akssil-ga
Published © TAPR-OHL

Developing a Line Following Robot with AI-enabled Tasks

Line-following robot with AI smarts—Wameedh Scientific Club's Arduino and Raspberry Pi combo redefines robotics. Join the revolution!

AdvancedFull instructions providedOver 3 days379
Developing a Line Following Robot with AI-enabled Tasks

Things used in this project

Hardware components

Arduino UNO
Arduino UNO
×1
Raspberry Pi 3 Model B
Raspberry Pi 3 Model B
×1
Camera Module
Raspberry Pi Camera Module
×2
Grove - Infrared Reflective Sensor v1.2
Seeed Studio Grove - Infrared Reflective Sensor v1.2
×7
DC Motor, 12 V
DC Motor, 12 V
×2
Maker Essentials - Micro-motors & Grippy Wheels
Pimoroni Maker Essentials - Micro-motors & Grippy Wheels
×1
Jumper wires (generic)
Jumper wires (generic)
×4
LED (generic)
LED (generic)
×6

Software apps and online services

Arduino IDE
Arduino IDE
Visual Studio 2017
Microsoft Visual Studio 2017

Hand tools and fabrication machines

Soldering iron (generic)
Soldering iron (generic)

Story

Read more

Schematics

schematic diagram

it will be provided as soon as possible

Code

python code

Python
##
##
import cv2
import RPi.GPIO as GPIO
from PIL import Image
from util import get_limits
GPIO.setmode(GPIO.BCM) 

Insan = 17
Voiture =27
GPIO.setup(Insan, GPIO.OUT)
GPIO.setup(Voiture, GPIO.OUT)

rpin = 13
bpin = 5
gpin = 6

GPIO.setmode(GPIO.BCM)
GPIO.setup(gpin, GPIO.OUT) 
GPIO.setup(rpin, GPIO.OUT)
GPIO.setup(bpin, GPIO.OUT)

green = [102, 172, 46]  
red = [42, 51, 230]
blue = [224, 169, 53]

objet = cv2.VideoCapture(0)
couleur = cv2.VideoCapture(1)

classNames = []
classFile = "coco.names"
with open(classFile,"rt") as f:
    classNames = f.read().rstrip("\n").split("\n")

configPath = "ssd_mobilenet_v3_large_coco_2020_01_14.pbtxt"
weightsPath = "frozen_inference_graph.pb"

net = cv2.dnn_DetectionModel(weightsPath,configPath)
net.setInputSize(320,320)
net.setInputScale(1.0/ 127.5)
net.setInputMean((127.5, 127.5, 127.5))
net.setInputSwapRB(True)


def getObjects(img, thres, nms, draw=True, objects=[]):
    classIds, confs, bbox = net.detect(img,confThreshold=thres,nmsThreshold=nms)
    #print(classIds,bbox)
    if len(objects) == 0: objects = classNames
    objectInfo =[]
    if len(classIds) != 0:
        for classId, confidence,box in zip(classIds.flatten(),confs.flatten(),bbox):
            className = classNames[classId - 1]
            if className in objects:
                objectInfo.append([box,className])
                if (draw):
                    largeur = box[2] 
                    longueur = box[3] 
                    area = longueur*largeur
                    if area>0:
                        if classNames[classId-1] == 'person':
                            print('person')
                            GPIO.output(Insan, GPIO.HIGH)
                        elif classNames[classId-1] == 'car' or classNames[classId-1] == 'truck':
                            print('car')
                            GPIO.output(Voiture, GPIO.HIGH)
                        

    return img,objectInfo

def detect_color(photo, lawen, pin, koki):
    hsvImage = cv2.cvtColor(photo, cv2.COLOR_BGR2HSV)
    lowerLimit, upperLimit = get_limits(color=lawen)
    mask = cv2.inRange(hsvImage, lowerLimit, upperLimit)
    mask_ = Image.fromarray(mask)
    bbox = mask_.getbbox()
    if bbox is not None:
        print(koki)
        GPIO.output(pin, GPIO.HIGH)
    else :
        GPIO.output(pin, GPIO.LOW) 
    
          
if _name_ == "_main_":

    objet.set(3,640)
    objet.set(4,480)
  
    while True:
        success, img = objet.read()
        result, objectInfo = getObjects(img,0.38,0.2, objects=['truck','person','car'])
        if objectInfo:
            pass
        else:
            GPIO.output(Insan, GPIO.LOW)
            GPIO.output(Voiture, GPIO.LOW) 
                
        ret, photo = couleur.read()
        detect_color(photo, blue,bpin, "azre9")
        detect_color(photo, green,gpin, "a5der")
        detect_color(photo, red, rpin, "a7mer")           
           
        cv2.imshow('photo', photo) 
        cv2.imshow("Output",img)
        key = cv2.waitKey(1)
        if key==ord('q'):
            break
objet.release()
couleur.release()
cv2.destroyAllWindows()

Arduino code

Arduino
unsigned long currentTime;
unsigned long startTime;
const int motor1SpeedPin = 5;
const int motor1DirectionPin1 = 3;
const int motor1DirectionPin2 = 4;  
const int motor2SpeedPin = 9;    
const int motor2DirectionPin1 = 2;  
const int motor2DirectionPin2 = 7;

#define middleIR A3
#define rightIR A4
#define ext_rightIR A5
#define leftIR A2
#define ext_leftIR A1
//int akssil;

int speedright = 100;  // is two
int speedleft =110; // is one
int speedrighturn_1 = 150;
int speedlefturn_1 =180;
int speedrighturn_2 = 150;
int speedlefturn_2 =180;
int speedextrighturn = 150;
int speedextlefturn =180;


int last_value;
int t;

const int blue_pin = A0; //17 blue
const int car_pin = 12; //27 voiture
const int green_pin = 13; // 6 green
const int red_pin = 8; //13 red 

int wekt =100 ;
int bdl = 20;
int check_green=0;
int check_red=0;
int check_car=0;

void setup() {
  t=10;
  last_value=1;
  Serial.begin(9600);
  pinMode(motor1SpeedPin, OUTPUT);
  pinMode(motor1DirectionPin1, OUTPUT);
  pinMode(motor1DirectionPin2, OUTPUT);
  pinMode(motor2SpeedPin, OUTPUT);
  pinMode(motor2DirectionPin1, OUTPUT);
  pinMode(motor2DirectionPin2, OUTPUT);
  

  pinMode(middleIR, INPUT);
  pinMode(rightIR, INPUT);
  pinMode(leftIR, INPUT);
  pinMode(ext_rightIR, INPUT);
  pinMode(ext_leftIR, INPUT);
  pinMode(car_pin, INPUT);
  pinMode(green_pin, INPUT);
  pinMode(blue_pin, INPUT);
  pinMode(red_pin, INPUT);

  demarage();

 startTime = millis();
}

void loop() {
  linefollower();
  make_decisions();
  }
void linefollower() {
  bool middle = digitalRead(middleIR);
  bool left = digitalRead(leftIR);
  bool right = digitalRead(rightIR);
  bool ext_left = digitalRead(ext_leftIR);
  bool ext_right = digitalRead(ext_rightIR);
  
  if (!ext_right && !right && middle && !left && !ext_left) {
    last_value = 1;
    forwardD();
  } else if (right && middle && left ) {
    last_value = -1;
    stopDef();
  }
  
  else if (ext_right && right && !left && !ext_left) {
    //turnleft
    last_value= 30;
    sharpturnL();
  } else if (!ext_right && !right && left && ext_left) {
    //turnright
    last_value= -30;
    sharpturnR();
  }

  else if (ext_right && !right && !middle && !left && !ext_left) {
    last_value=20;
    left_turn_2();
  } else if (!ext_right && !right && !middle && !left && ext_left) {
    last_value=-20;
    right_turn_2();
  } 

  else if (!ext_right && right && !middle && !left && !ext_left) {
    last_value=10;
    left_turn_1();
  } else if (!ext_right && !right && !middle && left && !ext_left) {
    last_value=-10;
    right_turn_1();
  }

  else if (ext_right && right && middle && left && ext_left) {
  
    if (last_value == 1){
        forwardD();
        delay(t);
        last_value=1;
    }else if(last_value == -1){
        stopDef();
        delay(t);
        last_value=1;
    }else if(last_value == 10){
        left_turn_1();
        delay(t);
        last_value=1;
    }else if (last_value == -10){
        right_turn_1();
        delay(t);
        last_value=1;
    }else if(last_value == 20){
        left_turn_2();
        delay(t);
        last_value=1;
    }else if(last_value == -20){
        right_turn_2();
        delay(t);
        last_value=1;
    }else if(last_value == 30){
        sharpturnL();
        delay(t);
        last_value=1;
    }else if(last_value == -30){
        sharpturnL();
        delay(t);
        last_value=1;
    }
  }

  
}
void make_decisions(){

  bool car = digitalRead(car_pin);
  bool red = digitalRead(red_pin);
  bool green = digitalRead(green_pin);
  bool blue = digitalRead(blue_pin); 

  if(car){
   if(check_car==0){
      asber();
      delay(2000);
      demarage();
      last_value=1;
      check_car = 1;
      //déchargé
      //we9t li lzm
    }else {
      check_car = 1;
      //madir wlo
      last_value=1;
      
    }
  }
  if(red){
 
    if(check_red==0){
      asber();
      delay(5000);
      //demarage();
      //last_value=1;
      check_red = 1;
      //déchargé
      //we9t li lzm
    }
       else {
      check_red = 1;
      

      
    }
  }
  if(blue){
    currentTime = millis(); 
    unsigned long elapsedTime = currentTime - startTime;
    if (elapsedTime>=4000){
      asber();
      delay(2000);
     
      startTime = currentTime;
      //last_value=1;
      blue=0;
    }
  }
  if(green){
     if (check_green == 0) {
      asber();
      delay(5000);
      demarage();
      //last_value=1;
      delay(200);
      asber();
      delay(3000);
      check_green = 1;
      //chargé
    }
    else{
      check_green = 1;
    }
  }



} 


void forwardD() {
  analogWrite(motor1SpeedPin, speedleft);
  digitalWrite(motor1DirectionPin1, HIGH);
  digitalWrite(motor1DirectionPin2, LOW);

  analogWrite(motor2SpeedPin, speedright);
  digitalWrite(motor2DirectionPin1, HIGH);
  digitalWrite(motor2DirectionPin2, LOW);
}                                                        
void sharpturnR() {
  analogWrite(motor1SpeedPin, speedextlefturn);
  digitalWrite(motor1DirectionPin1, LOW);
  digitalWrite(motor1DirectionPin2, HIGH);

  analogWrite(motor2SpeedPin, speedextrighturn);
  digitalWrite(motor2DirectionPin1, HIGH);
  digitalWrite(motor2DirectionPin2, LOW);
}

void sharpturnL() {
  analogWrite(motor1SpeedPin, speedextlefturn);
  digitalWrite(motor1DirectionPin1, HIGH);
  digitalWrite(motor1DirectionPin2, LOW);

  analogWrite(motor2SpeedPin, speedextrighturn);
  digitalWrite(motor2DirectionPin1, LOW);
  digitalWrite(motor2DirectionPin2, HIGH);
}

void left_turn_1() {
  analogWrite(motor1SpeedPin, speedlefturn_1);
  digitalWrite(motor1DirectionPin1, HIGH);
  digitalWrite(motor1DirectionPin2, LOW);

  analogWrite(motor2SpeedPin, speedrighturn_2);
  digitalWrite(motor2DirectionPin1, LOW);
  digitalWrite(motor2DirectionPin2, HIGH);
}

void right_turn_1() {
  analogWrite(motor1SpeedPin, speedlefturn_2);
  digitalWrite(motor1DirectionPin1, LOW);
  digitalWrite(motor1DirectionPin2, HIGH);

  analogWrite(motor2SpeedPin, speedrighturn_1);
  digitalWrite(motor2DirectionPin1, HIGH);
  digitalWrite(motor2DirectionPin2, LOW);
}

void left_turn_2() {
  analogWrite(motor1SpeedPin, speedlefturn_2);
  digitalWrite(motor1DirectionPin1, HIGH);
  digitalWrite(motor1DirectionPin2, LOW);

  analogWrite(motor2SpeedPin, speedrighturn_1);
  digitalWrite(motor2DirectionPin1, LOW);
  digitalWrite(motor2DirectionPin2, HIGH);
}

void right_turn_2() {
  analogWrite(motor1SpeedPin, speedlefturn_1);
  digitalWrite(motor1DirectionPin1, LOW);
  digitalWrite(motor1DirectionPin2, HIGH);

  analogWrite(motor2SpeedPin, speedrighturn_2);
  digitalWrite(motor2DirectionPin1, HIGH);
  digitalWrite(motor2DirectionPin2, LOW);
}

void stopDef() {
  analogWrite(motor1SpeedPin, 0);
  digitalWrite(motor1DirectionPin1, LOW);
  digitalWrite(motor1DirectionPin2, LOW);

  analogWrite(motor2SpeedPin, 0);
  digitalWrite(motor2DirectionPin1, LOW);
  digitalWrite(motor2DirectionPin2, LOW);
  delay(50);
}
void asber(){
  /*analogWrite(motor1SpeedPin, 0);
  digitalWrite(motor1DirectionPin1, LOW);
  digitalWrite(motor1DirectionPin2, LOW);

  analogWrite(motor2SpeedPin, 0);
  digitalWrite(motor2DirectionPin1, LOW);
  digitalWrite(motor2DirectionPin2, LOW);*/
  
  analogWrite(motor1SpeedPin, 0);
  digitalWrite(motor1DirectionPin1, LOW);
  digitalWrite(motor1DirectionPin2, LOW);

  analogWrite(motor2SpeedPin, 0);
  digitalWrite(motor2DirectionPin1, LOW);
  digitalWrite(motor2DirectionPin2, LOW);
  delay(50);
}
void demarage(){
    analogWrite(motor1SpeedPin, 180);
    digitalWrite(motor1DirectionPin1, HIGH);
    digitalWrite(motor1DirectionPin2, LOW);

    analogWrite(motor2SpeedPin, 180);
    digitalWrite(motor2DirectionPin1, HIGH);
    digitalWrite(motor2DirectionPin2, LOW);
    delay(400);
}

Credits

akssil-ga

akssil-ga

5 projects • 5 followers
wameedh scientific club

Comments

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