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Autonomous pick and place rover for long distance surveillance using ultrasonic sensors V.Sampath kumar1, Amarendra Jadda2 2
1 PG Student, Department of Electronics & Communication Engineering, ASCET, Gudur, A.P, India. Assoc. Professor, Department of Electronics & Communication Engineering, ASCET, Gudur, A.P, India
1 verappa1989@gmail.com amarendra.jadda@gmail.com
2
Abstract: The technology advancements takes place in the field of robotics. This paper presents the autonomous rover where it can be used for long distance surveillance. It is based on the ultrasonic sensors,Temperature sensors and humidity sensors meant for to detect the obstacles as well as to estimate the parameters such as temperature, humidity respectively. The wireless communication protocols used in between PC and Robo are zigbee and RF protocols.This robo is capable of pick and place of objects using the special type of grippers. In this paper, the usage of LPC2148 is another added advantage which makes the robotic system highly Reliable. Index Index Terms---- Autonomous Robot, Sensors, RF protocol, Zigbee protocol, DC motor, Camera, Pick and place robot
A.Pick and Place module: The name itself indicates that the objects are to be picked from one place and placed on another place. The prime objective is to pick the objects based on the environment which can handles any shape of the object. The picking arm can rotate upto 360 degrees by making the base of the robot fixed. B.Sensor module: I.
I.Introduction: Robots play a vital role because they will work under any conditions without the tiredness. They are used in Industries, IC manufacturing, Pharmaceutical etc.,. for different purposes. They may be static or dynamic robots operates by the commands given manually or simply by automated instructions. This robos can perform multiple tasks by attaching devices like sensors, cameras inorder to calculate the various parameters based on the application required. These robos can be controlled by either the microcontrollers or processors which are dependent on the protocols used such as zigbee and RF protocals. The dynamic robos are taking directions under the guidelines of the operator. II.
modules are used which are communicating with the PC based on the RF, Zigbee protocols respectively. LPC 2148 is used for controlling of the robo by giving the instructions. The various types of sensors are used such as temperature sensor, humidity sensor and ultrasonic sensor.
Temperature Sensor:
In General temperature sensors are used to sense the temperature and thereby transducers are converting these sensed temperature values to the electrical values. Here the temperature sensor used is LM35 which is analog in nature and its functional range lies in between 0 degree Celsius to 100 degree Celsius. It has a sensitivity of 10mV per degree Celsius.
Related Work:
This paper focuses on the dynamic approach of calculating various parameters based on the sensors used along with the pick and place mechanism. In this approach the camera and sensor
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Fig 1. Pin diagram of LM35
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II.
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Humidity Sensor:
ĂŒt is used to measure the moisture content in the environment, designed to give the enhanced parameters of sensitivity and response time. Humidity sensor is highly stable and reliable. These sensors are constructed by a planar capacitor and another polymer layer to protect against the environmental effects that may be hazards. C.
Ultrasonic Sensor:
Fig 3. Zigbee Module
These sensors are used to find the obstacles if any that found in front of robot. Ultrasonic sensors are based on the principal of the Radar or Sonarwhere it gets the echo signal. It will act as a transceiver in which it generates the high frequency signal and analyse the reflected back echo signal. It measures the distances up to 2.5 meters at an accuracy of 1 centi- meter.
It provides low latency and duty cycle that supports for multiple network topologies such as static, mesh and star topologies. It will support upto 65,000 nodes on a network. It avoids the collision of packets and provides the acknowledgment status. IV.
Hardware Module:
It consists of the components such as DC motor, LPC 2148, and an LC293D. DC motor is the one which converts electrical energy into mechanical energy used for various industrial applications. The driver circuit is used for driving these motors where in which here LC293D is used as a driver circuit. The brief content of the these modules as follows: A.
DC motors:
The different type of protocols are used here in order to communicate between the PC and the Robot. The protocols that are used are Zigbee protocol and RF protocol respectively.
There are many types of DC motors are available in which most of the cases two types of motors most commonly used such as brushed and brushless types. Here in this paper mainly focusing on the brushed DC motor which will operate at 12V DC and 0.6A. The speed of the DC motor is controlled by either changing the voltage applied to armature or by varying the field current. Most of the DC motors are driven by the Driver ICs at present.
A.
B.
Fig2. Block Diagram of Ultrasonic Sensor
III.
Communication Protocols:
Zigbee protocol:
It’s a wireless protocol based on the IEEE 802.15 standard that suits for low power devices communication. Generally it is intended for short distance communication but we may extend to long distance using intermediate devices.
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LC293D:
This IC acts as driver circuit in which it is available in the 16-bit DIP. It will control the two small motors simultaneously in either forward or reverse direction, in which 4 pins is sufficient in order to perform this tasks.
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Fig 5. IC L293D
Fig4. DC Motor
There exists certain features and drawbacks of this IC that is used such as output current capability is limited to 600mA per channel in the sense this IC cannot drive the bigger motors. Most probably this would be fit for the small motors which suits for the Robot arm movements. If the output current exceed the 1.2 A repeatedly then the IC will be destroyed.
C.
Camera Module:
In this paper camera used is wireless camera used for both the transmitter and receiver section. Its range lies in between 100 and 150 metres based on the principal of the RF protocol. The camera used here operates at the range of 1.2 GHZ. The transmitter and receiver section uses the power supply voltage of 9v battery.
The supply voltage will maintain up to 36V maximum. If the output current exceed beyond the 1.2A then the IC gets destroyed so here in order to protect the IC from over temperature an internal sensor will be used for sensing the temperature. If the temperature will exceeds beyond the set point then automatically this sensor will send an alert and stops the motors. The additional feature of this IC is using clamp diode which protects the IC from the voltage spikes. In this IC if the voltage exceeds 1.5v then only the pin will gets enabled that makes suitable for high frequency applications like switching applications. Other than driving the motors it also be used to drive the solenoids, stepper motors etc., This is mainly based on the concept of H-bridge in which the voltage will be flow in either of the directions. By changing the voltage it will make the Robot to rotate in clockwise or anticlockwise direction. In this LC293D two H-bridge circuits are present inside the IC which will be able to rotate two dc motors independently. Here two pins are used namely pin 1 and pin9 respectively. For driving the motor with left H-bridge we enable the pin 1 whereas driving right H-bridge we make the pin 9 to be enable. If both the pins are disable then the motor used will be suspended in which it acts like switch.
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Fig 6. Wireless Camera D.
LPC 2148 Processor:
ARM is a family of instruction set architectures based on RISC architecture developed by ARM Holdings. This ARM holdings had reported that shipments was around 6100 million ARM-based processors to manufacturers of chips based on ARM architectures where the maximum percentile usage of smart phones and the remaining of 35 per cent of digital TVs and set-top boxes. As of 2014, ARM is the usage of 32-bit instructions is the maximum for major number of applications.
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Fig 9. Side View of Robot
The Robot thus shows in various directions of different views where we used the sensors and camera based modules for surveillance. Fig 7. H-Bridge
V.
Experimental Results:
The robot used here is used to pick the objects and is rotated in 360 degrees rotation. The In this project is to implement a 32-bit low-power ARM processor into the development of a Mobile Robot using ARM Processor for Line Following Application mobile robot equipped with IR sensor capabilities. The scope of the project is LPC2148 Arm Processor DC brushless motor 100 RPM Motor is used. At the end of this project, the ARM processor has successfully for motor control and respond to the digital input from the interface of IR sensor to the Microcontroller. Fig 10. Front View of Robot
snapshots of the robot used in various views such as front view, side view and top view respectively.
VI.
Conclusion:
The Robot in this paper used various sensors which senses the temperature and humidity respectively. The camera is used to estimate the position and orientation of robot. This will be used to work at hostile environments where not possible for the humans to do that. In this paper this Robot will handles over the distance of 100 metres maximum. We may expect that this coverage of surveillance can be increased to a long distances where a major number of applications comes without the human intervention.
Fig 8. Top View of Robot
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References: [1] Jacquier E, Polson NG, Rossi PE (1993) Priors and models for multivariate stochastic volatility.Unpublished manuscript, Graduate School of Business,University of Chicago. [2] L. Righetti, A. Ijspeert, Design methodologies for central pattern generators: an application to crawling humanoids, in: G.S. Sukhatme, S. Schaal, W.Burgard, D. Fox (Eds.), Proceedings of Robotics: Science and Systems,MIT Press, 2006. [3] J. Pisokas, U. Nehmzow, Experiments in subsymbolic action planning with mobile robots, in: Adaptive Agents and MultiAgent Systems II, in: Lecture Notes in Artificial Intelligence, Springer, 2005, pp. 80–87. [4] Franklin Hanshar and Beatrice Ombuki-Berman. Dynamic vehicle routing using genetic algorithms.Applied Intelligence, 27(1):52–91, 2007. [5] Thomas L. Dean and Michael P.Wellman. Planning and control. Morgan Kaufmann Publishers Inc., 1991. [6] G. Antonelli and S. Chiaverini, “Linear estimation of the physical odo- metric parameters for differential-drive mobile robots,” Auton. Robots, vol.23, no. 1, pp. 59–68, Jul. 2007. [7] A. Martinelli, N. Tomatis, and R. Siegwart, “Simultaneous localization and odometry self calibration for mobile robot,” Auton. Robots, vol. 22, no. 1, pp. 75–85, Jan. 2007. Amarendra Jadda is working as Assiciate Professor in ECE Dept, ASCET, GUDUR. He has been guiding UG & PG students since three years in this institution. He pursued his M.Tech From JNTUH, Kukatpally Hyderabad. He presented papers in four international journals & four international conferences. His intresting fields are Communications &Signal Processing, Embedded Systems.
Sampath kumar veerappa did his B.Tech in Electronics and communication engineering from Prathyusha Engineering College, Chennai. He is currently pursuing his M.Tech degree in Embedded systems from audisankara college of engineering, Gudur.
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