The Guide Robot

Understand anything about anything with guide robot!

IntermediateShowcase (no instructions)Over 1 day1,765

Things used in this project

Hardware components

Raspberry Pi 3 Model B

9V battery (generic)

Speaker: 0.25W, 8 ohms

DC motor (generic)

OpenBuilds Delrin V Wheel Kit

MyOctopus I2C TMP007 breakout module Infrared Sensor

Infineon DC Motor Control Shield with BTN8982TA

OpenBuilds Set Screw

Story

This project was built as the final deliverable for our Embedded System course.

The Guide Robot

INTRODUCTION

As you know in the museums and historic places we need to a guider to introduce the historic things to us. We decide to do this work comfortable with robots. The Guide Robot exactly do this work for us. This robot is a line follower, so it walks on the black line and it will be controlled by raspberry pi in future.(in future it will be completed.) So the robot stops in front of the historic things such as painting boards, antique object and etc when the operator commands it to stop. Then the operator plays the voice of introducing by a telegram robot command. So the robot works as useful as a guider.

HIGH LEVEL DESIGN

figure 1. high level design of guide robot

As you see in figure 1, the robot has been controlled by telegram bot. so we need wi-fi. then with operator's command in telegram bot, the speaker on the robot plays an audio.

HARDWARE

This project has 2 parts. First is the robot that controlled by raspberry pi. To build a robot we need 2 DC motors that controlled by DC motor driver. 4 wheels, gearboxes, and the body that all of the components fix on it. For line follower robot we use infrared sensor that notices black (dark) and white (bright). so when the robot goes the left side of the black line, the left wheels will turn to put the robot exactly on the black line. and when the robot goes to the right side of the line, the right wheels will turn. So the robot moves directly on the black line.This robot powers with four 1.5 volt battery.

The second part is controlling the robot's voice with telegram bot. It doesn't have any difficult hardware. So we can fix a speaker with AUX cable to the raspberry pi. we need five 1.5 volt battery to power raspberry pi without laptop. Also we should use smart phone (or laptop) and telegram app in it to use telegram bot. So our hardware is ready.

IN FUTURE

In future it is necessary to control the robot with raspberry pi.

Code

from num2words import num2words
from subprocess import call


cmd_beg= 'espeak '
cmd_end= ' | aplay /home/pi/Desktop/Text.wav  2>/dev/null' # To play back the s$
cmd_out= '--stdout > /home/pi/Desktop/Text.wav ' # To store the voice file

text = "The Mona lisa painting is painted by leonardo davinchi."
print(text)

#Replacing ' ' with '_' to identify words in the text entered
text = text.replace(' ', '_')

#Calls the Espeak TTS Engine to read aloud a Text
call([cmd_beg+cmd_out+text+cmd_end], shell=True)

from telegram.ext import Updater, CommandHandler, MessageHandler, Filters
import logging
import wave
import pyaudio
import time

logging.basicConfig(format='%(asctime)s - %(name)s - %(levelname)s - %(message)$
                    level=logging.INFO)

logger = logging.getLogger(__name__)

def start(bot, update):
        update.message.reply_text('select your wav file:\n insert /first for fi$

def first(bot, update):
        chunk = 1024
        f = wave.open(r"/home/pi/Desktop/Text.wav","rb")
        p = pyaudio.PyAudio()
        stream = p.open(format = p.get_format_from_width(f.getsampwidth()),
                channels = f.getnchannels(),
                rate = f.getframerate(),
                output = True)
        data = f.readframes(chunk)

        while data:
                stream.write(data)
                data = f.readframes(chunk)

        stream.stop_stream()
        stream.close()

        p.terminate()
        update.message.reply_text('The ROBOT explained about MONALISA painting.')
        
def second(bot, update):
        chunk = 1024
        f = wave.open(r"/home/pi/Desktop/Text1.wav","rb")
        p = pyaudio.PyAudio()
        stream = p.open(format = p.get_format_from_width(f.getsampwidth()),
                channels = f.getnchannels(),
                rate = f.getframerate(),
                output = True)
        data = f.readframes(chunk)

        while data:
                stream.write(data)
                data = f.readframes(chunk)

        stream.stop_stream()
        stream.close()
        p.terminate()
        update.message.reply_text('The ROBOT explained about THE WEEPING WOMAN painting.')
        
def third(bot, update):
        chunk = 1024
        f = wave.open(r"/home/pi/Desktop/Text2.wav","rb")
        p = pyaudio.PyAudio()
        stream = p.open(format = p.get_format_from_width(f.getsampwidth()),
                channels = f.getnchannels(),
                rate = f.getframerate(),
                output = True)
        data = f.readframes(chunk)

        while data:
                stream.write(data)
                data = f.readframes(chunk)

        stream.stop_stream()
        stream.close()
        p.terminate()
        update.message.reply_text('The ROBOT explained about THE SCREAM painting.')

def echo(bot, update):
        update.message.reply_text(update.message.text)


def error(bot, update, error):
        logger.warning('Update "%s" caused error "%s"', update, error)


def main():
        updater = Updater("470332284:AAEEJIXN5FRtxeVg5hMpDKMasIc1aVZOfEQ")
        dp = updater.dispatcher
        dp.add_handler(CommandHandler("start", start))
        dp.add_handler(CommandHandler("first", first))
        dp.add_handler(CommandHandler("second", second))
        dp.add_handler(CommandHandler("third", third))
        dp.add_handler(MessageHandler(Filters.text, echo))
        dp.add_error_handler(error)
        updater.start_polling()
        updater.idle()


if __name__ == '__main__':
        main()

from num2words import num2words
from subprocess import call


cmd_beg= 'espeak '
cmd_end= ' | aplay /home/pi/Desktop/Text1.wav  2>/dev/null' # To play back the $
cmd_out= '--stdout > /home/pi/Desktop/Text1.wav ' # To store the voice file

text = "The Weeping Woman, is an oil on canvas painted by Pablo Picasso in Fran$
print(text)

#Replacing ' ' with '_' to identify words in the text entered
text = text.replace(' ', '_')

#Calls the Espeak TTS Engine to read aloud a Text
call([cmd_beg+cmd_out+text+cmd_end], shell=True)