the touch based controlled remote mobile robot based on ...zigbee: zigbee is a new wireless...

INTERNATIONAL JOURNAL OF PROFESSIONAL ENGINEERING STUDIES Volume I/Issue 2/DEC 2013

IJPRES 1

The Touch Based Controlled Remote Mobile Robot Based On Embedded Technology

KUNDETI SARITHA1, K.VENKATESWARLU2

1M.Tech Student, Dept of ECE, Prakasam Engineering College, Kandukur mandal, Prakasam Dist, A.P, India 2Assistant Professor, Dept of ECE, Prakasam Engineering College, Kandukur mandal, Prakasam Dist, A.P, India

Abstract— The remote control of mobile robot has broad prospect of application. With the continuous development of embedded system, the system provides excellent hardware platform for embedded mobile robot. And wireless connection realizes the connection between the different parts of the equipment, which will ensure the real-time data transmission with accuracy. In this project we have touch panel through which we can control the directions of the robot like left, right, forward, back, stop etc. The information that has been given in touch panel is transmitted to the receiver section through ZIGBEE wireless technology with the help of controller. According to the information received from the transmitter the robot is moved in that direction. While moving, robot will sense the surroundings with the help of sensors and displays the sensed data in the LCD in receiver section.

Key words: Micro controller, ZIGBEE wireless technology, Touch panel, Temperature sensor, Co sensor.

I. Introduction

With the robot technology developing increasingly, mobile robot remote control system has a broad application prospect, which has been widely attention. The mobile robot remote control system has developed so rapidly, besides, it has strong adaptability to environment and excellent ability to adapt, which is suitable for various kinds of situation ,especially those which are not suitable for people to enter, besides ,the execution of the tasks will be well done without people entering, such as the dangerous battlefield military patrol reconnaissance and surveillance, or unmanned area task including biological area task chemical area task and nuclear area task etc. In addition, when come to space technology, outdoor mobile robot can expand man's perception and execution, and help to complete auxiliary exploration work for instance. At present, the realizing of industrial computer for remote terminal is mainly based on the PC and the Internet. The remote control technology in the fields is used in the military, medicine, aviation and so on. With the

increasing demand of low carbon low power consumption, and the longer time operation requirements for mobile robot, low energy consumption has become a trend. The application of the embedded system can be a very good solution to this problem. The modular design with embedded systems, can easily meet the specific needs of specific function robot. According to the combination of the system design, the optimal robot low-power can ensure the robot run time.

II. The Hardware System Of The Robot

ARM7TDMI: ARM is the abbreviation of Advanced RISC Machines, it is the name of a class of processors, and is the name of a kind technology too. The RISC instruction set, and related decode mechanism are much simpler than those of Complex Instruction Set Computer (CISC) designs.

Micro controller: This section forms the control unit of the whole project. This section basically consists of a Microcontroller with its associated circuitry like Crystal with capacitors, Reset circuitry, Pull up resistors (if needed) and so on. The Microcontroller forms the heart of the project because it controls the devices being interfaced and communicates with the devices according to the program being written.

L293D driver motor: The L293 is an integrated circuit motor driver that can be used for simultaneous, bi-directional control of two small motors. The L293 is limited to 600 mA, but in reality can only handle much small currents unless you have done some serious heat sinking to keep the case temperature down. Unsure about whether the L293 will work with your motor? Hook up the circuit and run your motor while keeping your finger on the chip. If it gets too hot to touch, you can't use it with your motor.

Liquid-crystal display (LCD) is a flat panel display, electronic visual display that uses the light


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modulation properties of liquid crystals. Liquid crystals do not emit light directly. LCDs are available to display arbitrary images or fixed images which can be displayed or hidden, such as preset words, digits, and 7-segment displays as in a digital clock. They use the same basic technology, except that arbitrary images are made up of a large number of small pixels, while other displays have larger elements.

ZIGBEE: ZIGBEE is a new wireless technology guided by the IEEE 802.15.4 Personal Area Networks standard. It is primarily designed for the wide ranging automation applications and to replace the existing non-standard technologies. It currently operates in the 868MHz band at a data rate of 20Kbps in Europe, 914MHz band at 40Kbps in the USA, and the 2.4GHz ISM bands Worldwide at a maximum data-rate of 250Kbps.

Touch panel: A touch panel is an electronic visual display that the user can control through simple or multi-touch gestures by touching the screen with one or more fingers. Some touch panel can also detect objects such as a stylus or ordinary or specially coated gloves. The user can use the touch panel to react to what is displayed and to control how it is displayed.

Temperature sensor: Temperature sensors are devices used to measure the temperature of a medium. Examples of this include maintaining the temperature of a chemical reactor at the ideal set-point, monitoring the temperature of a possible runaway reaction to ensure the safety of employees, and maintaining the temperature of streams released to the environment to minimize harmful environmental impact.

Co Sensor: They are used in gas leakage detecting equipments in family and industry, are suitable for detecting of LPG, i-butane, propane, methane, alcohol, Hydrogen, smoke.

III. Design of Proposed Hardware System

This project is mainly the wireless connection realizes the connection between the different parts of the equipment, which will ensure the real-time data transmission with accuracy. The transport layer connect the robot and the Handheld device through controlling the data’s sending and receiving, the data layer is in charge of the data encoding and decoding, and the interface layer provides controlling interface. First, realize the wireless connection between two embedded systems through wireless card. Based on the stable wireless network connection between the

two devices, through wireless connection, the hand-held devices could send the control message to the robot’s controller.

Fig.1.Handheld device

Fig.2.Vehicle section

By receiving the procedure, the robot controller received and stored procedure. At the same time, by serial links, the robot controller sends the procedure to the embedded controller. In this project we have touch panel through which we can control the directions of the robot like left, right, forward, back, stop etc. The information that has been given in touch panel is transmitted to the receiver section through ZIGBEE wireless technology with the help of controller. According to the information received from the transmitter the robot is moved in that direction. While moving, robot will sense the surroundings with the help of sensors and displays the sensed data in the LCD in receiver section.

IV. Board Hardware Resources Features

Touch Panel


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Touch-screen interfaces are effective in many information appliances, in personal digital assistants (PDAs), and as generic pointing devices for instrumentation and control applications. Getting the information from a touch screen into a microprocessor can be challenging. This article introduces the basics of how resistive touch screens work and how to best convert these analog inputs into usable digital data. Issues such as settling time, noise filtering, and speed trade-offs are addressed.

Resistive touch screens

Resistive touch screens consist of a glass or acrylic panel that is coated with electrically conductive and resistive layers made with indium tin oxide (ITO) (see Figure 1). The thin layers are separated by invisible spacers. Resistive screens are generally the most affordable type of touch screen, which explains their success in high-use applications like PDAs and Internet appliances. Although clarity is not as good as with other touch-screen types, resistive screens are very durable. The only concern is that the resistive layers can be damaged by a very sharp object. The two most popular resistive architectures use 4-wire or 5-wire configurations, as shown in Figure 2 (the 5-wire configuration uses the second layer as a wiper contact, not shown here). The circuits determine location in two coordinate-pair dimensions, although a third dimension can be added for measuring pressure in 4-wire configurations. Texas Instruments (TI) offers specialized analog-to digital converters (ADCs) for interfacing to these two popular resistive touch screens. Since the majority of applications use 4-wire touch screens, the rest of this article concentrates on this architecture, although the same advice applies to the 5-wire screens and the ADS7845, TI’s 5-wire touch-screen controller.

Resistive touch-screen controllers

When a position is measured on a 4-wire touch screen, voltage is applied across the screen in the Y direction; and a touch presses the layers together, where a voltage can be read from one of the X electrodes. The contact made as a result of the touch creates a voltage divider at that point, so the Y coordinate can be determined; the process then repeats with the X direction being driven, and a reading is taken from one of the Y electrodes. A touch-screen controller is simply an ADC that has built-in switches to control which electrodes are driven and which electrodes are used as the input to the ADC.

Fig.3. Resistive touch panel

The ADC can often be operated with different reference modes: single-ended or differential.

Single-ended configuration

In a single-ended configuration, the ADC reference is supplied between a reference input (VREF) and ground. Very often, VREF is actually the power supply voltage. The ADC output is then a ratio of the input signal to the VREF voltage. Since the touch screen is a voltage divider, this may seem sensible. However, there are several possible errors that may show up due to the driver switches, such as gain and offset errors from temperature, voltage drops in the switches, etc.

If the reference voltage is not the power supply, then power-supply variations could cause errors, since the power supply is the voltage placed across the screen; and, while it varies, the reference voltage will not. Variations in touch-screen impedance can also cause gain or offset errors.

ZIGBEE Technology

ZIGBEE is a new wireless technology guided by the IEEE 802.15.4 Personal Area Networks standard. It is primarily designed for the wide ranging automation applications and to replace the existing non-standard technologies. It currently operates in the 868MHz band at a data rate of 20Kbps in Europe, 914MHz band at 40Kbps in the USA, and the 2.4GHz ISM bands Worldwide at a maximum data-rate of 250Kbps.The ZIGBEE specification is a combination of Home RF Late and the 802.15.4 specification.


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Fig.4.Touch screen circuit configurations

The specification operates in the 2.4GHz (ISM) radio band - the same band as 802.11b standard, Bluetooth, microwaves and some other devices. It is capable of connecting 255 devices per network. The specification supports data transmission rates of up to 250 Kbps at a range of up to 30 meters. ZIGBEE's technology is slower than 802.11b (11 Mbps) and Bluetooth (1 Mbps) but it consumes significantly less power. 802.15.4 (ZIGBEE) is a new standard uniquely designed for low rate wireless personal area networks. It targets low data rate, low power consumption and low cost wireless networking, and its goal is to provide a physical-layer and MAC-layer standard for such networks.

Wireless networks provide advantages in deployment, cost, size and distributed intelligence when compared with wired networks. This technology allows users to set up a network quickly, and allows them to set up networks where it is impossible or inconvenient to wire cables. Wireless networks are more cost-efficient than wired networks in general. Bluetooth (802.15.1) was the first well-known wireless standard facing low data rate applications. The effort of Bluetooth to cover more applications and provide quality of service has led to its deviation from the design goal of simplicity, which makes it expensive and inappropriate for some simple applications requiring low cost and low power consumption. These are the kind of applications this new standard is focused on. It's relevant to compare here Bluetooth and ZIGBEE, as they are sometimes seen as competitors, to show their differences and to clarify for which applications suits each of them. The

data transfer capabilities are much higher in Bluetooth, which is capable of transmitting audio, graphics and pictures over small networks, and also appropriate for file transfers. ZIGBEE, on the other hand, is better suited for transmitting smaller packets over large networks; mostly static networks with many, infrequently used devices, like home automation, toys, remote controls, etc. While the performance of a Bluetooth network drops when more than 8 devices are present, ZIGBEE networks can handle 65000+ devices.

Fig.5.Pin diagram of X-Bee Transceiver

Temperature Sensor - The LM35 The LM35 is an integrated circuit sensor that can be used to measure temperature with an electrical output proportional to the temperature (in oC) The LM35 - An Integrated Circuit Temperature Sensor

You can measure temperature more accurately than a using a thermistor.

The sensor circuitry is sealed and not subject to oxidation, etc.

The LM35 generates a higher output voltage than thermocouples and may not require that the output voltage be amplified.


IJPRES 5

Fig.6. Temperature sensor

Working of LM35:

1. It has an output voltage that is proportional to the Celsius temperature.

2. The scale factor is .01V/oC 3. The LM35 does not require any external

calibration or trimming and maintains an accuracy of +/-0.4 oC at room temperature and +/- 0.8 oC over a range of 0 oC to +100 oC.

4. Another important characteristic of the LM35DZ is that it draws only 60 micro amps from its supply and possesses a low self-heating capability. The sensor self-heating causes less than 0.1 oC temperature rise in still air.

The LM35 comes in many different packages, including the following.

TO-92 plastic transistor-like package, T0-46 metal can transistor-like package 8-lead surface mount SO-8 small outline

package TO-202 package. (Shown in the picture

above)

CO SENSOR:

Product Description

They are used in gas leakage detecting equipments in family and industry, are suitable for detecting of LPG, i-butane, propane, methane, alcohol, Hydrogen, smoke.

Fig.7. CO Sensor

Advantages

Voltage output High sensitivity Long stability Good selectivity Effective technical service

V. OPERATION PRINCIPLE

The surface resistance of the sensor Rs is obtained through effected voltage signal output of the load resistance RL which series-wound. The relationship between them is described:

Rs\RL = (Vc-VRL) / VRL

Fig. 5 shows alterable situation of RL signal output measured by using Fig. 2 circuit output signal when the sensor is shifted from clean air to carbon monoxide (CO) , output signal measurement is made within one or two complete heating period (2.5 minute from high voltage to low voltage ).

Sensitive layer of MQ-7 gas sensitive components is made of SnO2 with stability, So, it has excellent long


IJPRES 6

term stability. Its service life can reach 5 years under using condition.

SENSITVITY ADJUSTMENT

Resistance value of MQ-7 is difference to various kinds and various concentration gases. So, when using these components, sensitivity adjustment is very necessary. we recommend that you calibrate the detector for 200ppm CO in air and use value of Load resistance that( RL) about 10 KΩ(5KΩ to 47 KΩ). When accurately measuring, the proper alarm point for the gas detector should be determined after considering the temperature and humidity influence. The sensitivity adjusting program:

a. Connect the sensor to the application circuit. b. Turn on the power; keep preheating through

electricity over 48 hours. c. Adjust the load resistance RL until you get a

signal value which is respond to a certain carbon monoxide concentration at the end point of 90 seconds.

d. Adjust the another load resistance RL until you get a signal value which is respond to a CO concentration at the end point of 60 seconds .

VI. Conclusion

The experimental results showed that through the application of the embedded equipment, the mobile robot energy consumption decreased significantly, and could complete remote operation control functions perfectly. The remote control of mobile robot has broad prospect of application. With the continuous development of embedded system, the system provides excellent hardware platform for embedded mobile robot. And wireless connection realizes the connection between the different parts of the equipment, which will ensure the real-time data transmission with accuracy. In this project we have touch panel through which we can control the directions of the robot like left, right, forward, back, stop etc. The information that has been given in touch panel is transmitted to the receiver section through ZIGBEE wireless technology with the help of controller. According to the information received from the transmitter the robot is moved in that direction. While moving, robot will sense the surroundings with the help of sensors and displays the sensed data in the LCD in receiver section.

VII. REFERENCES

[1] Yue bangguo, “Talking about bedpan’s flushing filth function and saving water,” Chinaware, 2001(5).(in Chinese) [2] Zhao xiaojun, Li yunfei, Su haixia, Ren mingwei, Chen lei, Tian hua, “Robot’s teleoperation system based on the ARM processor,” The computer engineering, 2009(3).(in Chinese) 3] Wang bing, Li cunbin, Chen peng. EVC high-level programming and its application development. Beijing: China water conservancy and hydropower press. (in Chinese) [4] Li donghao, You bo_Qiu jiangyan, Li xin, “Robot’s remote operating system based on the Internet,” Journal of Harbin University of Science and Technology, 2009(8) .(in Chinese) [5] Yan shan, “Research and implementation of the robot systemon based on TCP/IP remote control,” Journal of Fujian Normal University(Natural Science Edition), 2002(9) .(in Chinese) [6] Bai bing, Wu xiaowen, Liu huaping, He kezhong, “Teleoperation system design and implementation of outdoor mobile robot,” Computer science, 2009(2) .(in Chinese) [7] Zhao mingguo, Zhao jie, Cui ze, “Remote operation of robot system based on Internet -Telerobot,” Journal of Harbin University of Science and Technology, 2001(2) .(in Chinese) [8] Wang xueqian, Xu wenfu, Liang bin,Li cheng “Teleoperation system design and development of space robot,” Journal of Harbin Institute of Technology, 2010(2) .(in Chinese) [9] Xue guangtao, Chen yimin, “Zhang tao Study of remote robot control system based on Linux t,” Robot, 2001(5) .(in Chinese) Kundeti Saritha pursuing her M.Tech in VLSI & Embedded Systems from Prakasam Engineering College, Kandukur mandal, Prakasam Dist, A.P, India. Affiliated to Jawaharlal Nehru Technological University, Kakinada, and is approved by AICTE Delhi.

K.Venkateswarlu, his Qualification is M.tech, currently working as an Assistant Professor, in the Department of Electronics and communication Engineering, Prakasam Engineering College, Kandukur mandal, Prakasam Dist, A.P, India. Affiliated to Jawaharlal Nehru Technological University, Kakinada, and is approved by AICTE Delhi.

the touch based controlled remote mobile robot based on ...zigbee: zigbee is a new wireless...

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