitled file

Credits

Robotics EveryDay

Comments

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Homework Copying Robot | Handwriting Copying Robot

Homework Copying Robot | Handwriting Copying Robot

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Furthermore, I am trying to expand to Arduino.

Schematics

mighty_jaban_5UAcFwgxst.png

Code

Untitled file

Credits

Robotics EveryDay

Comments

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