ABSTRACT

This robot with a camera is placed in a remote location to capture the

environment in visual form. The captured visuals are displayed on the user’s virtual
reality (VR) headset. An added feature allows the camera to move in the direction of
the user’s head movements. This gives the user a real-time experience as if he is
present where the virtual telepresence robot is located. The virtual telepresence robot
can also be moved in any direction using a remote control. In today's world
telepresence means it is less than a necessity as a person cannot be everywhere and it
can be used for variety of other reasons including saving the lives of people. Robot
can be controlled from a distant location that means it can be controlled from remote
location. This paper deals with a very new virtual telepresence robot with added
feature that is head movement control that can be used in defence as well as for
educational purposes, life threatening jobs like mining. Compared to humans. robots
can easily survive the atmosphere which is developed in the field of mining and in
defence. In this paper, we are discussing about controlling of robot from distant
location. Here the robot is continuously controlled by head movement which in other
terms is known as accelerometer and is captured by a camera which gives the user
real time experience as if he/she present where virtual telepresence robot is located
that is live stream video. The results of the experiments are we can control the robot
via head movement. it is helpful in the field of defence and mining. By the use of
video streaming telepresence technology enables users to be virtually present in
another location at the same time. it is a kind of user interaction is further enhanced
through mobility by driving remotely to form what is called a telepresence robot. We
can connect individuals with restricted mobility and increase social interaction,
collaboration and active participation by using innovative machines. However, the
individual who is having little knowledge and map of the remote environment about
operating and navigating of this robot is challenging. Through the narrow camera
view and manual remote operation avoiding obstacles is a hard task. Through the real-
time video feed and, thereby, decreasing their capability to handle different tasks, the
users lack the sense of immersion while they are busy. This project demonstrates a
simultaneous mapping and also autonomous driving virtual reality robot.

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 Through head movement we can control the robot and we will use virtual
reality headset for 3D view. Remote users will be able to gain a visceral
understanding of the environment while operating the robot. A telepresence robot is
nothing but it is a remote-controlled, fixed with wheeled device with a display which
is used to enable the video streaming that enables the participants to view remote
locations, as if they were there in the environment where the robot is placed. This
project consists of a virtual reality headset, with a smart phone in dual screen used to
experience the virtual reality fixed with 4 wheeled robotic vehicles. The movement of
the Robot is controlled using a remote controller. The motion of the camera of the
robot is controlled by the accelerometer and magnetometer data processed by Arduino
at headset unit.

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 LIST OF FIGURES

F.NO FIGURE NAME P.NO

Fig 3.1 Block Diagram (Head-Unit) 8
Fig 3.2 Block Diagram (Robot-Unit) 9
Fig 3.3 Receiver Circuit Diagram 12
Fig 3.4 Transmitter Circuit Diagram 12
Fig 4.1 Arduino Uno 16
Fig 4.2 Arduino Uno Pin Out 18
Fig 4.3 Arduino Nano 19
Fig 4.4 Arduino Nano Pin Diagram 19
Fig 4.5 Arduino Nano Pin Out 20
Fig 4.6 Battery 21
Fig 4.7 Battery Connection 22
Fig 4.8 Charging 26
Fig 4.9 Sulphate Plates From Battery 27
Fig 4.10 Car Battery After Explosion 28
Fig 4.11 Esp-32 Cam 32
Fig 4.12 Pin Diagram Of ESP32 CAM 33
Fig 4.13 Pin Connection Of ESP32 CAM 34
Fig 4. 14 Module Connection 37
Fig 4.15 MPU6050 Pin Out 37
Fig 4.16 Pin Connection 39
Fig 4.17 Dc Motor 40
Fig 4.18 Simple Two Pole Motor 40
Fig 4.19 Courtesy Of Motor 42
Fig 4.20 Rf Transmitter 46
Fig 4.21 Motor Driver L298N 48
Fig 4.22 Servo Motor 49
Fig 4.23 Servo Motor Using Weight 50
Fig 5.1 Software Program Selection 56
Fig 5.2 Program Detailed Check 56

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Fig 5.3 Menu Bar Of Arduino Ide 57
Fig 5.4 File Description 58
Fig 5.5 Compilation Screen 58
Fig 5.6 Hex File Generation 59
Fig 5.7 Menu Tab 60
Fig 5.8 Connecting To Board 60
Fig 5.9 Text Editor 61
Fig 5.10 Output Window 61
Fig 5.11 Arduino Ide Library 62
Fig 5.12 Selection Of Board 63
Fig 5.13 Example 64
Fig 5.14 Boot Loading 66

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 LIST OF TABLES

T.No NAME OF THE TABLE P.NO

T 4.1 MPU6050 pin configuration 38

T 4.2 L298N motor driver pin configuration 48

T 4.3 Servo motor pin configuration 49

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 ABBREVIATIONS
GSM -Global System for Mobile communications

LCD-Liquid crystal display

KB-Kilo byte

RF-Radio frequency

DSP-Digital image processing

ROM-Read only memory

RAM-Random access memory

UV EPROM-Ultra-violet electrically programmable read only memory

NV RAM-Non-volatile Random-access memory

AT-Atmel

XTAL-Translate

RST-Reset

AC-Alternating current

IC-Integrated circuit

TX-Transmitter

RX-Receiver

LED-Light emitting diode

IR-Infra red

PSEN-Program Store Enable

ALE -address latch enable

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