7th Sense Multipurpose Robot
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Transcript of 7th Sense Multipurpose Robot
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7TH SENSE MULTIPURPOSE ROBOT A PROJECT REPORT
Submitted by
MOHAN KUMAR.K (070107107049)
ASHOK KUMAR.D (080407107101)
DINESH KUMAR.S (080407107103)
DHINESH KUMAR.K (080407107104)
in partial fulfillment for the award of the degree
of
BACHELOR OF ENGINEERING
In
ELECTRONIC AND COMMUNICATION ENGINEERING,
HINDUSTHAN COLLEGE OF ENGINEERING AND TECHNOLOGY,
COIMBATORE - 641032.
ANNA UNVERSITY OF TECHNOLOGY,
COIMBATORE – 641047.
OCTOBER – 2010.
1
7TH SENSE MULTIPURPOSE ROBOT A PROJECT REPORT
Submitted by
MOHAN KUMAR.K (070107107049)
ASHOK KUMAR.D (080407107101)
DINESH KUMAR.S (080407107103)
DHINESH KUMAR.K (080407107104)
in partial fulfillment for the award of the degree
of
BACHELOR OF ENGINEERING
In
ELECTRONIC AND COMMUNICATION ENGINEERING,
HINDUSTHAN COLLEGE OF ENGINEERING AND TECHNOLOGY,
COIMBATORE - 641032.
ANNA UNVERSITY OF TECHNOLOGY,
COIMBATORE - 641047.
OCTOBER – 2010.
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CERTIFICATE
3
ANNA UNIVERSITY OF TECHNOLOGY ,
COIMBATORE-641047.
BONAFIDE CERTIFICATE
Certified that this project report “ 7TH SENSE MULTIPURPOSE ROBOT ” is
the bonafide work of “ MOHAN KUMAR.K, ASHOK KUMAR.D, DINESH
KUMAR.S, DHINESH KUMAR.K ” who carried out the project work under my
supervision.
SIGNATURE SIGNATURE
SUPERVISOR HEAD OF THE DEPARTMENT
Miss: B.AMBIKA.M.E., Prof:Mohanasundaram.M.E.,MIME.,F.I.E.T.E
Lecuture of ECE Dept., Proffessor & HOD of ECE Dept.,
Hindusthan College of Engineering & Hindusthan College of Engineering &
Technology., Technology.,
Coimbatore. Coimbatore.
______________________________________________________________________________
Submitted for the Anna University of Technology Project viva-voce conducted on
_____________
-------------------------- -------------------------
Internal Examiner External Examiner
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ACKNOWLEDGEMENT
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ACKNOWLEDGEMENT
We are responsible to submit our true, sincere and respectful thanks to our
department staffs who allowed us to conduct a study on this work and we presented
all these project works by means of seminars.
We would like to express our sincere thanks to Shri.T.S.R. Khannaiyann,
Chairman and Smt.Sarasuwathi Khannaiyann, Secretary Hindusthan Educational
and Charitable Trust for providing the facilities within the college.
We would like to extend our warm thanks to our beloved Principal
Dr. V. Duraisamy, Ph.D. Who has granted permission for immediately starting this
project work. Our grateful and the Head of our department
Prof.N.Mohanasundaram,M.E.,M.I.E.,F.I.E.T.E., who has been a constant source
support for us.
We heart full thanks to our beloved staff and guide Miss B.Ambika ME, for his
consistence guidance and valuable suggestions given by him for the successful
completion of our project work.
We would also like to thank Mr.A.Udayakumar, M.E., Project Coordinator and
all the staff members of ECE department for the timely suggestions and
encouragement.
This entire frame goes to our beloved parents who are really interested and has
high expectations on us to become a successful engineer. We dedicate this remarkable
work to our beloved parents
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ABSTRACT
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Abstract
Nowadays, robots are playing very important role in the automation of the
companies. This is to reduce the human error and also to increase the productivity. This is
one of the projects to design the Robot for the rescuing purpose in the natural disaster or
in bomb blast and also it act as spy robot. We are using the computer in this project to
control the robot and also to visualize the control. For controlling the robot, the signal is
generated by the encoder using the computer. The generated signal is modulated and
transmitted through the transmitter. The signal is given to the microcontroller, which is a
programmable IC, where we can program it to control the motors according to the signal
from the computer. The microcontroller is also programmed to control the camera
position according to the signal from the computer. We are using the wireless transmitter
in the camera to transmit the video signal. Using the moisture sensor, temperature sensor
and metal detector the parameters can be measured in the computer. One of the main
advantages of our system is that the mode switching can be done very fast with out any
delay. Thus our aim is to provide a robotic system that can combat in wars, spy purpose
and other military purposes.
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CONTENTS
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Table of Contents
CHAPTER NO. TITLE PAGE NO.
List of Tables 9
List of Figures 10
1 Introduction
1.1.1 Robot 12
1.1.2 Spy robot 12
1.1.2 Objective 13
2 System Analysis
2.1 Existing System 16
2.2 Proposed System 16
3 System Specification
3.1 Software Requirement 18
4 Software Description
4.1 LabVEIW 20
5 Project Description
5.1 Problem definition 35
5.2 Overview of the project 35
5.3 Block diagram 36
5.3.1 Robo section 36
5.3.2 Control section 37
6 Conclusion & Future enhancement
6.1 Conclusion 43
6.2 Future enhancement 43
7 Appendix
7.1 Connection diagram 45
7.2 Screen Shot 45
8 Reference 48
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List of Figures
Fig.No. Figure Name Page No.
4.1 Front panel 24
4.2 Block panel 25
4.3 Control palette 25
4.4 Function palette 26
4.5 Tools palette 27
4.6 Slope of line 32 & 33
5.1 Robo section 36
5.2 Control & Monitoring section 37
5.3 Power supply Circuit diagram 40
5.4 Power supply Block diagram 40
7.1 LabVIEW Connection diagram 45
7.2 LabVIEW Screen Shot (Automatic) 45
7.3 LabVIEW Screen Shot (Manual) 46
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INTRODUCTION
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CHAPTER 1
PROJECT INTRODUCTION
1.1 Introduction
Nowadays robot has been widely used in various fields like industries, academic,
research and development, militaries and others. This chapter defines the robot, the
project on autonomous spy robot. The project is to build an automatic robot that has
capability to avoid any obstacle detected and there is sound detector that used to stop the
movement of the robot when there are sounds detected at certain frequency. Others the
robot will attach wireless visual system that human able to monitor the robot vision using
computer.
1.1.1 Robot
Robots have increasingly being used in industries, especially in manufacturing and
assembling in major industrialized countries. There are some advantages of using robot,
they are:
Reduce labour cost.
• Improved the work quality.
• Elimination of dangerous or undesirable jobs.
• Controlled and faster inventory.
• Increase precision.
Robot that are capable to perform complicated motion and have external sensor
such as vision, tactile or force sensing are required for a more complicated applications
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such as welding, painting, grinding and assembly. This is because these operations
resulted in the increase of interaction between the robot and its surrounding.
A robot by definition is a machine that looks like a human being and performs
various complex acts, walking and talking of a human being. It is also defined as fictional
machine whose lack of capacity for human emotions is often emphasized. By general
convention a robot is a programmable machine that imitates the actions or appearance of
an intelligent creature such as human.
From the Robot Institute of America, robot is defined:
“A robot is a programmable multifunctional manipulator designed to move
material, part, tools or specialized device through variable programmed motion for the
performance of a variety of tasks.”
1.1.2 The Spy Robot
Spy robot is a robot that can perform a task given such as locomotion, sensing,
localization, and motion planning without a control from the human during the task in
progress. The spy robot is the autonomous robot that consist wireless camera that human
able to monitor via computer as a spy.
Today wireless system have been widely used by many company because wireless
can save cost of wiring, easy to install, occupy lesser space, easy for maintenance and
more reliable.
There are three types of wireless communications, Infrared, Bluetooth and Radio
Frequency. Radio frequency normally is chosen for the wireless spy robot because it has
large connectivity range and it is more reliable that other wireless communication system.
In the market now, wireless spy robot basically works in two ways. One is use as
security purpose like a guard that the robot will control by human at the control room to
observe the security of the organization building. Usually the robot will placed at the
fixed location and the unit of the robot will be high needed to observe at the large
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building. Others, this type of robot is not autonomous and the robot only capable to
observe 360˚ at its range.
The other one is the spy robot is used for the military purpose to survey the enemy
location. Basically it used for the military purpose, the spy robot is use satellite as the
wireless vision system because the range of the connectivity is further and can be
controlled around the world via satellite controller. For the advance spy robot, they have
advance technology like the spy robot have capability to hide itself from detected by
radar using anti-radar detector that the signal transmit by the radar anti-signaled. Others
the mechanical part of the spy robot will be smallest as the developed of nanotechnology.
1.1.3 Objective
There are four main objectives in this project. The first objective of this project is
to build a robot that moves automatically without need any external aids. The robot has
ability to avoid obstacle around it by using infrared sensor. It is the most basic application
of military robot.
The second objective is to build the sound sensor that the robot capable to hide or
stop moving when there are sound detected at certain frequency. The robot will use
microphone as the sound detector to detect the sound and the robot will be stop moving
when there are sound detected. The radio sound leveling can be applied to detect sound at
certain frequency. The sound sensor will detect sound at range of human sound
frequency.
The third objective is to build a robot with wireless vision system. The wireless
visual system is used to human monitor the robot vision via computer. To build the
wireless visual system, the wireless camera will be applied on the robot and the wireless
camera will transmit the visual around the robot to the receiver on the computer.
The last objective of this project is to build a robot that detects automatically
without need any external aids. The robot has ability to detect bomb and diffuse it by
using metal detector sensor. It is the most basic application of military robot.
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SYSTEM ANALYSIS
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CHAPTER 2 2. SYSTEM ANALYSIS
2.1 Existing System
There is much advancement in the field of engineering, robotics in
particular. Many robotic systems have been developed for various purposes. There are
certain systems which are used for automatic motion of vehicles in road and wheel chairs
which can help disabled. There are also robotic systems which can be used for defense
purposes. In addition to these advancements there are also robotic systems which can
combat in war times. This robot is named "Security Warrior" and consists of five systems
including vision, motion; robot sense, power estimation and remote supervise.
2.2 Proposed System
Here in our existing system there are only remote monitoring for robots are
available. Here in our system we are going to control the robot from remote location in
addition to remote monitoring (i.e. User Mode). Our system also has an automatic mode
in which it can take its own decision for combating. In addition to this we are also
including some of the features like bomb detection, bomb diffusion, fire detection,
intruder detection. Thus our system is more reliable to combat the enemy than the
existing system. We are going to control the robot from remote location by using a
computer. Our robot is also capable of detecting and diffusing the bombs more quickly. It
can either be done through automatic mode or by user mode. Our system also contains
fire detection module and intruder detection module which is being carried out by using
facial recognition techniques.
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SOFTWARE REQUIREMENTS
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CHAPTER 3
3. SOFTWARE REQUIREMENT
3.1 SOFTWARE REQUIREMENTS
3.1.1 Lab view
3.1.2 Dataflow Programming
3.1.3 Graphical Programming
3.1.4 Benefits
3.1.5 Icon and Connector Pane
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SOFTWARE DESCRIPTION
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CHAPTER 4 4. SOFTWARE DESCRIPTION
4.1 LabVIEW
LabVIEW (short for Laboratory Virtual Instrumentation Engineering Workbench)
is a platform and development environment for a visual programming language from
National Instruments. The graphical language is named "G". Originally released for the
Apple Macintosh in 1986, LabVIEW is commonly used for data acquisition, instrument
control, and industrial automation on a variety of platforms including Microsoft
Windows, various flavors of UNIX, Linux, and Mac OS. The latest version of LabVIEW
is version 8.6.1, released in February of 2009.
Dataflow Programming
The programming language used in LabVIEW, also referred to as G, is a dataflow
programming language. Execution is determined by the structure of a graphical block
diagram (the LV-source code) on which the programmer connects different function-
nodes by drawing wires. These wires propagate variables and any node can execute as
soon as all its input data become available. Since this might be the case for multiple
nodes simultaneously, G is inherently capable of parallel execution. Multi-processing and
multi-threading hardware is automatically exploited by the built-in scheduler, which
multiplexes multiple OS threads over the nodes ready for execution.
Graphical Programming
LabVIEW ties the creation of user interfaces (called front panels) into the
development cycle. LabVIEW programs/subroutines are called virtual instruments (VIs).
Each VI has three components: a block diagram, a front panel, and a connector panel.
The last is used to represent the VI in the block diagrams of other, calling VIs. Controls
and indicators on the front panel allow an operator to input data into or extract data from
a running virtual instrument. However, the front panel can also serve as a programmatic
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interface. Thus a virtual instrument can either be run as a program, with the front panel
serving as a user interface, or, when dropped as a node onto the block diagram, the front
panel defines the inputs and outputs for the given node through the connector pane. This
implies each VI can be easily tested before being embedded as a subroutine into a larger
program.
The graphical approach also allows non-programmers to build programs simply by
dragging and dropping virtual representations of lab equipment with which they are
already familiar. The LabVIEW programming environment, with the included examples
and the documentation, makes it simple to create small applications. This is a benefit on
one side, but there is also a certain danger of underestimating the expertise needed for
good quality "G" programming. For complex algorithms or large-scale code, it is
important that the programmer possesses an extensive knowledge of the special
LabVIEW syntax and the topology of its memory management. The most advanced
LabVIEW development systems offer the possibility of building stand-alone applications.
Furthermore, it is possible to create distributed applications, which communicate by a
client/server scheme, and are therefore easier to implement due to the inherently parallel
nature of G-code.
Benefits
One benefit of LabVIEW over other development environments is the extensive
support for accessing instrumentation hardware. Drivers and abstraction layers for many
different types of instruments and buses are included or are available for inclusion. These
present themselves as graphical nodes. The abstraction layers offer standard software
interfaces to communicate with hardware devices. The provided driver interfaces save
program development time. The sales pitch of National Instruments is, therefore, that
even people with limited coding experience can write programs and deploy test solutions
in a reduced time frame when compared to more conventional or competing systems. A
new hardware driver topology (DAQmxBase), which consists mainly of G-coded
components with only a few register calls through NI Measurement Hardware DDK
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(Driver Development Kit) functions, provides platform independent hardware access to
numerous data acquisition and instrumentation devices. The DAQmxBase driver is
available for LabVIEW on Windows, Mac OS X and Linux platforms.
In terms of performance, LabVIEW includes a compiler that produces native code
for the CPU platform. The graphical code is translated into executable machine code by
interpreting the syntax and by compilation. The LabVIEW syntax is strictly enforced
during the editing process and compiled into the executable machine code when
requested to run or upon saving. In the latter case, the executable and the source code are
merged into a single file. The executable runs with the help of the LabVIEW run-time
engine, which contains some precompiled code to perform common tasks that are defined
by the G language. The run-time engine reduces compile time and also provides a
consistent interface to various operating systems, graphic systems, hardware components,
etc. The run-time environment makes the code portable across platforms. Generally, LV
code can be slower than equivalent compiled C code, although the differences often lie
more with program optimization than inherent execution speed.
Many libraries with a large number of functions for data acquisition, signal
generation, mathematics, statistics, signal conditioning, analysis, etc., along with
numerous graphical interface elements are provided in several LabVIEW package
options. The number of advanced mathematic blocks for functions such as integration,
filters, and other specialized capabilities usually associated with data capture from
hardware sensors is immense. In addition, LabVIEW includes a text-based programming
component called MathScript with additional functionality for signal processing, analysis
and mathematics. MathScript can be integrated with graphical programming using "script
nodes" and uses .m file script syntax that is generally compatible with Matlab.
The fully object-oriented character of LabVIEW code allows code reuse without
modifications: as long as the data types of input and output are consistent, two sub VIs
are interchangeable.
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The LabVIEW Professional Development System allows creating stand-alone
executables and the resultant executable can be distributed an unlimited number of times.
The run-time engine and its libraries can be provided freely along with the executable.
A benefit of the LabVIEW environment is the platform independent nature of the G code,
which is (with the exception of a few platform-specific functions) portable between the
different LabVIEW systems for different operating systems (Windows, Mac OS X and
Linux). National Instruments is increasingly focusing on the capability of deploying
LabVIEW code onto an increasing number of targets including devices like Phar Lap OS
based LabVIEW real-time controllers, PocketPCs, PDAs, FieldPoint modules and into
FPGAs on special boards.
There is a low cost LabVIEW Student Edition aimed at educational institutions for
learning purposes. There is also an active community of LabVIEW users who
communicate through several e-mail groups and Internet forums.
Front Panel
The front panel is the user interface of the VI. You build the front panel with
controls and indicators, which are the interactive input and output terminals of the VI,
respectively. Controls are knobs, pushbuttons, dials, and other input devices. Indicators
are graphs, LEDs, and other displays. Controls simulate instrument input devices and
supply data to the block diagram of the VI. Indicators simulate instrument output devices
and display data the block diagram acquires or generates.
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Controls = Inputs Indicators = Outputs
Fig: 4.1 front panel
Block Diagram
After you build the front panel, you add code using graphical representations of
functions to control the front panel objects. The block diagram contains this graphical
source code. Front panel objects appear as terminals on the block diagram.
Additionally, the block diagram contains functions and structures from built-in
LabVIEW VI libraries. Wires connect each of the nodes on the block diagram, including
control and indicator terminals, functions, and structures.
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Fig: 4.2 block panel
Lab VIEW Three Palettes
Lab VIEW palettes give you the options you need to create and edit the front panel
and block diagram.
1. The Controls palette is available only on the front panel. The Controls palette
contains the controls and indicators you use to create the front panel. Select
Window»Show Controls Palette or right-click the front panel workspace to display the
Controls palette. You can place the Controls palette anywhere on the screen.
Fig: 4.3 Control Palette
2. The Functions palette is available only on the block diagram. The Functions
palette contains the VIs and functions you use to build the block diagram. Select
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Window»Show Functions Palette or right-click the block diagram workspace to display
the Functions palette. You can place the Functions palette anywhere on the screen.
Fig: 4.4 Function palette
3. The Tools palette is available on the front panel and the block diagram.
A tool is a special operating mode of the mouse cursor. When you select a tool, the cursor
icon changes to the tool icon. Use the tools to operate and modify front panel and block
diagram objects.
Select Window»Show Tools Palette to display the Tools palette. You can place
the Tools palette anywhere on the screen.
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LabVIEW Toolbars:
Fig: 4.5 Tools palette
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Procedure:
1.Launch LabVIEW from Start»Programs»National Instruments LabVIEW
6.1. Click New VI to open a new front panel.
2. (Optional) Select Window»Tile Left and Right to display the front panel and
block diagram side by side.
3. Create a numeric digital control. You will use this control to enter the value for
degrees Centigrade.
a. Select the digital control on the Controls»Numeric palette. If the Controls
palette is not visible, right-click an open area on the front panel to display it.
b. Move the control to the front panel and click to place the control.
c. Type deg C inside the label and click outside the label or click the Enter button
on the toolbar, shown at left. If you do not type the name immediately, LabVIEW uses a
default label. You can edit a label at any time by using the Labeling tool, shown at left.
4. Create a numeric digital indicator. You will use this indicator to display the
value for degrees Fahrenheit.
a. Select the digital indicator on the Controls»Numeric palette.
b. Move the indicator to the front panel and click to place the indicator.
c. Type deg F inside the label and click outside the label or click the Enter
button.
5. Display the block diagram by clicking it or by selecting Window» Show
Diagram.
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6. Select the Multiply and Add functions on the Functions»Numeric palette and
place them on the block diagram. If the Functions palette is not visible, right-click an
open area on the block diagram to display it.
7. Select the numeric constant on the Functions»Numeric palette and place two
of them on the block diagram. When you first place the numeric constant, it is
highlighted so you can type a value.
8. Type 1.8 in one constant and 32.0 in the other.
If you moved the constants before you typed a value, use the Labeling tool to enter the
values.
9. Use the Wiring tool to wire the icons as shown in the block diagram.
• To wire from one terminal to another, use the Wiring tool to click the first
terminal, move the tool to the second terminal, and click the second terminal, as
shown in the following illustration. You can start wiring at either terminal.
• You can bend a wire by clicking to tack the wire down and moving the
cursor in a perpendicular direction. Press the spacebar to toggle the wire direction.
• To identify terminals on the nodes, right-click the Multiply and Add
functions and select Visible Items»Terminals from the shortcut menu to display
the connector pane. Return to the icons after wiring by right-clicking the functions
and selecting Visible Items»Terminals from the shortcut menu to remove the
checkmark.
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• When you move the Wiring tool over a terminal, the terminal area blinks,
indicating that clicking will connect the wire to that terminal and a tip strip
appears, listing the name of the terminal.
• To cancel a wire you started, press the <Esc> key, right-click, or click the
source terminal.
10. Display the front panel by clicking it or by selecting Window»Show Panel.
11. Save the VI because you will use this VI later in the course. Select File»Save.
Type Convert C to F.vi in the dialog box. Click the Save button.
12. Enter a number in the digital control and run the VI.
a. Use the Operating tool or the Labeling tool to double-click the digital
control and type a new number.
b. Click the Run button to run the VI.
c. Try several different numbers and run the VI again.
13. Right-click the icon in the upper right corner of the front panel and select Edit
Icon from the shortcut menu. The Icon Editor dialog box appears.
14. Double-click the Select tool on the left side of the Icon Editor dialog box to
select the default icon.
15. Press the <Delete> key to remove the default icon.
16. Double-click the Rectangle tool to redraw the border.
17. Create the following icon.
a. Use the Text tool to click the editing area.
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b. Type C and F.
c. Double-click the Text tool and change the font to Small Fonts.
d. Use the Pencil tool to create the arrow.
Note To draw horizontal or vertical straight lines, press the <Shift> key while you use
the Pencil tool to drag the cursor.
e. Use the Select tool and the arrow keys to move the text and arrow you
created.
f. Select the B&W icon and select 256 Colors in the Copy from field to
create a black and white icon, which LabVIEW uses for printing unless you
have a color printer.
g. When the icon is complete, click the OK button to close the Icon Editor
dialog box. The icon appears in the upper right corner of the front panel and
block diagram.
18. Right-click the icon on the front panel and select Show Connector from the
shortcut menu to define the connector pane terminal pattern.
LabVIEW selects a connector pane pattern based on the number of controls and
indicators on the front panel. For example, this front panel has two terminals, deg C and
deg F, so LabVIEW selects a connector pane pattern with two terminals.
19. Assign the terminals to the digital control and digital indicator.
a. Select Help»Show Context Help to display the Context Help window.
View each connection in the Context Help window as you make it.
b. Click the left terminal in the connector pane. The tool automatically
changes to the Wiring tool, and the terminal turns black.
c. Click the deg C control. The left terminal turns orange, and a marquee
highlights the control.
d. Click an open area of the front panel. The marquee disappears, and the
terminal changes to the data type color of the control to indicate that you
connected the terminal.
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e. Click the right terminal in the connector pane and click the deg F
indicator. The right terminal turns orange.
f. Click an open area on the front panel. Both terminals are orange.
g. Move the cursor over the connector pane. The Context Help window
shows that both terminals are connected to floating-point values.
20. Select File»Save to save the VI.
21. Select File»Close to close the VI.
Example 2: Add and Subtract two numbers
The formula for the slope of a line is as follows:
Slope = (Y2 – Y1) / (X2 – X1)
where (X1, Y1) and (X2, Y2) are points on the line.
Front Panel
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Block Diagram
Fig : 4.6 Slope of a Line
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PROJECT DESCRIPTION Chapter 5
PROJECT DESCRIPTIONS
5.1 Problem Definition
There are many spy or surveillances camera widely used for home or organization
security system. Some of the design able to control via computer by using XBEE that
35
have the wide range of transmit and receive data. With this device the human will able to
control and see the wireless visual system via computer from other location.
In military, the wireless camera has been used as their first line force to survey the
enemy location from their base. By using this robot, they can save their soldier live
because before they move to enemy location they already know the enemy situation and
percentage to they win in the war will be increase.
Some of the spy robots always need the human to control the robot movement and
the human need to focus totally on the robot when it is moves. Other than that the robot is
not capable to hide when the enemy detected because the robot controlled by human and
the human is not able to know when there are enemy or human nearby. 5
Therefore this project will be focus on build the autonomous wireless visual
system robot to the robot has capability to move itself and capable to hide or stop its
movement when there are human or enemy detected.
5.2 OVERVIEW OF THE PROJECT
In our project “7th sense Multipurpose Robot”, we have used two sections of
operation to control. The two sections are Robot section and control-monitoring section.
In the robot section some sensors has fixed to detect or sense such as bomb, temperature
and moisture. In the control-monitoring section used for controlling the robot by manual
or by automatically. The brief operation of the project has given in the block diagram
description. While using this kind of robot we can easily identify the bombs and also
diffuse the bomb. Mostly this kind of robot is used for military purpose and spy robo.
5.3 BLOCK DIAGRAM
5.3.1 ROBO SECTION
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Fig : 5.1 Robo Section
5.3.2 CONTROL-MONITORING SECTION
Temp and Moisture sensor
Metal Detector
Receiver Decoder PIC
16F877 Buffer
Transmitter Encoder Motor Driver
Motor driver
CameraCamera Control Motor
Motor Motor
Battery Robot mechanism
Motor Driver
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Fig: 5.2 Control & Monitoring section
BLOCK DIAGRAM DESCRIPTION
There are two sections are used in this multipurpose robot. They are,
1. Robo section
2. Control & monitoring section
Robo section
In ROBO section, the sensors like temperature, moisture and metal detector. It is
used for sense changes in surface and atmosphere. Temperature sensor and moisture
sensor signal is converted using ADC and sends signal to the microcontroller. There are
three motor drivers are used in the robo section. They are the first two motor drivers are
used to control the movement of the robo motor. The second motor driver is used to
control for the Camera movement in robo. The 12v battery supply is given to the motors
for moving the robot and also the supply is given to camera.
Control and monitoring section
PIC 16F877
RS232
PC
Decoder
Encoder
Tuner card
Power supply
Receiver
Transmitter
Video receiver
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The PIC Microcontroller is the main part of this project. It is programmed to control
the motor driver and camera control motor. The RS232 for interference of pc and PIC
microcontroller. Using softwares can monitor in PC. The softwares are visual basic and
labview. Power supply for microcontroller is 5v
Automatic Mode
Here the user has no control over the robot. The robot takes it own decisions and
performs the required operation using AI.At unavoidable circumstances the control
automatically goes to the user.
User Mode
Here in this mode the user has the full control of the robot. The user can control
the robot from the remote location and perform the required operation.
Bomb Detection
Laser Gun can be used to Detect Roadside Bombs. Trained wasps are used to
detect the bombs .They are contained into a device called as “Wasp Hound” which gives
an alarm or triggers a visual signal. NQR (Nuclear quadruple resonance) is another
technique for detecting the explosives.
ADC:
The Analog-to-Digital (A/D) Converter module has five inputs for the 28-pin
devices and eight for the other devices. The analog input charges a sample and hold
capacitor. The output of the sample and hold capacitor is the input into the converter. The
converter then generates a digital result of this analog level via successive approximation.
The A/D conversion of the analog input signal results in a corresponding 10-bit digital
number. The A/D module has high and low voltage reference input that is software
selectable to some combination of VDD, VSS, RA2, or RA3. The A/D converter has a
unique feature of being able to operate while the device is in SLEEP mode. To operate in
SLEEP, the A/D clock must be derived from the A/D’s internal RC oscillator.
39
The A/D module has four registers. These registers are:
• A/D Result High Register (ADRESH)
• A/D Result Low Register (ADRESL)
• A/D Control Register0 (ADCON0)
• A/D Control Register1 (ADCON1)
The port pins can be configured as analog inputs (RA3 can also be the voltage
reference), or as digital I/O. Additional information on using the A/D module can be
found in the PICmicro™ Mid-Range MCU Family Reference Manual (DS33023).
Circuit Description:
The output from the filter is given to pin 28 of ADC 0809 shown in fig .The
address channels A, B, C are grounded so that channel 1 is enabled. The digitized output
from the converter is given to port 0 of micro controller. The filter capacitors in the
circuit remove the low and high frequency noises. The control signals from the ADC are
given to port 2 of the Microcontroller. This circuit follows the principle of successive
approximation method and when the start of conversion goes high, it marks the beginning
of the process and high end of conversion marks the end of it
With the arrival of START command, the SAR sets the MSB d1=1 with all other
bits to zero so that the trial code is 10000000. The output of the ADC is now compared
with analog input. If input is greater than the DAC output then 10000000 is less than the
correct digital representation. The MSB is left at ‘1’ and the next lower significant bit is
made ‘1’ and further tested. However, if input is less than the DAC output, then
10000000 is greater than the correct digital representation. So reset MSB to ‘0’ and go on
to the next lower significant bit. This procedure is repeated for all subsequent bits, one at
a time, until all bit positions have been tested.
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POWER SUPPLY UNIT
Circuit Diagram
Fig: 5.3 Power Supply circuit diagram POWER SUPPLY BOCK DIAGRAM
230V 5 V
AC DC
Fig: 5.4 Power Supply block diagram
Transformer:
Transformer is a device used either for stepping-up or stepping-down of the AC
supply voltage with a corresponding decreases or increases in the current. Here, a center-
tapped transformer is used for stepping-down the voltage so as to get a voltage that can
be regulated to get a constant 12V. In this project, to satisfy these requirements, we make
use of 1.0A, 12V-0-12V transformer.
TRANSFORMER DESIGNING:
In the field of electronics and electrical new technology is progressing day by day.
Attempts are being made in the electronic field to replace the coils and transformer with
another substitute. For example some decade back it was not consider proper to use the
resistance as a load in the RF circuit, but now resistance are being made film types. These
Transformer
Rectifier
Filter
Regulator
41
resistances are being used in high frequency and RF current circuit without any fear. Now
computer age has come. Now it is possible to count the copper turns without talking out
the core from the transformer. It has become very easy to calculate the copper turns for a
new transformer.
Now-a–days special integrated circuits are available with special circuit technique
without soils and transformer. This special circuit technique is called phase locked loop
system. This is used in FM Transmitter and Receiver. The transformer and coils ate not
used in phase locked loop system except power supply system.
Rectifier:
A rectifier is a device such as a semiconductor capable of converting sinusoidal
input waveform units into a unidirectional waveform, with a non-zero average
component.
Filters:
Capacitors are used as filters in the power supply unit. Shunting the load with
the capacitor, effects filtering. The action of the system depends upon the fact the
capacitor stores energy during the conduction period and delivers this energy to the load
during the inverse or non-conducting period. In this way, time during which the current
passes through the load is prolonged and ripple is considerably reduced.
Fixed Voltage Regulator:
An IC7805 fixed voltage regulator is used in this circuit. The function of this
regulator is to provide a +5V constant DC supply, even if there are fluctuations to the
regulator input. This regulator helps to maintain a constant voltage throughout the circuit
operation.
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Conclusion & future enhancement Chapter 6
6. 1 Conclusion
43
The requirement to build autonomous spy robot has been achieved based on the
objective. The specification of spy robot has met where the spy robot has wireless camera
that able to view image by using computer and the robot able to move autonomously.
Others, for the robot spy autonomously, the high intelligent system need to be applied
such as build more sensors, minimize the size of robot and design the robot that cannot be
seen by human easily. With this system, the ability as the spy robot will be useful for the
military department and the enemy will be easily defeated. There are three objective had
successfully applied in this project. There are to build an autonomous spy robot that able
to avoid obstacle if there are obstacle in front of it and the robot able to stop moving if
there are sound at certain range of loudness detected. Last objective is to build the
wireless visual system that able to view surrounding via computer.
6.2 Future Enhancement
Since the PIC microcontroller still has plenty port, for the future development, I
suggest to the autonomous spy robot need to apply more useable sensor for example to
apply the sensor that the robot able to hide itself to the dark place when there are human
sense detected. To achieve this matter the design of the robot is more important because
if we want to build the robot that able to spy underwater, the water proof circuit need to
be applied so that the there are no short circuit will be faced when the project tested.
The dual mode robot operation for the spy robot will be important at certain
condition because not all situations is suitable to the robot move autonomously accept the
robot has more sensor that able function in such situation. In this situation, the manual
control by human is needed.
Wireless camera is important for the spy robot to spying people. To make the
wireless camera able to spy more clearly at the large range of transmit, the application of
radio frequency is suggested because radio frequency has high transmitter range and if
there are obstacle that disturb its signal transmit, the signal still able to receive because
the signal has large wavelength.
44
Appendix Chapter 7
7 Appendix
45
7.1 Connection diagram
Fig: 7.1 Connection diagram
7.2 Screen Shot
Fig: 7.2 Screen Shot(Automatic)
46
Fig: 7.2 Screen Shot(Manual)
47
REFERENCES Chapter 8
48
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62
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