Prototype of Raspberry Pi Controlled Intelligent Picking Robot

Wong, Yew Nang (2016) Prototype of Raspberry Pi Controlled Intelligent Picking Robot. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

This report is written all about the Final Year Project for 2 semesters. This report includes the hardware parts used to build the Automated Litter Picking Robot, the program of the robot to perform the task and the progress of this project. The robot we built is called Automated Litter Picking Robot. The main objective of this robot is to pick up the litters whenever it “sees” the litters on the floor in indoor buildings. To build the prototype of the Automated Litter Picking Robot, we are building a robotic arm which will pick the obstacle it “sees” and separate them into different colours or different shapes. The robot is controlled by Raspberry Pi 2 which is the second generation of Raspberry Pi. The main reason of choosing Raspberry Pi 2 is it can operates in Windows 10. It is because both of our computers are running Windows operating system. It will be easier for us to use Raspberry Pi 2 instead of install another third party operating system into our computers. Besides, the Raspberry Pi 2 has higher performance CPU and RAM compared to Raspberry Pi. As the robot needs to “see” the obstacles, it needs an eye which is the camera. Fortunately, there is a camera module for the Raspberry Pi 2. The robot is programmed to perform image processing to complete the main task. It will process the image it capture and check if there is any obstacle. Then it will pick the obstacle up and put them separately according to their shapes or colours. The arms of the Automated Litter Picking Robot is moved by the servo motors and the servo motors are controlled by the microcontroller. The microcontroller will send the signal to the motors whenever it needs to move to the obstacles. The gripper is also moved by the servo motor. The gripper will pick up the obstacles when the camera captured the image and sensed there is an obstacle it should pick.