2016 IJRTI Volume 1, Issue 3 December 2016 ISSN: 2456-3315Voice controlled pick and place robot with camera vision1Mr.G.Shravan Kumar, 2Mr.Ch.Srinu, 3Ms.ChandanaMr.G.Sravan Kumar , Assistant professor, ECE Department, MLR Institute of Technology2MR.Ch.Srinu, Assistant professor, ECE Department , MLR Institute of Technology3Ms.Chandana, Under graduate, MLR Institute of il.comAbstract: The project aims in designing a Robot arm which is operated through the speech commands given by theuser wirelessly and also which is capable of Picking and Placing of many objects. This system makes use of Zigbeetechnology for wireless transmission. The advent of new high-speed technology and introduction of speechrecognition techniques provided a realistic opportunity for new robot controls and realization of new methods ofcontrol theory.This technical improvement together with the need for high performance robots created faster, more accurateand more intelligent robots using new robots control devices, new drivers and advanced control algorithms. Inaddition to it we are interfacing camera to the robot so that the object which to be picked can be seen . We alsointerfacing voice control recognition module (v3) so that the robot can be controlled by voiceINTRODUCTION:Pick and place robots are used in a wide variety ofmaterial transfer applications. Basically, the machinetakes a product from one spot in the manufacturingprocess and places into another. A good example is arobot picking items off a conveyor belt and placingthen into packaging boxes.The typical pick and place application requires highamounts of repetitive motion. Robots can eliminatehuman operation of hazardous tasks such as chemicalspraying or heavy lifting. Pick and place robots havehigh return on investment when consistent shapedparts or containers are handled. Unlike humanoperators, robots also have the ability to work for anextended time.Voice Recognition Module V3 (Speak toControl)ELECHOUSE Voice Recognition Module is acompact and easy-control speaking recognitionboard. This product is a speaker-dependent voicerecognition module. It supports up to 80 voicecommands in all. Max 7 voice commands could workat the same time. Any sound could be trained ascommand. Users need to train the module first beforelet it recognizing any voice command. This board has2 controlling ways: Serial Port (full function),IJRTI1612014General Input Pins (part of function). General OutputPins on the board could generate several kinds ofwaves while corresponding voice command wasrecognized.On V3, voice commands are stored in one largegroup like a library. Any 7 voice commands in thelibrary could be imported into recognizer. It means 7commands are effective at the same time.Voltage: 4.5-5.5V,Current: 40Ma,Digital Interface:5V TTL level for UART interface and GPIO, AnalogInterface: 3.5mm mono-channel microphoneconnector microphone pin interfaceSize: 31mm x50mm Support maximum 80 voice commands, witheach voice 1500ms (one or two words speaking).Maximum 7 voice commands effective at same time.Arduino library is supplied. Easy Control:UART/GPIOUser-control General Pin OutputVoice Recognition Module V3. Recognizer containerwhere acting voice commands (max 7) were loaded.It is core part of voice recognition module. Forexample, it works like “playing balls”. You have80 players in your team. But you could not letthem all play on the court together. The ruleonly allows 7 players playing on the court. Herethe Recognizer is the list which contains names ofInternational Journal for Research Trends and Innovation (

2016 IJRTI Volume 1, Issue 3 December 2016 ISSN: 2456-3315players working on the court.Recognizer index -max 7 voice commands could be supported in therecognizer. The recognizer has 7 regions for eachvoice command. One index corresponds to oneregion: 0 6. Train -- the process of recording yourvoice commands. Load -- copy trained voice torecognizer. Voice Command Record -- the trainedvoice command store in flash, number from 0 to 79.Signature -- text comment for record. Group -- helpto manage records, each group 7 records. Systemgroup and user group are supported.ZigbeeThe field of wireless communications has been inexistence since the first humans learned tocommunicate. In early days of civilization humanswould transmit notices of important events, such asenemy invasions or royal births, through thesounding of horns or the lighting of fires. Whilesimple messages could be effectively transmitted inthis manner, in order to communicate over longdistances the manpower expense was great, sincewatchtowers had to be built within sight of each otherand continually manned, and the number of messageswas small. It was not until the 1800’s that wirelesscommunications became what we know it as today.Now we are able to use radio frequencies tocommunicate information over long distances (thinkof the Cassini mission to Saturn), we can send voiceor video at rates of more than hundreds of megabitsper second, and the associated technology hasbecome so inexpensive that many people are able toafford a mobile phone in order to be in constantcontact with others.ZigBee is an established set of specifications forwireless personal area networking (WPAN), radio connections between computers andrelated devices. WPAN Low Rate or ZigBee providesspecifications for devices that have low data rates,consume very low power and are thus characterizedby long battery life. ZigBee makes possiblecompletely networked homes where all devices areable to communicate and be controlled by a singleunit. The ZigBee Alliance, the standards body whichdefines ZigBee, also publishes application profilesthat allow multiple OEM vendors to createinteroperable products.IJRTI1612014Figure1. zigbee moduleThe relationship between IEEE 802.15.4 and ZigBeeis similar to that between IEEE 802.11 and the Wi-FiAlliance. For non-commercial purposes, the ZigBeespecification is available free to the general public.An entry level membership in the ZigBee Alliance,called Adopter, costs US 3500 annually andprovidesaccess to the as-yet unpublishedspecifications and permission to create products formarket using the specifications. ZigBee is one of theglobal standards of communication protocolformulated by the relevant task force under the IEEE802.15 working group. The fourth in the series,WPAN Low Rate/ZigBee is the newest and providesspecifications for devices that have low data rates,consume very low power and are thus characterizedby long battery life. Other standards like Bluetoothand IrDA address high data rate applications such asvoice, video and LAN communications. ZigBeedevices are actively limited to a throughrate of250Kbps, compared to Bluetooth's much largerpipeline of 1Mbps, operating on the 2.4 GHz ISMband, which is available throughout most of theworld.In the consumer market ZigBee is beingexplored for everything from linking low-powerhousehold devices such as smoke alarms to a centralhousing control unit, to centralized light controls.International Journal for Research Trends and Innovation (

2016 IJRTI Volume 1, Issue 3 December 2016 ISSN: 2456-3315Electric motors are found in applications as diverseas industrial fans, blowers and pumps, machine tools,household appliances, power tools, and disk drives.Figure2. Working of DC motorTable.Comparison of wireless n/wThe media access control (MAC) layer was designedto allow multiple topologies without complexity. Thepower management operation doesn't require multiplemodes of operation. The MAC allows a reducedfunctionality device (RFD) that needn't have flash norlarge amounts of ROM or RAM. The MAC wasdesigned to handle large numbers of devices withoutrequiring them to be "parked".Zigbee promises to put wireless sensors in everythingfrom factory automation systems to home securitysystems to consumer electronics. Zigbee is a newstandard that still needs to pass through the circles orrigorous technology critics and establish its ownplace in the industry. The next zigbee challenge willbe devising the proposed extension to the 802.15.4standard,’4a’ which could be based on ultrawideband (UWB).DC MOTORAn electric motor is an electromechanical device thatconverts electrical energy into mechanical energy.Most electric motors operate through the interactionof magnetic fields and current-carrying conductors togenerate force. The reverse process, producingelectrical energy from mechanical energy, is done bygenerators such as an alternator or a dynamo; someelectric motors can also be used as generators, forexample, a traction motor on a vehicle may performboth tasks. Electric motors and generators arecommonly referred to as electric machines.IJRTI1612014The brushes are conventionally located in brushboxes and utilize a U-shaped spring which biases thebrush into contact with the commentator. Permanentmagnet brushless dc motors are widely used in avariety of applications due to their simplicity ofdesign, high efficiency, and low noise. These motorsoperate by electronic commutation of stator windingsrather than the conventional mechanical commutationaccomplished by the pressing engagement of brushesagainst a rotating commentator.A brushless DC motor basically consists of a shaft, arotor assembly equipped with one or more permanentmagnets arranged on the shaft, and a stator assemblywhich incorporates a stator component and phasewindings. Rotating magnetic fields are formed by thecurrents applied to the coils.The rotator is formed of at least one permanentmagnet surrounded by the stator, wherein the rotatorrotates within the stator. Two bearings are mounted atan axial distance to each other on the shaft to supportthe rotor assembly and stator assembly relative toeach other. To achieve electronic commutation,brushless dc motor designs usually include anelectronic controller for controlling the excitation ofthe stator windings.ATMEGA16:The ATmega16 is a low-power CMOS 8-bitmicrocontroller based on the AVR enhanced RISCarchitecture. By executing powerful instructions in asingle clock cycle, the ATmega16 achievesthroughputs approaching 1 MIPS per MHz allowingthe system designer to optimize power consumptionversus processing speed.International Journal for Research Trends and Innovation (

2016 IJRTI Volume 1, Issue 3 December 2016 ISSN: 2456-3315Register is a data holding place and very fast memoryit’s a part of CPU. Registers serves as connectionbetween a CPU and a Peripheral device .CPU doesn’tgive instruction directly to peripherals or outputdevices.CPU doesn’t give instruction directly toperipherals or output devices. CPU give output bywriting registers CPU take input by reading registersThe AVR core combines a rich instruction set with32 general purpose working registers. All the 32registers are directly connected to the ArithmeticLogic Unit (ALU), allowing two independentregisters to be accessed in one single instructionexecuted in one clock cycle. The resultingarchitecture is more code efficient while achievingthroughputs up to ten times faster than conventionalCISC microcontrollers. The ATmega16 provides thefollowing features: 16 Kbytes of In-SystemProgrammable Flash Program memory with ReadWhile-Write capabilities, 512 bytes EEPROM, 1Kbyte SRAM, 32 general purpose I/O lines, 32general purpose working registers, a JTAG interfacefor Boundaryscan, On-chip Debugging support andprogramming, three flexible Timer/Counters withcompare modes, Internal and External Interrupts, aserial programmable USART, a byte oriented Twowire Serial Interface, an 8-channel, 10-bit ADC withoptional differential input stage with programmablegain (TQFP package only), a programmableWatchdog Timer with Internal Oscillator, an SPIserial port, and six software selectable power savingmodes. The Idle mode stops the CPU while allowingthe USART, Two-wire interface, A/D Converter,SRAM, Timer/Counters, SPI port, and interruptsystem to continue functioning. The Power-downmode saves the register contents but freezes theOscillator, disabling all other chip functions until thenext External Interrupt or Hardware Reset.In Power-save mode, theAsynchronous Timer continues to run, allowing theuser to maintain a timer base while the rest of thedevice is sleeping. The ADC Noise Reduction modestops the CPU and all I/O modules exceptAsynchronous Timer and ADC, to minimizeswitching noise during ADC conversions. In Standbymode, the crystal/resonator Oscillator is runningwhile the rest of the device is sleeping. This allowsvery fast start-up combined with low-powerconsumption. In Extended Standby mode, both theIJRTI1612014main Oscillator and the Asynchronous Timercontinue to run. The device is manufactured usingAtmel’s high density nonvolatile memorytechnology. The Onchip ISP Flash allows theprogram memory to be reprogrammed in-systemthrough an SPI serial interface, by a conventionalnonvolatile memory programmer, or by an On-chipBoot program running on the AVR core. The bootprogram can use any interface to download theapplication program in the Application Flashmemory. Software in the Boot Flash section willcontinue to run while the Application Flash section isupdated, providing true Read-While-Write operation.HARDWARE IMPLEMENTATION :Figure4. Block diagram of the systemRegulated power supply is given to the circuit inorder to make circuit on. Program will be written inthe code vision AVR . To the micro controllerprogram is being dumped . According to theinstructions given in the program motors which areplaced at the bottom will rotate. Wheels will berotating in forward ,backward,left,right,radialleft,radial right,differential left,differential right.Motor is connected to the micro controller by meansof motor the micro controller servo motorsare also connected for the movement of gripper andcamera rotation.Zigbee wireless module is being connected so as tocontrol the project wireless. Voice module v3 is alsoconnected to the micro controller . Based on thecommands we give to the controller the movement ofthe wheels,gripper and camera will takes place.International Journal for Research Trends and Innovation (

2016 IJRTI Volume 1, Issue 3 December 2016 ISSN: 2456-3315Zigbee transmitter and receiver will there throughwhich wireless transmission takesplace.RESULT ANALYSIS:Microcontroller with the user has a speechrecognition module interfaced to it and also it isinterfaced with Zigbee module. Whenever the userpronounces a speech command, the relevantinformation to that command is fed toMicrocontroller which transmits it through Zigbeemodule which will be received by the system atRobot. This data is fed to the Microcontroller withrobot and is processed by controller and actsaccordingly on robot and arm DC motors. DC motorsare interfaced through a motor driver (L2938) whichcontrols the direction of Robot. The main drawbackof this system is it usesZigbee communicationmechanism which supports only for limited distanceand also it doesn’t give the exact speed of the motor.REFERENCES Currie, Adam (1999). "The History ofRobotics". Retrieved 10 September 2007. RK Mittal and IJ Nagarath “robotics andcontrol”BITSPilani, 2003 A.K. Jain, R. Bolle and S. Pankantibiometrics personal identification innetworked security A. K. Jain, R. Bolle andS. Pankanti, Eds.: Kluwer AcademicPublishers, 1999Figure3. Hardware design of pick and place robotVoice based control pick and place robot is beingobtained .according to the voice commands we giverobot will move in different directions. Movement ofgripper and camera is being done. J.N.K Liu, M. Wang and B. Feng,“iBotguard: an Internet based intelligentrobot security system using Face recognitionagainst intruder,” IEEE Transactions onsystem man and Cybernetics part applicationand review vol.35 pp.97-105, 2005.CONCLUSIONIntegrating features of all the hardware componentsusedhave been developed in it. Presence of everymodule has been reasoned out and placed carefully,thus contributing to the best working of the unit.Secondly, using highly advanced IC’s with the helpof growing technology, the project has beensuccessfully implemented. Thus the project has beensuccessfully designed and tested. ―Speechrecognition controlled wireless pick and place robot‖is intended to control the direction of a Robot throughspeech commands using speech recognition module.IJRTI1612014International Journal for Research Trends and Innovation (

Voice Recognition Module V3 (Speak to Control) ELECHOUSE Voice Recognition Module is a compact and easy-control speaking recognition board. This product is a speaker-dependent voice recognition module. It supports up to 80 voice commands in all. Max 7 voice commands could work at the same time. Any sound could be trained as