smart tanker robot for security operations in the protected area with wireless secured communication

SMART TANKER ROBOT FOR SECURITY OPERATIONS IN THE

PROTECTED AREA WITH WIRELESS SECURED COMMUNICATION 1

DEPT OF ECE JAWAHARLAL COLLEGE OF ENGINEERING AND TECHNOLOGY

CHAPTER 1

INTRODUCTION

1.1 OVERVIEW

Robotics is the branch of technology that deals with the design, construction, operation,

and application of robots, as well as computer systems for their control, sensory feedback, and

information processing. These technologies deal with automated machines that can take the place

of humans in dangerous environments or manufacturing processes, or resemble humans in

appearance, behaviour, and/or cognition. Many of today's robots are inspired by nature

contributing to the field of bio- inspired robotics.

The concept of creating machines that can operate autonomously dates back to classical

times, but research into the functionality and potential uses of robots did not grow substantially

until the 20th century. Throughout history, robotics has been often seen to mimic human

behaviour, and often manage tasks in a similar fashion. Today, robotics is a rapidly growing

field, as technological advances continue; research, design, and building new robots serve

various practical purposes, whether domestically, commercially, or militarily. Many robots do

jobs that are hazardous to people such as defusing bombs, mines and exploring shipwrecks.

1.2 BRIEF HISTORY OF ROBOTS

In 1927 the Maschinenmensch ("machine-human") gynoidhumanoid robot (also called

"Parody", "Futura", "Robotrix", or the "Maria impersonator") was the first depiction of a robot

ever to appear on film was played by German actress Brigitte Helm in Fritz Lang's film

Metropolis. In 1942 the science fiction writer Isaac Asimov formulated his Robotics. In 1948

Norbert Wiener formulated the principles of cybernetics, the basis of practical robotics.

Fullyautonomous robots only appeared in the second half of the 20th century. The first digitally

operated and programmable robot, the Unimate, was installed in 1961 to lift hot pieces of metal




from a die casting machine and stack them. Commercial and industrial robots are widespread

today and used to perform jobs more cheaply, or more accurately and reliably, than humans.

They are also employed in jobs which are too dirty, dangerous, or dull to be suitable for

humans. Robots are widely used in manufacturing, assembly, packing and packaging, transport,

earth and space exploration, surgery, weaponry, laboratory research, safety, and the mass

production of consumer and industrial goods.

1.3 BASIC BUILDING BLOCKS OF A ROBOT

1.3.1 POWER SOURCE

At present mostly (lead-acid) batteries are used as a power source. Many different types

of batteries can be used as a power source for robots. They range from lead acid batteries which

are safe and have relatively long shelf lives but are rather heavy to silver cadmium batteries that

are much smaller in volume and are currently much more expensive. Designing a battery

powered robot needs to take into account factors such as safety, cycle lifetime and weight.

Generators, often some type of internal combustion engine, can also be used. However, such

designs are often mechanically complex and need fuel, require heat dissipation and are relatively

heavy. A tether connecting the robot to a power supply would remove the power supply from the

robot entirely. This has the advantage of saving weight and space by moving all power

generation and storage components elsewhere. However, this design does come with the

drawback of constantly having a cable connected to the robot, which can be difficult to manage.

Potential power sources could be pneumatic (compressed gases), hydraulics (liquids), flywheel

energy storage, organic garbage (through anaerobic digestion).

1.3.2 ACTUATORS

Actuators are like the "muscles" of a robot, the parts which convert stored energy into

movement. By far the most popular actuators are electric motors that spin a wheel or gear, and

linear actuators that control industrial robots in factories. But there are some recent advances in

alternative types of actuators, powered by electricity, chemicals, or compressed air. The majority




of robots use electric motors, often brushed and brushless DC motors in portable robots, or AC

motors in industrial robots and CNC machines. These motors are often preferred in systems with

lighter loads, and where the predominant form of motion is rotational. Various types of linear

actuators move in and out instead of rotating, and often have quicker direction changes,

particularly when very large forces are needed such as with industrial robotics. They are

typically powered by compressed air (pneumatic actuator) or oil (hydraulic actuator).

1.3.3 SENSORS

Sensors allow robots to receive information about a certain measurement of the

environment, or internal components. This is essential for robots to perform their tasks, and act

upon any changes in the environment to calculate the appropriate response. They are used for

various forms of measurements, to give the robots warnings about safety or malfunctions, and to

provide real time information of the task it is performing. Current robotic and prosthetic hands

receive far less tactile information than the human hand. Recent research has developed a tactile

sensor array that mimics the mechanical properties and touch receptors of human fingertips. The

sensor array is constructed as a rigid core surrounded by conductive fluid contained by an

elastomeric skin. Electrodes are mounted on the surface of the rigid core and are connected to an

impedance-measuring device within the core. When the artificial skin touches an object the fluid

path around the electrodes is deformed, producing impedance changes that map the forces

received from the object. The researchers expect that an important function of such artificial

fingertips will be adjusting robotic grip on held objects. Computer is the science and technology

of machines that see. As a scientific discipline, computer vision is concerned with the theory

behind artificial systems that extract information from images. The image data can take many

forms, such as video sequences and views from cameras.

1.3.4 MANIPULATOR

Robots need to manipulate objects; pick up, modify, destroy, or otherwise have an effect.

Thus the "hands" of a robot are often referred to as end effectors, while the "arm" is referred to

as a manipulator. Most robot arms have replaceable effectors, each allowing them to perform

some small range of tasks. Some have a fixed manipulator which cannot be replaced, while a few

have one very general purpose manipulator, for example a humanoid hand.




CHAPTER 2

PROJECT DEFINITION

Aim of the project is to design embedded system to create a wireless spy robot for secret

monitoring purpose, which can be used for safety and security purpose where the security

threads are high and to find the human body inside the building blocks that are destroyed by

earthquake or building crashes and focuses. An embedded system is a combination of computer

circuitry and software that is built into a product for purposes such as control, monitoring and

communication without human intervention. Embedded systems are at the core of every modern

electronic product, ranging from toys to medical equipment to aircraft control systems.

Embedded systems span all aspects of modern life and there are many examples of their use. The

uses of embedded systems are virtually limitless, because every day new products are introduced

to the market that utilizes embedded system in novel ways. An embedded system contains at

least one microprocessor which performs the logic operations for the system. Many embedded

systems use one or more microcontrollers, which are a type of microprocessor that emphasizes

self-sufficiency and cost-effectiveness, instead of a general purpose microprocessor. A typical

microcontroller contains sufficient memory and interfaces for simple applications, whereas

general-purpose microprocessors require additional chips to provide these functions, including at

least one ROM (read-only memory) chip to store the software. Project uses Microchips

microcontroller IC named Peripheral Interface Controller (PIC) and Microchips Integrated

Development Environment, MPLAB, to simulate and assemble the written code.

In this project the robot consist of wireless camera, PIR sensor and motor drivers. The

robot is an all-terrain vehicle, it can move anywhere like a spy. It is a belted vehicle as military

tanker. The wireless camera captures all traveled areas of the robot. The PIR sensor detects the

human intrusion in protected areas or person trapped inside building blocks destroyed by earth

quake. These values are fed to the microcontroller and transmitted to PC through Bluetooth. At

that time RF transmitter also transmit the signals to the PC via RF receiver and tuner card.




CHAPTER 3

LITERATURE SURVEY

3.1 INTRUDER TRACKING USING WIRELESS SENSOR NETWORK

Nowadays, almost all the countries are facing threats from terrorists and intruders from

their border areas, challenging the internal security of the country in those areas. So many

civilian and military applications require locating an intruder in a secured area. Target tracking,

data processing and analysis play a major role in this type of applications. The proposed system

is to develop a centralized computer application that needs to identify moving objects in a

specific area using sensors. The system will be basically designed to detect human intruders. The

objective is to design and implement an object tracking system using a wireless sensor network.

The human intruder is detected using a passive infrared (PIR) sensor. The PIR sensor is able to

detect the humans and provide information about the direction of the movement.

Published in: Computational 28-29 Dec. 2010

3.2 URBAN SEARCH AND RESCUE (USAR) ROBOTS

There are many different kind of catastrophe in natural and man-made disaster:

earthquake, flooding, hurricane and they cause different disaster area like collapsed building,

landslide or crater. During these emergency situations, and especially in urban d isaster, many

different people are deployed (policeman, fire fighters and medical assistance). They need to

cooperate to save lives, protect structural infrastructure, and evacuate victims to safety. In these

situations, human rescuers must make quick decisions under stress, and try to get victims to

safety often at their own risk. They must gather determine the location and status of victims and

the stability of the structures as quickly as possible so that medics and fire fighters can enter the

disaster area and save victims. All of these tasks are performed mostly by human and trained

dogs, often in very dangerous and risky situations. This is why since some years; mobile robots




have been proposed to help them and to perform tasks that neither humans dogs nor existing

tools can do. For this project, we will focus only on robots which will work in a disaster

environment of manmade structure, like collapsed buildings. They are called Urban Search and

Rescue (USAR) robots.

Published in: IEEE transactions-2012

3.3 AVATAR III SECURITY ROBOT

Avatar III Security Robots can significantly augment your existing security capabilities.

Robots stationed around an area can be activated at a moments notice to inspect a situation of

interest significantly reducing incident response times in the process. It can be used hundreds

of miles away from a central Security Operations Centre they run through your existing Wi-Fi

network and recharge at remote docking stations that plug into existing power outlets. Control

software installs on a PC or Mac and uses a handheld controller to provide on-site, ad-hoc robot

control over existing Wi-Fi networks. Just unpack the robot and start patrolling through your

existing security infrastructure. Wireless, real-time video and two-way audio feeds allow the

robot to act as a mobile camera platform, public announcement system, and remote

communication tool. Groups of Avatar III Security Robots can provide coverage for cents-on-

the-dollar when compared to traditional security deployments.

Each Avatar III Security Robot comes with 100% flipper-to-flipper hardware coverage

and free technical support. We also make customization and integration simple. We work with a

network of integrators to make sure each Avatar III Security Robot deployment meets your

unique security needs and works with your existing infrastructure. Stair climbing ability, built- in

IR night vision, and dock-connector charging work to ensure full range of movement for robot

security patrols. The robots rugged track system also works almost anywhere carpets, wet

floors, rugged outdoor terrain, and slick concrete.

Published in: Elsevier-2011




CHAPTER 4

SYSTEM DESCRIPTION

4.1 BLOCK DIAGRAM

The block diagram consists of the robot and receiver section. They can be represented as

the following block diagrams.

Fig 4.1 Block Diagram of Robot




Fig. 4.2 Block Diagram of Receiver Section

4.2 HARDWARE DETAILS

The details of hardware components used in the system are given below.

4.2.1 16F877A PIC

PIC is a family of modified Harvard architecture microcontrollers made by Microchip

Technology, derived from the PIC1650 originally developed by General Instrument's

Microelectronics Division. The name PIC initially referred to "Peripheral Interface Controller".

PICs are popular with both industrial developers and hobbyists alike due to their low

cost, wide availability, large user base, extensive collection of application notes, availability of

low cost or free development tools, and serial programming (and re-programming with flash

memory) capability. They are also commonly used in educational programming as they often

come with the easy to use 'PIC logicator' software. System consists of a PIC microcontroller unit

of pic-16F family. The PIC processor used in this category is 877A.

The PIC16F877A features 256 bytes of EEPROM data memory, self programming, an

ICD, 2Comparators, 8 channels of 10-bit Analog-to-Digital (A/D) converter, 2

capture/compare/PWM functions, the synchronous serial port can be configured as either 3- wire

Serial Peripheral Interface (SPI) or the 2-wire Inter-Integrated Circuit (IC) bus and a Universal

Asynchronous Receiver Transmitter (USART).




High-Performance RISC CPU:

Only 35 single-word instructions to learn

All single-cycle instructions except for program branches, which are two-cycle

Operating speed: DC 20 MHz clock input, DC 200 ns instruction cycle

Up to 8K x 14 words of Flash Program Memory,

Up to 368 x 8 bytes of Data Memory (RAM),

Up to 256 x 8 bytes of EEPROM Data Memory

Pinout compatible to other 28-pin or 40/44-pin

PIC16CXXX and PIC16FXXX microcontrollers

Peripheral Features:

Timer0: 8-bit timer/counter with 8-bit prescaler

Timer1: 16-bit timer/counter with prescaler, can be incremented during Sleep via external

crystal/clock

Timer2: 8-bit timer/counter with 8-bit period register, prescaler and postscaler

Two Capture, Compare, PWM modules

- Capture is 16-bit, max. resolution is 12.5 ns

- Compare is 16-bit, max. resolution is 200 ns

- PWM max. resolution is 10-bit

Synchronous Serial Port (SSP) with SPI (Master mode) and I2C (Master/Slave)

Universal Synchronous Asynchronous Receiver Transmitter (USART/SCI) with 9-bit address

detection

Parallel Slave Port (PSP) 8 bits wide with external RD, WR and CS controls (40/44-pin only)

Brown-out detection circuitry for Brown-out Reset (BOR)

Analog Features:

10-bit, up to 8-channel Analog-to-Digital Converter (A/D)

Brown-out Reset (BOR)

Analog Comparator module with:

- Two analog comparators

- Programmable on-chip voltage reference (VREF) module




- Programmable input multiplexing from device inputs and internal voltage reference

- Comparator outputs are externally accessible

4.2.1.1 PINOUT DIAGRAM

Fig 4.3.Pin out diagram of PIC16F877A




Table 4.1: PIC16F877A device features

4.2.1.2 INPUT/OUTPUT PORTS

One of the most important features of the microcontroller is a number of input/output

pins used for connection with peripherals. In this case, there are in total of thirty-five general

purpose I/O pins available, which is quite enough for the most applications. In order pins

operation can match internal 8-bit organization, all of them are, similar to registers, grouped into

five so called ports denoted by A, B, C, D and E. They all have several features in common:

For practical reasons, many I/O pins have two or three functions. If a pin is used as any

other function, it may not be used as a general purpose input/output pin and every port has its

satellite, i.e. the corresponding TRIS register: TRISA, TRISB, TRISC etc. which determines

performance, but not the contents of the port bits.

By clearing some bit of the TRIS register (bit=0), the corresponding port pin is

configured as output. Similarly, by setting some bit of the TRIS register (bit=1), the




corresponding port pin is configured as input. This rule is easy to remember 0 = Output, 1 =

Input.

Port A and TRISA Register

Port A is an 8-bit wide, bidirectional port. Bits of the TRISA and ANSEL control the

PORTA pins. All Port A pins act as digital inputs/outputs. Five of them can also be analog inputs

(denoted as AN):

Port A and TRISA Register

Fig 4.4. Port A

Similar to bits of the TRISA register which determine which of the pins will be

configured as input and which as output, the appropriate bits of the ANSEL register determine

whether the pins will act as analog inputs or digital inputs/outputs.

RA0 = AN0 (determined by bit ANS0 of the ANSEL register);



RA3 = AN3 (determined by bit ANS3 of the ANSEL register); and

RA5 = AN4 (determined by bit ANS4 of the ANSEL register).

Each bit of this port has an additional function related to some of built- in peripheral units.

These additional functions will be described in later chapters. This chapter covers only the RA0

pins additional function since it is related to Port A only.




Port B and TRISB Register

Port B is an 8-bit wide, bidirectional port. Bits of the TRISB register determine the

function of its pins.

Fig 4.5. Port B

Similar to Port A, a logic one (1) in the TRISB register configures the appropriate port

pin as input and vice versa. Six pins on this port can act as analog inputs (AN). The bits of the

ANSELH register determine whether these pins act as analog inputs or digital inputs/outputs:

RB0 = AN12 (determined by bit ANS12 of the ANSELH register);




RB4 = AN11 (determined by bit ANS11 of the ANSELH register); and

RB5 = AN13 (determined by bit ANS13 of the ANSELH register).

Each Port B pin has an additional function related to some of the built- in peripheral units,

which will be explained in later chapters. All the port pins have built in pull-up resistor, which

make them ideal for connection to push-buttons, switches and couplers. In order to connect these

resistors to the microcontroller ports, the appropriate bit of the WPUB register should be set.




Port C and TRISC Register

Port C is an 8-bit wide, bidirectional port. Bits of the TRISC Register determine the

function of its pins. Similar to other ports, a logic one (1) in the TRISC Register configures the

appropriate port pin as an input.

Fig 4.6. Port C

Port D and TRISD Register

Port D is an 8-bit wide, bidirectional port. Bits of the TRISD register determine the

function of its pins. A logic one (1) in the TRISD register configures the appropriate port pin as

input.

Fig 4.7. Port D




Port E and TRISE Register

Port E is a 4-bit wide, bidirectional port. The TRISE registers bits determine the function

of its pins. Similar to other ports, a logic one (1) in the TRISE register configures the appropriate

port pin as input. The exception is RE3 which is input only and its TRIS bit is always read as 1.

Similar to Ports A and B, three pins can be configured as analog inputs in this case. The

ANSELH register bits determine whether a pin will act as analog input (AN) or digital

input/output:

RE0 = AN5 (determined by bit ANS5 of the ANSELregister);

RE1 = AN6 (determined by bit ANS6 of the ANSELregister); and

RE2 = AN7 (determined by bit ANS7 of the ANSELregister).

Fig 4.8. Port E

4.2.2 MOTOR CONTROL CIRCUITRY

Fig 4.9. L293D




The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to

provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is

designed to provide bidirectional drive currents of up to600-mA at voltages from 4.5 V to 36 V.

Both devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar

stepping motors, as well as other high-current/high-voltage loads in positive-supply applications.

All inputs are TTL compatible. Each output is complete totem-pole drive circuit, with a

Darlington transistor sink and a pseudo-Darlington source.

Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and

4enabled by 3,4EN. When an enable input is high, the associated drivers are enabled, and their

outputs are active and in phase with their inputs. When the enable input is low, those drivers are

disabled, and their outputs are off and in the high- impedance state. With the proper data inputs,

each pair of drivers forms a full-H (or bridge) reversible drive suitable for solenoid or motor

applications

_ Wide Supply-Voltage Range: 4.5 V to 36 V

_ Separate Input-Logic Supply

_ Internal ESD Protection

_ Thermal Shutdown

_ High-Noise-Immunity Inputs

_ Functionally Similar to SGS L293 and SGS L293D

_ Output Current 1 A Per Channel (600 mA for L293D)

_ Peak Output Current 2 A Per Channel (1.2 A for L293D)

_ Output Clamp Diodes for Inductive Transient Suppression (L293D)

Fig 4.10.Enable diagram




Fig 4.11. logic diagram of L293D

4.2.3 DC GEARED MOTOR

Geared DC motors can be defined as an extension of DC motor which already had its

Insight details demystified here. A geared DC Motor has a gear assembly attached to the motor.

The speed of motor is counted in terms of rotations of the shaft per minute and is termed as RPM

.The gear assembly helps in increasing the torque and reducing the speed. Using the correct

combination of gears in a gear motor, its speed can be reduced to any desirab le figure. This

concept where gears reduce the speed of the vehicle but increase its torque is known as gear

reduction. This Insight will explore all the minor and major details that make the gear head and

hence the working of geared DC motor.

Fig 4.12 DC Geared Motor




WORKING

The working of the gears is very interesting to know. It can be explained by the principle

of conservation of angular momentum. The gear having smaller radius will cover more RPM

than the one with larger radius. However, the larger gear will give more torque to the smaller

gear than vice versa. The comparison of angular velocity between input gear (the one that

transfers energy) to output gear gives the gear ratio. When multiple gears are connected together,

conservation of energy is also followed. The direction in which the other gear rotates is always

the opposite of the gear adjacent to it.

In any DC motor, RPM and torque are inversely proportional. Hence the gear having

more torque will provide a lesser RPM and converse. In a geared DC motor, the concept of pulse

width modulation is applied.In a geared DC motor, the gear connecting the motor and the gear

head is quite small, hence it transfers more speed to the larger teeth part of the gear head and

makes it rotate. The larger part of the gear further turns the smaller duplex part. The small duplex

part receives the torque but not the speed from its predecessor which it transfers to larger part of

other gear and so on. The third gears duplex part has more teeth than others and hence it

transfers more torque to the gear that is connected to the shaft.

The DC motor works over a fair range of voltage. The higher the input voltage more is

the RPM (rotations per minute) of the motor. For example, if the motor works in the range of 6-

12V, it will have the least RPM at 6V and maximum at 12 V.

In terms of voltage, we can put the equation as:

RPM= K1 * V, where,

K1= induced voltage constant

V=voltage applied

Fig 4.13 Gear Structure




INTERNAL STRUCTURE

On opening the outer plastic casing of the gear head, gear assemblies on the top as well

as on bottom part of the gear head are visible. These gear assemblies are highly lubricated with

grease so as to avoid any sort of wear and tear due to frictional forces.

Shown below is the top part of the gear head. It is connected to rotating shaft and has one

gear that allows the rotation. A strong circular imprint shows the presence of the gear that rotates

the gear at the upper portion.

Fig 4.14 Internal Structure

4.2.4 PIR SENSORS

Fig 4.15 Pin Diagram of PIR sensor

PIR sensors are motion detectors, which can be installed outside your home to detect

human intrusion. This sensor detects changes in infrared heat, caused by human movement and




immune to pets Passive infrared (PIR) sensors react to the infrared heat energy emitted by

people. PIR sensors are passive devices in that they only detect radiation; they do not emit. They

are designed to be maximally sensitive to objects that emit heat energy at a wavelength of around

10microns (the peak wavelength of the heat energy emitted by humans.

4.2.5 BLUETOOTH

This module enables you to wireless transmit & receive serial data. It is a drop in

replacement for wired serial connections allowing transparent two way data communication. Its

key features are

5V power operation

UART interface

10 meters range

Easy to use

Minimum External Components

Status LED

Fig 4.16 Bluetooth Module




4.2.6 WIRELESS CAMERA

The wireless camera kit includes 1 mini camera and 1 receiver, which provides a

complete wireless security system, perfect for monitoring around your home or small businesses

with great convenience. Powered by the included adapter and an extra battery clip.It is a

Wireless Colour Camera Set with Audio and Video set. The physical size of camera is really

small and it is easy to hide in different locations and hard to be discovery. This system can be

applied to various areas, such as Surveillance for Shops, Factories, Warehouses, HOME -

Monitoring Children, Elders, and Visitors etc. The setup procedure is simple, just using a AV

cable linking with above mentioned devices.

Specifications:

Imaging pickup: 1/3, 1/4

TV system: NTSC/ELA

Definition: 380TV Lines

Scan frequency: NTSC/ELA 60Hz

Min. Illumination: 2Lux

Output power: 200mW

Output frequency: 900MHz/ 1200MHz/ 2400MHz

Camera power: DC +8V 200mAh

Receiver power: DC +12V 500mAh

Fig 4.17 Wireless Camera set




4.2.7 TUNER CARD

A TV tuner card is a kind of television tuner that allows television signals to be received by a

computer. Most TV tuners also function as video capture cards, allowing them to record

television programs onto a hard disk much like the digital video recorder (DVR) does. The

interfaces for TV tuner cards are most commonly either PCI bus expansion card or the newer

PCI Express (PCIe) bus for many modern cards, but PCMCIA, Express Card, or USB devices

also exist. In addition, some video cards double as TV tuners, notably the ATI All-In-Wonder

series. The card contains a tuner and an analog-to-digital converter (collectively known as the

analog front end) along with demodulation and interface logic.

Fig 4.18 Tuner Card




CHAPTER 5

HARDWARE IMPLEMENTTION

5.1 DESIGN OF THE SYSTEM

REGULATOR

Fig 5.1 LM7805 Voltage Regulator

Transformer used here is a step down transformer. This Voltage is given to LM7805

voltage regulator IC. The input voltage to the LM7805 IC should be at least 2V greater than the

required output voltage.

The Output Voltage

VO= 4.75V to 5.25V

The Output Current

Io = 5mA to 1.5A

For Load Regulation

= ((4.75-5.25)/5.75)/ ((5 X 10-3-1.5)/5 X 10-3)

= 3.522 X 10-4V

OO

OO

Ii

VvgLoad

/

/Re




Line regulation (source regulation SR) is the change in the line voltage. It depends on the

line voltage (230V10V)

Line Regulation=vo/V0

v1/V1

= ((4.75-5.75)/5.75)/ ((8-12/12))

=0.286V

Ripple factor of the power supply () =0.48

= 1/4*3fRC

Take R=330

C=1.8*10-5

=0.1F

MICROCONTROLLER

Fig 5.2 Design of PIC16F877A




PIC microcontroller has 2 VDD pins (11 & 32) for 3.3v supply and 2 VSS pins (12 &

31) for ground. First pin of PIC IC is pin , when this pin is grounded or active low PIC

get reset. So for making IC in working mode, pin is pulled up through resister R2. A

switch sw1 is given to ground pin and to reset the program.

The value of resistor R2,

R2=

I

V=5V

I=0.5mA

R2=5V / .5mA

=10K

For working in 1 micro second clock, a 4MHz crystal oscillator is used. The capacitors

C4 & C5 connected to the crystal oscillator. These are the stabilizing capacitors which stabilizes

oscillations from the crystal, without these capacitors the oscillations produced by the crystal

oscillator will die out and the crystal oscillator will not be able to produce the clock frequency of

4MHz

The value of capacitors,

C4 & C5= 0.7

5

f= 4MHZ

I= 0.5mA

C4 & C5 = (0.7*0.5mA) / (5*4MHz)

=17.5*10-11 F

=22 PF std.




5.2 CIRCUIT DESCRIPTION

Fig. 5.3 Circuit Diagram

The above figure shows the circuit diagram of the proposed system. It consists of a PIC

16F877a microcontroller, two PIR sensors, two motor driver ICs, a Bluetooth module & a7805

voltage regulator. A constant voltage of 5V is applied to the 11th & 32nd pin of microcontroller,

4th pin of Bluetooth module, 3rd pin of PIR sensors & various pins of the motor driver ICs

through voltage regulator LM7805. The output of the PIR sensor is obtained from pin 2. The

output of the 1st PIR sensor is connected to the RB0 (pin 33) of the microcontroller. RB0 acts as

the external interrupt. The output from the 2nd sensor is given to the RB1 (Pin 34) of

microcontroller. The operating frequency of the microcontroller is determined by the 13 th & 14th

pin. The operating frequency of the proposed system is 4Mhz. for the efficient working of the

motors; it should get a voltage of 12V & 1A current. The motor driver L293D increases the

voltage from 5V to 12V & current to 1A. The data from the microcontroller is sent to the

receiver through the Bluetooth module. The 2nd & 3rd pin of the module is connected to




microcontroller for this purpose. The motor driver L293D have 4 output pins. So two motors can

be connected using a motor driver IC. The direction of motors is determined by the o utput pins.

5.3 PCB LAYOUT

Fig 5.4 Top Layout

Fig 5.5 Bottom Layout




5.4 WORKING PRINCIPLE

All objects with a temperature above absolute zero emit heat energy in the form of

radiation. Usually this radiation is invisible to the human eye because it radiates at infrared

wavelengths, but it can be detected by electronic devices designed for such a purpose. Here a

PIR-based motion detector is used to sense movement of people, animals, or other objects. They

are commonly used in burglar alarms and automatically-activated lighting systems. They are

commonly called simply "PIR", or sometimes "PID", for "passive infrared detector". What is

actually detected is the broken field for a normal temperature. The sensor detects the change in

the infrared radiation and triggers an alarm if the gradient of the change is higher than a

predefined value. Thus the field does not have to be broken by an object with a different

temperature in order to register change, as sensors will activate from the configuration change of

the environment. The PIR sensor senses temperature ranging from 35-40 degrees Celsius. Thus

any presence of intruders may be human or animal are detected.

The sensed signal is then passed to the microprocessor as an external interrupt. A 5v

power supply is provided for the operation of the microprocessor. The microcontroller is used to

control the motion of the tanker robot. A motor driver acts as a voltage and current amplifier.

12v power supply is required for the mechanical operation of the wheels. Whenever an interrupt

is sensed, the signal is transmitted to PC using Bluetooth.

A wireless camera with a video receiver is connected to the robot which is independent to

theworking of microprocessor. The video signals are also transmitted to PC using RF.

The receiver section consists of two transceiver antennas and a PC. One antenna is used

to receive Bluetooth signals from the microcontroller. The motion of robot can be also controlled

through this section. The other antenna receives RF signals from the video camera and is given

to the PC through tuner card.




CHAPTER 6

SOFTWARE IMPLEMENTATION

The software system mainly includes the implementation of Smart Tanker Robot. Here

the program is used to control the movement of the robot as well as to detect human presence.

This is done using PIC 16F877A. The interfacing of the entire system is done as per the port

available with the PIC 16F877A. The program for the PIC microcontroller is done using MP lab

software and simulation of the program is done on Proteus Software.

The main steps of the program from which the system works is explained here.

6.1 ALGORITHM

Step 1: Start

Step 2: Turn on the system, initialize the PIR sensors, motor driver and Bluetooth module and

wireless camera

Step 3: Sense the command given by the user and move according to it.

Step 4: If PIR sensor detects human presence, stop the robot

Step 5: Turn the camera to the desired direction where the PIR sensor detected Human presence

Step 6: Send a message to the user saying that Human presence is detected

Step 5: Check of command from user, if a command is not received continue with Step 5

Step 6: If a command is received, turn camera to forward direction and more according to the

given command

Step 6: Stop.




6.2 FLOW CHART

6.2.1 Movement




6.2.2 Human Detection




6.3 SOFTWARE TOOLS

6.3.1 PROTEUS

Proteus is software for microcontroller simulation, schematic capture, and printed circuit

board (PCB) design .Proteus Professional - software for automated design of electronic circuits.

The package is a system of circuit simulation, based on the models o f electronic components in

Spice. A distinctive feature of the package Proteus Professional is the possibility of modelling of

the programmable devices: microcontrollers, microprocessors, DSP and others.

Additionally, the package of Proteus Professional is a system design of printed circuit

boards. Proteus Professional can simulate the following microcontrollers: 8051, ARM7, AVR,

Motorola, PIC, Basic Stamp. The library contains the components of reference data Co-

simulation of microprocessor software within a mixed mode SPICE simulator .Proteus 7.1 issued

to design good microcontroller circuit. Proteus 7.1 SP2 is also good to learn basic electronics

such as electronics to the application microcontroller.

Fig 6.1 Main window of Proteus 7.1




6.3.2 MP LAB IDE

MPLAB IDE is a software program that runs on a PC to develop applications for

Microchip microcontrollers. It is called an Integrated Development Environment, or IDE,

because it provides a single integrated environment to develop code for embedded

microcontrollers.

IMPLEMENTING AN EMBEDDED SYSTEM DESIGN WITH MPLAB IDE

A development system for embedded controllers is a system of programs running on

desktop PC to help write, edit, debug and program code. The intelligence of embedded systems

applications. Into a microcontroller. MPLAB IDE runs on a PC and contains all the components

needed to design and deploy embedded systems applications. The typical tasks for developing an

embedded controller application are:

1. Create the high level design. From the features and performance desired, decide which PIC

micro MCU or dsPIC DSC device is best suited to the application, and then design the associated

hardware circuitry. After determining which peripherals and pins control the hardware, write the

firmware. The software that will control the hardware aspects of the embedded application.

A language tool such as an assembler, which is directly translatable into machine code, or

a compiler that allows a more natural language for creating programs, should be used to write

and edit code. Assemblers and compilers help make the code understandable, allowing function

labels to identify code routines with variables that have names associated with their use, and with

constructs that help organize the code in maintainable structure.

2. Compile, assemble and link the software using the assembler and/or compiler and linker to

convert your code into ones and zeroes machine code for the PIC micro MCUs. This machine

code will eventually become the firmware (the code programmed into the microcontroller).

3. Test your code. Usually a complex program does not work exactly the way imagined, and

.bugs. Need to be removed from the design to get proper results. The debugger allows you to see




the .ones and zeroes. Execute, related to the source code you wrote, with the symbols and

function names from your program. Debugging allows you to experiment with your code to see

the value of variables at various points in the program, and to do .what if. Checks, changing

variable values and stepping through routines.

4. .Burn the code into a microcontroller and verify that it executes correctly in the finished

application

COMPONENTS OF MPLAB IDE

The MPLAB IDE has both built- in components and plug- in modules to configure the

System for a variety of software and hardware tools.

MPLAB IDE BUILT-IN COMPONENTS

The built- in components consist of

PROJECT MANAGER

The project manager provides integration and communication between the IDE and the

language tools.

EDITOR

The editor is a full- featured programmers text editor that also serves as a window into

the debugger.

ASSEMBLER/LINKER AND LANGUAGE TOOLS

The assembler can be used stand-alone to assemble a single file, or can be used with the

linker to build a project from separate source files, libraries and recompiled objects. The linker is

responsible for positioning the compiled code into memory areas of the target microcontroller.




DEBUGGER

The Microchip debugger allows breakpoints, single stepping, watch windows and all the features

of a modern debugger for the MPLAB IDE. It works in conjunction with the editor to reference

information from the target being debugged back to the source code.

EXECUTION ENGINES

There are software simulators in MPLAB IDE for all PIC micro MCU and dsPIC DSC

devices. These simulators use the PC to simulate the instructions and some peripheral functions

of the PIC micro MCU and ds PIC DSC devices. Optional in-circuit emulator sand in-circuit

debuggers are also available to test code as it runs in the applications hardware.

ADDITIONAL OPTIONAL COMPONENTS FOR MPLAB IDE

Optional components can be purchased and added to the MPLAB IDE:

COMPILER LANGUAGE TOOLS

MPLAB C18 and MPLAB C30 C compilers from Microchip provide fully integrated,

optimized code. Along with compilers from HI-TECH, IAR, micro Engineering Labs, CCS and

Byte Craft, they are invoked by the MPLAB IDE project manager to compile code that is

automatically loaded into the target debugger for instant testing and verification.

PROGRAMMERS

PICSTART Plus, Pick kit 1 and 2, PRO MATE II, MPLAB PM3 as well as MPLAB ICD

2 can program code into target devices. MPLAB IDE offers full control over programming both

code and data, as well as the Configuration bits to set the various operat ing modes of the target

microcontrollers or digital signal controllers.




IN-CIRCUIT EMULATORS

MPLAB ICE 2000 and MPLAB ICE 4000 are full- featured emulators for the PIC micro

MCU and dsPIC DSC devices. They connect to the PC via I/O ports and allow full control over

the operation of microcontroller in the target applications.

IN-CIRCUIT DEBUGGER

MPLAB ICD 2 provides an economic alternative to an emulator. By using some of the

on-chip resources, MPLAB ICD 2 can download code into a target microcontroller inserted in

the application, set breakpoints, single step and monitor registers and variables.

The main steps in creating a project in MP lab includes

Running MPLAB IDE

To start MPLAB IDE, double click on the icon installed on the desktop after installation

or select Start>Programs>Microchip>MPLAB IDE vx.xx>MPLAB IDE. A screen will display

the MPLAB IDE logo followed by the MPLAB IDE desktop

Fig 6.2 Main window of MP lab




SELECTING THE DEVICE

To show menu selections in this document, the menu item from the top row in MPLAB

IDE will be shown after the menu name like this Menu Name>Menu Item. To choose the Select

Device entry in the Configure menu, it would be written as Configure>Select Device. Choose

Configure>Select Device. In the Device dialog, select the PIC18F877Afrom the list if its not

already selected

Fig 6.3 Indication of supporting components

The lights indicate which MPLAB IDE components support this device. A green light

indicates full support. A yellow light indicates preliminary support for an upcoming part by the

particular MPLAB IDE tool component. Components with a yellow light instead of a green light

are often intended for early adopters of new parts who need quick support and understand that

some operations or functions may not be available.. A red light indicates no support for this

device. Support may be forthcoming or inappropriate for the tool, e.g., ds PIC DSC devices

cannot be supported on MPLAB ICE 2000.

6.3.3 ORCAD

Orcad is a suite of tools from Cadence for the design and layout of printed circuit boards

(PCBs). We are currently using version 9.2 of the Orcad suite. This document will give you a

crash course in designing an entire circuit board from start to finish. This will be a very small




and simple circuit, but it will demonstrate the major concepts and introduce the tools behind

completing a PCB design. After you have completed this tutorial, you will know all the steps

needed to make PCBs using Orcad.

STEPS

1. STARTING A NEW SCHEMATIC PROJECT

Fig 6.4 window of new project in Orcad

To create a new project, first start orcad capture c is then click filenewproject. you

will see the following dialog box. browse to the power supply\schematic directory that you

created and name the project psu (short for power supply unit). the project name is more

important than the name of your project folder. it is used as the name of all the files in your

project. so give the project a meaningful and short name. select the pc board wizard radio button

and click ok. in the next dialog box uncheck enable project simulation. click next and then

remove all libraries from rhs then click Finish. You should see an empty schematic page and a

project window like the following.




Fig 6.5 Window of Orcad capture

ABOUT LIBRARIES AND PARTS

Orcad allows you to have libraries of part symbols for use in schematic entry. These

libraries are kept in separate files that are included in the project workspace. This allows you to

reuse libraries in other designs. Enormous parts are already in existing Orcad libraries. You can

use these parts directly from these libraries. Open your schematic page from the Project window

if it is not open. Your schematic is located in psu.dsnSCHEMATIC1PAGE1 in the project

window. Now click on the Place Part tool from the right toolbar. The following dialog box

appears.

Fig 6.6 Window of Dialog Box




CREATING A SCHEMATIC PARTS LIBRARY

Orcad allows you to create your own libraries of part symbols. You can create symbols

for those parts, which you are unable to find in Orcad libraries, or you want to draw a part

symbol according to your own standard and convenience. We will now create symbols for some

of the parts in our design and use the rest from the Orcad built- in libraries. For this we have to

add a new library to our design. To do this, highlight the psu.dsn in the project window and click

File New Library. Right-click thelibrary1.olb file in the project window and select Save As...

Name the file psu symbols and place it in the libraries directory w that you created earlier. Your

project window will now look like the figure below. You are now ready to add parts to your

library.

Fig 6.7 Window of library creation

CREATING SCHEMATIC SYMBOLS

To add a new part to your library, right-click the library file and select New Part. This

will bring up a dialog box for New Part Properties. Make the entries in the dialog box so that it

looks like the following.




Fig 6.8 window of new part creation

Click OK to bring up the workspace for part creation. It should look like the picture

below. Tools for working with the part are located on the toolbar on the right-hand side of the

screen

SCHEMATIC ENTRY

You are now ready to start placing the electrical components for your design. The circuit

that we will be drawing is shown in the beginning of this tutorial in the hand drawn form. We

will need all the parts that are included in that circuit diagram. Open up the schematic page and

click the Place Part tool on the toolbar on the right side of the screen.

Here you will have to add those libraries, which contain your desired parts. As a novice

designer, you might experience difficulties in finding a particular part because there are so many

libraries and thousands of parts in each of them. But you can always do away with this difficulty

if you carefully read the library name. The Part Search feature will certainly be very helpful in

these circumstances.




2. PREPARING FOR LAYOUT

CREATING FOOTPRINT LIBRARIES

A footprint is the representation of the physical area that a component occupies on a

PCB. Your next step will be to design footprints for all the parts in your circuit. Like Capture,

Layout has also several built- in libraries of footprints. But unlike Capture libraries, I suggest you

not to use the Layout libraries as an ovice designer. The reason is that the names of Layout

libraries and the footprints contained within them are very cumbersome and confusing to

understand. There is also no option of searching these libraries.

It is better that you yourself design footprints of your components. This will ensure you

that the footprints you are using are correct. Once you will get enough knowledge and

experience about the packaging of electronic components, so that you will be able to locate the

desired footprint in these libraries then you can, of course, use them.

PCBs consist of a number of electrical and non-electrical layers. 2 to 4 electrical layers

are fairly common for simple circuit boards. 8 to 20 layers can often be seen in many industry

applications. In our lab, we have the facility to fabricate two layers boards i.e. double sided

PCBs. The diagram below shows the layer stack up for a 2- layer board like the one you are

making now. The layers are defined below

Top and Bottom Layers are sheets of copper and used for routing nets between parts.

Solder Mask is a coating on the top and bottom of the PCB to prevent solder from flowing

freely on the board. It also protects copper tracks from oxidation and provides insulation. This is

what gives most circuit boards their green or brown color.

Substrate is made up of Bakelite, fiberglass or epoxy resin dielectric material. It separates the

two layers and also gives stiffness to the board.

Drill Layer This layer defines finished drill sizes and drill locations for parts that have pins

that go through the board.




Start Orcad Layout. Layout has a separate tool for working with footprint libraries. To

start this tool, select Tools Library Manager. In the new window that opens, you will notice that

there are already several libraries available for use. These are the built- in libraries. For designing

a footprint, you can use either of the two approaches:

1. Use the mechanical information contained in the component datasheet.

2. Manually measure the size of the component, distance between its pins and their dia meter.

This is only possible if you have the component at your disposal at this step .Footprints

are composed of one or more pad stacks. These pad stacks define how a pin on a part looks on

each of the electrical and non-electrical layers. Each of your footprints will need at least one pad

stack defined. Lets take a look at a pad stack definition for an existing part. In the Library

Manager, select the library DIP100T and highlight the first part DIP.100/14/W.300/L.700. You

will see the part footprint in the Library Manager.

Fig 6.9 Window of layout

We will now set each layer individually. You can also select multiple layers at a time by

holding down the CTRL key when you click the layer name. First lets define the size of the drill

used for this part. The datasheet tells us that the pin dia can vary from 0.027 to 0.037 in. So we

should use a drill of dia greater than 37 mils.




Let us use a drill of 40 mils. Select the layers DRLDWG and DRILL. When you have

multiple layers selected, you will need to right click and choose Properties or press CTRL+E to

bring up the Edit Pad stack dialog. Choose the Round radio button and give the width and height

a value of 40. Click OK when done.

The changes you made should now be reflected in the spreadsheet. Now we will define

the amount of metal on the routing layers beyond the size of the drill. This is called the annular

ring. Each board shop will have requirements on the minimum annular ring size based on the

drill diameter. In most cases 20 mils is a safe bet. Select the TOP, BOTTOM layers and bring up

the Edit Pad stack dialog. Make the pads round and put the value of 60 (40+20 mils) in the

height and width fields. The last thing we need to define is the solder mask. This is usually

defined as slightly larger (about 5 mils) that then annular rings on the top and bottom layers.

Select SMTOP and SMBOT and make them round pads with height and width of 65 (60+5

mils).

Fig 6.10 Window of pad stacks

CREATING THE NETLIST

To export your design to Layout, you must first create a netlist. A netlist is a file that has

all the parts, footprints and nets for your design in a format that can be read by the layout




program. To start net list generation, highlight your dsn file and select Tools Create Netlist to

bring up the Create

Fig 6.11 Window of creation of netlist

CREATING A BOARD TEMPLATE FILE

Fig 6.12 Window of system settings

You are almost ready to export your schematic design to Layout. Before doing this, we

must create a board template file because you will be asked for it when you will be exporting

your design to Layout. This file defines some default properties for the board that will be used




throughout layout. To create a template, start Layout and select File New. When you see the

dialog, press Cancel. You should now see a blank workspace. You can use the same shortcut

keys that you used in Capture to zoom and center the design (I, O, and C).

Fig 6.13 Board template file

3. STARTING LAYOUT

CREATING A NEW BOARD

Now we have everything that we need to import our design into Layout so we can start

moving on to the third phase of our project. Start Orcad Layout or Layout Plus but not Layout

Engineers Edition and select FileNew. You will first be prompted for the template file you

created. It should be located in your libraries directory. Second, you will be asked for your

netlist. This should be located in your schematic directory. Third, you will be asked to give your

board file a name. Name this file psu and place it in the board directory. If all the footprint names

in your design match those in your library, then you should get no errors and you will see a

screen in layout like the one below.




Fig 6.14 Window of layout with no errors

GETTING AROUND & PLACING PARTS

All of your parts from schematics should be line up on the left side of the board. Learn a

few things about the Layout environment before you start placing these parts. First turn off DRC

(Design Rule Check) by clicking the button to vanish the dotted rectangle. We will use it later

when routing, but not now. Again you can use the same shortcut keys that you used in Capture to

zoom in, out and center the design (I, O, and C) and SHIFT+Hometo zoom all. You will

also notice that the workspace often gets too messy while working in Layout, so you will need to

refresh the screen very often. Use the Refresh All button or press Home key. Also on the toolbar,

there is a drop-down box of layers. You can select any layer and turn it visible or invisible. To

toggle a layer visible/ invisible, select the layer and hit the (minus) key on your keyboard.

You will also notice that there are a bunch of lines connecting your parts. These are

connections that are still un routed, and this is usually referred to as the Ratsnest. When placing

parts, it is sometimes useful to turn this off. So click the View Spreadsheet icon and select Nets.

Remember when you used this spreadsheet before? It had just one net called DEFAULT. Now,

every net in your design should appear in this spreadsheet. This spreadsheet can be a useful way

to see if you have misnamed nets in your schematics. Highlight every net by clicking the cell

labeled Net Name. Right-click and choose Properties. Uncheck the Routing Enabled box and




click OK. The ratsnest should have disappeared. You are now ready to place parts on your

design. To get into parts placement mode, make sure that the Component Tool is selected.

In addition to placing the components that are in your schematics, you can also place

non-electrical components right in Layout. You will do that now to place some mounting holes

on your board. While using the Component Tool, right-click and select New to bring up the Add

Component dialog box.

Fig 6.15 Window of component editing

Give this component a reference designator of mh1. then click the footprint button and

select the board mounting hole footprint from psu _footprints library. check the non-electric

checkbox so that it becomes checked with a dark tick and uncheck the route enabled check box

since this is a non-electrical part. click ok when finished. the part will now be attached to your

cursor and you can place it on the board. place it at the edge of the board in the lower left corner.

AUTOROUTING

To let the Layout automatically route the board for you, select Auto Autoroute Board.

In a second or two, Layout will route the whole board. Click OK at the message. Then press

SHIFT+Home and your board should look like this.




Fig 6.16 Window of Auto routing

6.3.4 VISUAL BASIC

Visual Basic is a third-generation event-driven programming language and integrated

development environment (IDE) from Microsoft for its COM programming model first released

in 1991. Microsoft intends Visual Basic to be relatively easy to learn and use. Visual Basic was

derived from BASIC and enables the rapid application development (RAD) of graphical user

interface (GUI) applications, access to databases using Data Access Objects, Remote Data

Objects, or ActiveX Data Objects, and creation of ActiveX controls and objects. A programmer

can create an application using the components provided by the Visual Basic program itself.

Programs written in Visual Basic can also use the Windows API, but doing so requires external

function declarations. Though the program has received criticism for its perceived faults, version

3 of Visual Basic was a commercial success, and many companies offered third party controls

greatly extending its functionality.

Like the BASIC programming language, Visual Basic was designed to accommodate

beginner programmers. Programmers can not only create simple GUI applications, but to also

develop complex applications. Programming in VB is a combination of visually arranging

components or controls on a form, specifying attributes and actions for those components, and

writing additional lines of code for more functionality. Since VB defines default attributes and

actions for the components, a programmer can develop a simple program without writing much




code. Programs built with earlier versions suffered performance problems, but faster computers

and native code compilation has made this less of an issue. Though VB programs can be

compiled into native code executablefrom version 5 on, they still require the presence of around

1 MB of runtime libraries. Runtime libraries are included by default in Windows 2000 and later.

Earlier versions of Windows (95/98/NT), require that the runtime libraries be distributed with the

executable.

Forms are created using drag-and-drop techniques. A tool is used to place controls (e.g.,

text boxes, buttons, etc.) on the form (window). Controls have attributes and event handlers

associated with them. Default values are provided when the control is created, but may be

changed by the programmer. Many attribute values can be modified during run time based on

user actions or changes in the environment, providing a dynamic application. For example, code

can be inserted into the form resize event handler to reposition a control so that it remains

centered on the form, expands to fill up the form, etc. By inserting code into the event handler

for a keypress in a text box, the program can automatically translate the case of the text being

entered, or even prevent certain characters from being inserted.

Fig 6.17 An empty form in VB

Visual Basic can create executable (EXE files), ActiveX controls, or DLL files, but is

primarily used to develop Windows applications and to interface database systems. Dialog boxes

with less functionality can be used to provide pop-up capabilities. Controls provide the basic

functionality of the application, while programmers can insert additional logic within the

appropriate event handlers. For example, a drop-down combination box automatically displays a

list. When the user selects an element, an event handler is called that executes code that the

programmer created to perform the action for that list item. Alternatively, a Visual Basic




component can have no user interface, and instead provide ActiveX objects to other programs

via Component Object Model (COM). This allows for server-side processing or an add- in

module. The runtime recovers unused memory using reference counting, which depends on

variables passing out of scope or being set to nothing, avoiding the problem of memory leaks

common to other languages. There is a large library of utility objects, and the language provides

basic object oriented support. Unlike many other programming languages, Visual Basic is

generally not case sensitivethough it transforms keywords into a standard case configuration

and forces the case of variable names to conform to the case of the entry in the symbol table.

String comparisons are case sensitive by default.




CHAPTER 7

RESULT

The simulations below show the movement of the robot.

Fig 7.1 Forward

Fig 7.2 Backward




Fig 7.3 Right

Fig 7.4 Left




The PIR sensor senses temperature ranging from 35-40 degrees Celsius. Thus any

presence of intruders may be human or animal are detected.

The sensed signal is then passed to the microprocessor as an external interrupt. Whenever

an interrupt is sensed, the robot stops its motion and the signal HUMAN DETECTED is

transmitted to PC using Bluetooth. The wireless camera automatically turns to the direction

where the signal is sensed simultaneously.

The simulations are given below.

Fig 7.5 Simulation output when PIR sensor detects human presence at right side




Fig 7.6 Simulation output when PIR sensor detects human presence at left side




CHAPTER 8

CONCLUSION

The system presented here is for security operations in the protected area with wireless

secured communication. Security system available today is just a video camera or a burglar

alarm system. This system used a wireless communication system along with a wireless camera.

Thus this system becomes much more effective than the present system. The main attractive

feature of this system is that it is cost effective and reduces the human efforts take n in protected

area.




CHAPTER 9

FUTURE SCOPE

The application of this proposed system can be extended further to be used in military

purposes to find human intruders. This system can be used in those areas which are destroyed by

natural or manmade calamities such as earth quakes, fire hazards etc. Human presence under

destroyed building blocks can be detected where it is difficult for a man to reach and find the

affected people.

Using additional sensors such as gas sensors, metal detectors this system can be used for

gas leakage detection, bomb detection etc.




REFERENCES

[1] Microprocessors &MicrocontrollersD.A.Godse A.P.Godse-2008

[2] Antenna and Wave Propagation R. L Yadava 2011

[3] ZigBee Wireless Networks and Transceivers ShahinFarahani 2011

[4] A versatile gas/vision tracking robot for security system applications Cheng-Ta

ChiangControl, Systems & Industrial Informatics (ICCSII), 2012

[5] Distributed computing in sensor systems V.K. Prasannakumar, ieee

[6] Electronic security Systems Philip Walker -1998

[7] Networking and Internetworking with Microcontrollers Fred Eady-2004

[8] Programming and Circuits for RS232 Jan Axelson-1998

[9] Embedded Systems Circuits and Programming Julio Sanchez, Maria.P.Canton-2012

[10] Embedded Systems with PIC microcontrollers Tim Wilmshurst-2009

[11] MikroC PIC 16F877 HikmetSahin K Serkan Dedeoglu-2012




APPENDIX

A1.7805 DATA SHEET




A2.PIC MICROCONTROLLER DATASHEET




A3. PIR SENSOR DATASHEET




A4. MICROCONTROLLER PROGRAM

#include

#include

#define _XTAL_FREQ 4000000

void transmit(char i);

void string(char *s);

int i;

void forward()

{

RD0=1;

RD1=0;

RD2=1;

RD3=0;

}

void backward()

{

RD0=0;

RD1=1;

RD2=0;

RD3=1;

}

void left()

{

RD0=0;

RD1=0;

RD2=1;

RD3=0;

}




void right()

{

RD0=1;

RD1=0;

RD2=0;

RD3=0;

}

void stop()

{

RD0=0;

RD1=0;

RD2=0;

RD3=0;

}

void main()

{

GIE=1;

PEIE=1;

INTE=1;

RCIE=1;

TRISB0=1;

TRISB1=1;

TRISD=0;

PORTD=0X00;

CREN=1;

TXEN=1;

BRGH=1;

SPBRG=25;

SPEN=1;

SYNC=0;




while(1)

{

i=0;

if(RB1==1)

{

string("HUMAN DETECTED!!!");

stop();

RD4=1;

RD5=0;

__delay_ms(600);

RD4=0;

RD5=0;

while(i!=1);

RD4=0;

RD5=1;

__delay_ms(600);

RD4=0;

RD5=0;

while(RB1==1);

}

}

}

void static interrupt isr()

{

if(INTF==1)

{

RB0=1;

string("HUMAN DETECTED!!!");

INTF=0;

stop();

RD4=0;

RD5=1;




__delay_ms(600);

RD4=0;

RD5=0;

while(RCIF!=1);

RD4=1;

RD5=0;

__delay_ms(600);

RD4=0;

RD5=0;

}

if(RCIF==1)

{

i=1;

if(RCREG=='F'||RCREG=='f')

forward();

else if(RCREG=='B'||RCREG=='b')

backward();

else if(RCREG=='L'||RCREG=='l')

left();

else if(RCREG=='R'||RCREG=='r')

right();

else

stop();

}

}

void transmit(char i)

{

TXREG=i;

while(TRMT==0);

}

void string(char *s)

{




while(*s)

transmit(*s++);

}

smart tanker robot for security operations in the protected area with wireless secured communication

Documents

industrial robots

new robots

application of robots

todays robots

fullyautonomous robots

brief history of robots

programmable robot

potential uses of robots