ARM BASED AERIAL AND ALL TERRAIN NAVIGATORSEMESTER 7 ELECTRONICS AND COMMUNICATION A

MAIN PROJECT

PRESENTED BY : ALWIN THOMAS, BROLWIN THANKACHAN, DILEEP KADAVARATH, HEBIN V ALOOR, JOB J PULIKKOTTILE

GUIDED BY: MAHESH K

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ABSTRACT

• We are presenting an ARM based robot, that has the ability to fly, as well as tackle terrain navigation.

• The bot would be able to facilitate visual communication between those present on site and the control station.

• Terrain navigation helps improve efficiency and range, whenever flight capability is not necessary.

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INTRODUCTION

• Common situations that employ rescue robots are mining accidents, urban disasters, hostage situations, and explosions

• It’s a merger of unmanned aerial vehicle(UAV) & Unmanned ground vehicle(UGV), Controlled by remote control of a pilot on the ground

• The system is designed with abilities such as searching, rescuing people, reconnaissance and mapping, delivery of supplies and medication for the wounded.

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INTRODUCTION

• The vehicle have a set of sensors to observe the environment

• System autonomously make decisions about its behaviour or pass the information to a human operator at a different location

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LITERATURE SURVEY

Radiation Mapping in Post-Disaster Environments Using an Autonomous Helicopter

• This is a remote sensing system for radiation detection and aerial imaging using a 90 kg autonomous helicopter and sensing payloads for the radiation detection and imaging operations.

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LITERATURE SURVEY

Radiation Mapping in Post-Disaster Environments Using an Autonomous Helicopter

• The radiation payload consists of a scintillating type detector with associated software to rapidly and effectively map and locate sources of high radiation intensity.

• The system described here is too complex. This robot cannot navigate the terrain, which reduces efficiency and range severely

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LITERATURE SURVEY

Autonomous Vision-based Micro Air Vehicle for Indoor and Outdoor Navigation

• This is a quad copter that performs autonomous navigation in complex indoor and outdoor environments.

• Highlights of the implementation are the field-programmable-gate-array-based dense stereo matching of 0.5 Mega- pixel images at a rate of 14.6 Hz using semi global matching

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LITERATURE SURVEY

Autonomous Vision-based Micro Air Vehicle for Indoor and Outdoor Navigation

• This system too cannot travel on the surface, though very capable, is unable to carry any extra significant payload. Automation, while bettering results, can also expand the included costs significantly.

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LITERATURE SURVEY

Sandia's Gemini-Scout: A Rescue Robot Optimized for Mining Disasters

• This is a rolling robot designed specifically to lead search and rescue efforts in the event of a mining disaster.

• Mining accidents generally bring about a buffet of dangerous conditions: structural weaknesses within the shafts themselves, poisonous vapours, explosive gases, flooded tunnels, etc..

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LITERATURE SURVEY

Sandia's Gemini-Scout: A Rescue Robot Optimized for Mining Disasters

• This robot is designed to cope with all of these, so it can go down a mine quickly, searching for survivors and threats, so human searchers can get into place as quickly as possible.

• This robot is oriented towards underground applications. A dead end block with tight overhead gaps can prove our system advantageous over this one.

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BLOCK DIAGRAM

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MECHANISM

• Each rotor produces a thrust and a torque about its centre of rotation and these forces are used to fly and move Quad copter.

• Two rotors mounted on opposite arms of quad copter are set into clockwise and another two anticlockwise.

• These orientation of motors and their direction of rotation cancels all the torque generated given the speed of the motors are same.

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MECHANISM

• If we change the speed of the motors attached on the left and right of quad keeping the speed of the other two same, creates 'Yaw' motion.

• Similarly, 'Pitch' and 'Roll' movements are gained by changing the speed of different motors.

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QUAD COPTER FLIGHT CONTROL

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ELECTRONIC SPEED CONTROLLER (ESC)

• An electronic speed control (ESC) is an electronic circuit which used to vary an electric motor's speed, its direction and it also act as a dynamic brake.

+-

Throttle signal(receiv

er)

ESCDC

PowerTo Motor

BEC

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ELECTRONIC SPEED CONTROLLER (ESC)

• providing an electronically-generated three phase electric power low voltage source of energy for the motor.

• Brushless ESC systems basically drive tri-phase brushless motors by sending a sequence of signals for rotation.

• It have three sets of wiring, on one side you would have two wires, black and red which go to the battery (Red +ve / Black –ve).

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ELECTRONIC SPEED CONTROLLER (ESC)

• On the same side receiver cable, which goes into the throttle channel of Receiver.

• The other side would have three wires, which go to the motor.

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POWER SUPPLY

• Lithium polymer batteries are the preferred for power. They offer high discharge rates and a high energy storage/weight ratio.

• Li-Po has a low internal resistance.

• This low IR means Li-Po doesn't waste energy getting hot like Ni-MH does and this translates to longer run times.

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POWER SUPPLY

• Lower IR also means Li-Po holds higher voltage under load than Ni-MH does. This means motor gets higher voltage longer and runs faster.

• Li-Po also weights physically less than Ni-MH.

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BRUSHLESS DC ELECTRIC MOTOR

• A typical brushless motor has permanent magnets which rotate around a fixed armature, eliminating problems associated with connecting current to the moving armature.

• An electronic controller replaces the brush/commutator assembly of the brushed DC motor, which continually switches the phase to the windings to keep the motor turning.

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BRUSHLESS DC ELECTRIC MOTOR

• Brushless motors offer several advantages over

brushed DC motors,

• More torque per weight;

• More torque per watt thus, increased efficiency;

• reduced noise and improved reliability;

• longer lifetime (no brush and commutator erosion);

• elimination of ionizing sparks from the commutator, and overall reduction of electromagnetic interference (EMI).

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BRUSHLESS DC ELECTRIC MOTOR

• With no windings on the rotor, they are not subjected to centrifugal forces

• The windings are supported by the housing, they can be cooled by conduction, requiring no airflow inside the motor for cooling.

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REST OF THE BLOCKS

• Remote Control Centre - It consists of PC, RC Transmitter

• ARM Processor - Handles audio and video signals.

• Sensors - Ultrasonic Distance Measurement System

• Camera - Use to capture images and video recording

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APPLICATION

• They are usually used for military and special operation applications

• Also preferred for missions that are too ‘dull, dirty or dangerous’.

• Providing first aid for people in situations like mining accidents, urban disasters, hostage situations and explosions, reconnaissance and mapping.

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APPLICATION

• Minor industrial lifting - getting a wrench to the workers on the top of a tower, passing optic fibre wires from one roof to the other

• Aerial photography service

• Surveillance of pipelines

• Delivery of supplies

• Recreational performances and air shows - lights, fireworks, aerobatics

THANK YOU