9504168 zigbee based autonomous robot and control using embedded

8/7/2019 9504168 Zigbee Based Autonomous Robot and Control Using Embedded

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Dec 2008

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ZIGBEE BASED ROBOT MONITORING AND

CONTROL USING EMBEDDED

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INDEX

ABSTRACT ZIGBEE PIC MICROCONTROLLER STEPPER MOTORS OPTO COUPLERS DC MOTORS OBSTACLE SENSORS POWER SUPPLY TEMPERATURE SENSOR CONCLUSION

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ABSTRACT

The wireless communication technologies are rapidly spreading to many

new areas, including the automation and the importance of the use of wireless

technologies in the data acquisition, building control, monitoring systems and automation

of manufacturing processes will grow. Intelligent mobile robots and cooperative multi-

agent robotic systems can be very efficient tools to speed up search and research

operations in remote areas. Robots are also useful to do jobs in areas and in situations that

are hazardous for human. They can go any where that is not reachable my humans and

can go into gaps and move trough small holes that are impossible for humans and even

trained dogs.

Our preliminary aim in this project is to build an autonomous robot, which

could be able to send the environmental status, the temperature condition, and if there is

any obstacle on its path, and what is the obstacle in any remote place which is not

reachable by the humans and it will be controlled by zigbee communication. To do this

job we are facing up with many different challenges that most important of them are

listed below:

Mechanical Challenge:

It is not easy to design a mechanical and electronic system around easily in

unstructured environment. Besides it must be robust against and all environmental

conditions and should be able to catch its normal position if turned over while moving on

debris.

Obstacle Avoidance:

Robot should avoid collision for two reasons. First for avoiding dangerous locking

situations for robot, and second for preventing to make more damage in environment.

Obstacles are static or dynamic and have different shapes and characteristics. Robot

should detect the obstacle material. Also it should be able find its current path in case of

facing obstacle.

Wireless communication:

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In remote areas the range often drops to a few meters or even completely blocked

by the rubble. The ZigBee network of a remote area can become an auxiliary signal

transmission medium that would guide the weak signals from inside to get to the

controller outside.

An outdoor line-of-sight RF link (e.g. 2.45 GHz ZigBee) can cover over 100 m.

ZigBee protocols are intended for use in embedded applications requiring low data rates

and low power consumption

User Interface:

The robot will be controlled by remote server, which has the application design

for this project. It will be connected with ZigBee transceiver, Video Receiver, Display

terminal. This server will automatically acquiring the monitor data and store it into

customized database at frequent interval of time.

This project can be divided into two parts, i.e. Robot end and user interface

(control) end. Robot has monitored and controlled by remote place.

Robot has array of sensors for monitoring environmental status (Temperature,

Humidity, Light Intensity). Since it started to move, it will check whether is there any

obstacles in its path and if there is any obstacle it will detect the obstacle material,and the

current environmental condition of the place where robot is situated and also the gripping

force of the robot by means of PIR sensor.

To design and build a wireless transmitter that works over the FM frequency and

allows the transfer of all the datas over a certain distance to a FM tuner.

From the user end we will get the data acquisition of monitoring parameters at the

robotic end and the system will automatically stores the database of data acquired from

other end at the frequent interval of time (in seconds).

Robots movements (Forward, Reverse, Left, Right) will be controlled via

wireless medium. ZigBee-based Robot Localization and Control project uses wireless

nodes to simultaneously localize and control the robot

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DEFINITION OF ROBOTICS:

"A reprogrammable, multifunctional manipulator designed to move material, parts, tools,

or specialized devices through various programmed motions for the performance of a

variety of tasks"

An automatic device that performs functions normally ascribed to humans or a machine

in the form of a human.

ZIGBEE:

ZigBee is the name of a specification for a suite of high level communication protocols

using small, low-power digital radios based on the IEEE 802.15.4standard for wirelesspersonal area networks (WPANs), such as wireless headphones connecting with cell

phones via short-range radio. The technology is intended to be simpler and cheaper than

other WPANs, such as Bluetooth. ZigBee is targeted at radio-frequency (RF) applications

that require a low data rate, long battery life, and secure networkingZigBee is a low-cost,

low-power, wireless mesh networking standard. The low cost allows the technology to be

widely deployed in wireless control and monitoring applications, the low power-usage

allows longer life with smaller batteries, and the mesh networking provides high

reliability and larger range.

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PIC MICROCONTROLLER:

PIC microcontroller low cost wide availability large user base extensive collection of application notes availability of low cost or free development tools serial programming capability. 8 bit microprocessors with small RAM, ROM and simple peripherals packaged on

a single chip.

processor with internal RAM, EEROM FLASH memory and peripherals. has many built in peripherals High-Performance RISC CPU separate code and data spaces (Harvard architecture) a small number of fixed length instructions a single accumulator (W), a hardware stack for storing return addresses All RAM locations function as registers as both source and/or destination Lead-free; RoHS-compliant Operating speed: 20 MHz, 200 ns instruction cycle Operating voltage: 4.0-5.5V 15 Interrupt Sources 33 I/O pins; 5 I/O ports

OPTO COUPLER:

The optocoupler, also known as an opto isolator, consists of a photon-emitting device

whose flux is coupled through a transparent insulation material to some sort of

detector. The photo emitting device may be incandescent or neon lamp (earliest

models used these) or a LED. The transparent insulation may be air, glass, plastic or

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optical fibre. The detector may be photo conductor, photo diode, Photo FET, photo

triac, photo SCR or integrated photo diode amplifier. Various results in a wide variety

of input characteristics. Characteristics such as coupling efficiency [effect of IRED

(Infra red emitting Diode) current on the output device), speed of response, voltage

drops, current capability and VIcurves vary from model to model. The

characteristics must be considered especially when performing substitutions.

An LED driving a phototransistor. This is a much more sensitive opto-coupler

than the LED photo diode. The idea is that any change in Vs produces changes in LED

current, which changes the current through the transistor. In turn, this produces a

changing voltage across the collector-emitter terminals. Therefore a signal voltage is

coupled from the input circuit to the output circuit.

The big advantage of an opto-coupler is the electrical isolation between the input and

output circuits. Stated another way the common for the input circuit is different from the

common for the output circuit. Because of this, no conductive path exists between the

two circuits. This means that you can ground one of the circuits and float the other. For

instance the input circuit can be grounded to the chassis of the equipment while the

common of the output side is ungrounded. It consists of opto-emitter and phototransistor.

An opto-coupler is essential to prevent the computer from hazardous conditions like

voltage transients, back EMF and high voltage spikes.

OBSTACLE SENSOR:

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100mm

DC MOTORS:

A DC motor is designed to run on DC electric power. Two examples of pure DC designsare Michael Faraday's homopolar motor (which is uncommon), and the ball bearing

motor, which is (so far) a novelty. By far the most common DC motor types are the

brushed and brushless types, which use internal and external commutation respectively to

create an oscillating AC current from the DC source -- so they are not purely DC

machines in a strict sense

We use DC stepper motors for our robotic applications. Normally when we pass Dc

current to a coil it will get electro-magnetized. When we withdraw the DC source it wont

get demagnetized. If it is not demagnetized back emf is produced which can create kick

back current to the subsequent devices or associated circuitries. To avoid the above

problems we require a device that can isolate electrically and couples by other means.

Opto-emitters anode is connected to 5 V supply (logic 1). Its cathode is connected to the

buffer output. When logic 1 is giving the input of LS7406 we get logic 0 as the output.

STEPPER MOTORan electromagnetic actuator.

It is an incremental drive (digital) actuator and is driven in fixed angular steps. This

means that a digital signal is used to drive the motor and every time it receives a digital

pulse it rotates a specific number of degrees in rotation.

Each step of rotation is the response of the motor to an input pulse (or digital

command).

Step-wise rotation of the rotor can be synchronized with pulses in a command-

pulse train, assuming that no steps are missed, thereby making the motor respond

faithfully to the pulse signal in an open-loop manner.

Stepper motors have emerged as cost-effective alternatives for DC servomotors

in high-speed, motion-control applications (except the high torque-speed range)

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http://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://en.wikipedia.org/wiki/Ball_bearing_motorhttp://en.wikipedia.org/wiki/Ball_bearing_motorhttp://en.wikipedia.org/wiki/Ball_bearing_motorhttp://en.wikipedia.org/wiki/Homopolar_motorhttp://en.wikipedia.org/wiki/Michael_Faraday


12/14

with the improvements in permanent magnets and the incorporation of solid-state

circuitry and logic devices in their drive systems.

Today stepper motors can be found in computer peripherals, machine tools,

medical equipment, automotive devices, and small business machines, to name a

few applications.

Stepper motors are usually operated in open loop mode.

ADVANTAGES OF STEPPER MOTORS

Position error is noncumulative. A high accuracy of motion is possible, even

under open-loop control.

Large savings in sensor (measurement system) and controller costs are possible

when the open-loop mode is used.

Because of the incremental nature of command and motion, stepper motors are

easily adaptable to digital control applications.

No serious stability problems exist, even under open-loop control.

Torque capacity and power requirements can be optimized and the response can

be controlled by electronic switching.

Brushless construction has obvious advantages.

DISADVANTAGES OF STEPPER MOTORS

They have low torque capacity (typically less than 2,000 oz-in) compared to DC

motors.

They have limited speed (limited by torque capacity and by pulse-missing

problems due to faulty switching systems and drive circuits).

POWER SUPPLY:

220 v power supply is given. The step down transformer converts the the220v ac

into 12v ac.The bridge converts the 12v ac I into 12v dc. The capacitor by passes

only dc and sends the ac ripples to ground.

Infoshare.

silverfo

rum.net
http://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.net


13/14

Infoshare.

silverfo

rum.net


14/14

TEMPERATURE SENSOR:

It is going to sense the temperature and when the temperature increases the signal is sent to the

zigbee.The sensor used is LM 35

CONCLUSION:

Thus we conclude that this project has wide application in robotics like saving men from war

field during earth quakes and from fire .

Infoshare.

silverfo

rum.net
http://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.nethttp://http//Infoshare.silverforum.net

9504168 zigbee based autonomous robot and control using embedded

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