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Recognizer of signs with Lego Mindstorms NXT.
Jonathan Mauricenz#1, Alan Soares Carneiro *2
# Department of Systems and Computer, FURB Foundation Regional University of Blumenau - Blumenau - Brazil


Abstract—This document depicts the assembly and development of a robot with the ability to identify plaques placed on thestage, this robot is assembled from a Lego Mindstorms NXT. Keywords— Lego Mindstorms NXT, Recognition cards, semiautonomous robot.

I. INTRODUCTION Today mainly used in industries, robotics greatly influences the daily lives of people, allowing humans to focus mainly on the development of mental activities, rather menial service. This way you can make better use of their abilities, whereas otheractivities are more redundant the post of programmable objects (robots). II. REASONS A. Kit Lego. The Lego Mindstorms NXT is a system of parts that are fit, thus, carry out various combinations. It was originally created by a Danish Ole Kirk Christiansen, made of plastic scale in the 1950s, becoming popular worldwide. The word LEGO is the fusion of two words Leg Godt, which means, play well. B.Autonomous robotic. Autonomous robots are robots that can perform tasks without help or human interaction, and this factor could be of autonomy is measured in the following skills: • Receive information from the environment. • Working for months and years without human interference. • Move from one point AB without human navigation assistance. • Avoid situations that are dangerous to people. • Repairitself without outside help. • Learn and gain new capabilities without outside assistance. • Adjust your actions according to their strategies around. C. Light and Color Color is nothing more than a visual perception. It is caused by the reaction of the photon beam on retinal cells. The color of a material or object can be determined by measuring the frequency of the wave packets, the moleculesthat are reflected.

D. Sensors. A sensor is a device that can respond to a physical or chemical stimulus (signal) so specific and measurable (measures) analog. The sensors are widely used in medicine, industry and robotics. Because the signal is a form of energy, the sensors can be classified according to the type of detection: Light, Sound, Temperature, Seismic and others. III. DEVELOPMENT Theinitial development was a robot with the ability to recognize "plates" using the Lego Mindstorms NXT, ie a robot that runs through the scene and find a card, take an action, the most common actions were "Turn right, "" Turn left", "Stop" and "Follow", possibly, and then as the successful development, emerging signs like" Keep moving forward or turn right "and" go forward or turn left. "Then wedefine the roadmap for construction and development of prototype that followed between the following phases: Definition and plate position in the scene relative to the robot, the robot assembly, testing and assembly scenarios.Text Font of Entire Document. A. Definition of plaque. The use of signs is commonly seen in the middle road, are warning about some form of action to be taken later, in thiscase, one must be some way to understand the robot, in the case, as the robot is mounted from a Lego Mindstorms NXT method of reading the world is done with a light sensor (Figure 1), which from the color (Figure 2) must identify a course of action. Thus providing the recorded values with measurements of reading in five test bench with getNormalizedLightValue function () class LightSensor wererecorded colors and variations as shown below:

Color Blue Green Marron cardboard Red Yellow White

Change Lowers 270 280 249 400 350 347 400

Change Up 300 300 281 410 417 417 424

Table 1: Results of the first measurement.

Figure 5. Sensor that touches the road sign with the light sensor / color Figure 1 - Sensor Light, Lego Mindstorms NXT.

Figure 6. Time of measurement.

Figure 2 -...
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