ISSN: 0975-766X CODEN: IJPTFI Available Online through ... · PDF fileUsing a single...

Kumaresan P*et al. /International Journal of Pharmacy & Technology

IJPT| Sep-2016 | Vol. 8 | Issue No.3 | 15370-15381 5370

ISSN: 0975-766X

CODEN: IJPTFI

Available Online through Research Article

www.ijptonline.com

A LOW COST MULTI-FUNCTIONAL ROBOT PROTOTYPE FOR INTELLIGENT

SERVICES Kumaresan P*

1, Subha S

2

School of Information Technology and Engineering Professors, SITE, VIT University, Vellore.

Email: [email protected]

Received on 20-07-2016 Accepted on 19-08-2016

Abstract

Intelligent service robot development is an important and critical issue for human community applications. Robots

have been increasingly integrated into working tasks to replace humans. But as easy it is to get a robot do work for

you, the costlier it is to buy it. The project focuses on building a low cost robot which will be an amalgam of few

different robots performing different functions as obstacle detection, human body detection, wireless remote

controlled robot, accelerometer controlled robot, temperature detection, line following robot, etc. It is basically a

multifunctional robot which could be used in various working environments by changing its functional mode

according to the users need. It will be a synergistic blend of multiple sensors that could be used for intelligent service

robotics. The best feature of this multifunctional robot would be the use of DTMF module which would allow you to

control or change the functional modes of the robot by using your mobile even if you are miles away from it. The

goal of this work is to build a possible module which could summarize the existing solutions from various fields and

combine the cost efficient idea presented here, to head towards the creation of new systems and aim to future research

directions.

Keywords: Multifunctional robot, DTMF module, obstacle detection, human body detection, accelerometer,

temperature detection, line following robot.

Introduction

Robotics has had a great demand in every field since enormous advancement in technology. But buying individual

robots for specific functionalities would be an expensive investment. If there are two robots, one with function of

detecting the temperature and informing the farmer, other with the function of irrigating the fields by following a

particular path. It would be beneficial for the farmer to buy a robot with the integrated features of detecting

temperature and irrigating the fields by following a particular path. Intelligent service robotics needs an advanced

mailto:[email protected]


IJPT| Sep-2016 | Vol. 8 | Issue No.3 | 15370-15381 Page 15371

robot that opposes the idea of a robot made for a performing specific function. A robot whose functionality could be

controlled by the user. Using a single microcontroller to create a robot with multiple functionalities will be a cheap

alternative.

In this paper we have focused on integrating multiple functions within a single robot which could be done in a

moderate price range. The robot will be implemented using various modules which performs different functions such

as accelerometer controlled robot, line following robot, wireless remote controlled robot, temperature detection,

obstacle detection, human body detection. The functions will then be integrated onto a single robot and the functional

modes will be controlled by the DTMF. The robot could be used in agricultural fields or green house for irrigation ,

the same robot could be used to measure temperature and humidity in an environment and show it on the users phone,

it could be used as a wireless remote controlled robot which can be moved to places unsafe for humans, it could be

controlled by accelerometer which could be attached to hand of a disabled person and used to move the robot as per

his choice.

Background

Arduino is an open-source physical computing platform based on a simple i/o board and a development environment

that implements the Processing language. It can be used to develop individual interactive objects or can be connected

to software on computer (e.g. Flash, Processing).

An Arduino board usually comprises of an Atmel 8-bit, 16-bit and 32-bit AVR microcontroller with some paired

components that aid programming and integrate into other circuits. Other boards which could be used are raspberry

pi, pic microcontroller. We discuss Arduino, Accelerometer ADXL335, PIR sensor, Ultrasonic sensor, RF transmitter,

RF receiver, DTMF decoder module, IR sensor.

A. Arduino Board

Arduino has standard connectors, which allows the users to connect the CPU board to a variety of compatible add-on

modules referred as shields. Few shields communicate with the board directly via various pins, but many shields are

individually attended by an I²C serial bus so many shields can be piled on and used in parallel. Official Arduinos have

used the mega AVR series of chips, particularly the ATmega8, ATmega168, ATmega328, ATmega1280, and

ATmega2560. Most of these boards include a 5 volt linear regulator and a 16 MHz crystal oscillator . An Arduino's

microcontroller is pre-programmed with a boot loader which simplifies uploading of programs to the on-chip flash

memory, compared to other devices that require an external programmer.

http://en.wikipedia.org/wiki/Atmel

http://en.wikipedia.org/wiki/Microcontroller

http://en.wikipedia.org/wiki/I%C2%B2C

http://en.wikipedia.org/wiki/Serial_bus

http://en.wikipedia.org/wiki/MegaAVR

http://en.wikipedia.org/wiki/Linear_regulator

http://en.wikipedia.org/wiki/Crystal_oscillator

http://en.wikipedia.org/wiki/Boot_loader

http://en.wikipedia.org/wiki/Flash_memory

http://en.wikipedia.org/wiki/Flash_memory

http://en.wikipedia.org/wiki/Programmer_(hardware)



Figure.1 Arduino Board.

B. Accelerometer ADXL335

It is a small, thin, low power, complete 3-axis accelerometer with signal conditioned voltage outputs. It can measure

the dynamic and static acceleration of gravity. It has three outputs for each axis i.e. X, Y & Z which are analog

outputs and hence require an ADC in a micro-controller. It can sense in the range of -3g to +3g.

Figure.2: Accelerometer ADXL335

C. PIR Sensor

It is used to detect the presence of humans within the distance of 10m at an angle of +15 to -15 degree from the

sensor. These are turned to detect the IR waves which originate from human beings in their proximity.

Figure.3 PIR Sensor

D. Ultrasonic Sensor

Ultrasonic waves are transmitted from the sensor head. The waves are then reflected from the object back and are

received from the sensor again. By measuring the length of time between the transmission and reception of the wave,

the position of the object is detected.



Figure.4 Ultrasonic Sensor.

E. RF Transmitter

A transmitter is a device used to send data wirelessly to a receiver over a distance of around 400m. These transmitters

work with 434MHz receivers. They can work with microcontrollers to make a very simple wireless data link.

Figure.5 RF transmitter.

F. RF Receiver

Receiver gets the data sent by the transmitter. A decoder is used to decode it for further use. The receiver does not

require any other RF components except for the antenna. The transmitter/receiver pair can work together as two way

communication or wireless data link.

Figure.6 RF Receiver.

G. IR Sensor

The IR sensor array consists of individual IR photodiodes and IR LEDs. The IR light which is emitted by the LED

strikes the surface and is reflected back to IR photodiode. The photodiode then gives an output voltage which is

proportional to reflectance of the surface i.e. high value for light surface and low for dark surface.

Figure.7 IR Sensor.



H. Temperature sensor LM35

The LM35 is an integrated circuit sensor. It can be used to measure temperature with an electrical output which is

proportional to the temperature (in oC). It has an output voltage that is proportional to the Celsius temperature. LM35

maintains an accuracy of +/-0.4 oC at room temperature and +/- 0.8

oC over a range of 0

oC to +100

oC.

Figure.8 Temperature Sensor.

I. Bluetooth Module HC05

HC-05 is a Bluetooth module with Serial Port Profile, which can be configured as either Master or as slave. It is a

replacement for wired serial connections, transparent usage. It can be used simply for a serial port replacement to

establish connection between MCU, PC to your embedded project and etc.

Figure.9 Bluetooth Module HC05.

J. DTMF decoder module

DTMF (Dual tone multiple frequency) decoder detects the DTMF tones. After detecting the DTMF tones it generates

a binary sequence corresponding to the key pressed in the DTMF keypad.

Figure.10 DTMF decoder.



3. Proposed Work

This system consists of the Arduino Uno R3 board, Accelerometer ADXL335, Temperature sensor LM35, PIR sensor,

Ultrasonic sensor, DTMF module, RF transmitter, RF receiver, Bluetooth module.

Figure.11 Block diagram for the system.

In the system block diagram, we can see that every component is connected with arduino. User can use a DTMF

keypad to change the functional modes of the multifunctional robot.

4. Design and Implementation

The system consists of Hardware and software parts. The hardware is demonstrated module wise and then integrated

into a single robot. The various modules are described below with their functions.

A. Accelerometer controlled robot

The accelerometer senses the acceleration along the 3 axes i.e. X,Y and Z axis and returns the output as analog

voltages. The output along X axis is compared with the threshold for forward and backward directions. Similarly¸ the

output along Y axis is compared with the threshold for right and left directions. When the output voltage crosses

threshold of any of the axis, the robot moves in that direction.

Figure.12 Accelerometer interfacing with Arduino.

B. Human body detection using PIR Sensor

This module detects presence of human body by using PIR sensor. It shows the output on LCD as “no one is here” if



nobody is there in the detection range of the sensor otherwise it shows “someone is there” in presence of human body.

Figure.13 PIR Sensor interfacing with arduino.

C. Obstacle detection

Ultrasonic sensor is used to detect obstacles. The arduino is interfaced to LCD to show the output.

Figure.14: Interfacing of ultrasonic sensors with arduino.

D. Temperature detection

Used to detect the temperature and humidity of surrounding environment and send it to cellphone using Bluetooth.

Figure.15 LM35 Interfacing with arduino.

Figure.16 Interfacing of Bluetooth module HC05 with arduino.



E. Wireless Remote controlled spy robot

RF transceiver module testing over motors. It is remotely controlled by RF and is able to send data back and control

the motors using wireless communication.

Figure.17 Circuit for spy robot.

F. Line following robot

A robot that follows a black line path. It has an IR sensor array attached at its bottom. The IR light which is emitted

by the LED strikes the surface and is reflected back to IR photodiode. The photodiode then gives an output voltage

which is proportional to reflectance of the surface i.e. high value for light surface and low for dark surface. The

threshold for each direction decides whether the robot will turn left or right.

G. DTMF controlled robot

DTMF is connected to arduino and the cellphone. On the basis of the pressed the robot is turned to different

directions. For example on pressing 1 robot moves forward, 2 backward, 3 left, 4 right , 5 it becomes accelerometer

controlled robot, 6 it stops.

Figure.18 DTMF decoder interfacing with arduino.

H. Software Design

The basic flowchart for the system is given below. The programming is done in embedded c and the program is

written in Arduino IDE.

http://www.circuitstoday.com/wp-content/uploads/2011/01/Remote-Control-Operated-Spy-Robot-Circuit1.jpg



Figure.19 Flowchart for the proposed system.

5. Experimental Results

The circuits and experimental results for the above explained modules are given below.

Figure.20 Accelerometer based robot.

Accelerometer controlled robot can be used in the following applications: This prototype may be expected to

overcome the problem where a physically handicapped person wants to control his robot.

In many applications, controlling robots become quite difficult when it comes to controlling with remote or many

different switches. Mostly in industrial robotics, medical application for surgery, military application, construction

vehicles in civil side. In these fields it is quite complicated to control the robot with remote or switches, the operator

may get confused in the switches or button itself, so a controlling it with hand might make it easier.

Figure.21 Human body detection.



Human body detection may be used for following applications:

It can be used for security purposes, to keep a count of people inside a particular building or office or room.

For an intelligent video surveillance system, the detection of a human being is important for abnormal event

detection, human gait characterization, gender classification, people counting, person identification and tracking, fall

detection of elderly people, pedestrian detection, etc.

Figure.22 Obstacle detection.

Obstacle detection can be used for, integrating it with obstacle avoidance algorithms, it can be used to move the robot

autonomously on a safe path. It can be used in military applications and mines.

Figure.23 Temperature detection.

Temperature detection can be used for, For sensing one of the main crop parameters: humidity and the temperature.

Since the robot sends the data back to the user on his mobile, it is easier to access to access the environment without

being there outside.

Figure.24 Remote operated spy.

Wireless remote controlled robot can be used for the following: A wireless camera can be mounted on it, so that it can

watch enemy remotely when required. It can mutely enter into enemy area and send the user all the information

through its camera eyes. These robots can be used as replacement of soldiers in war areas. This spy robot can also be



used in star hotels, shopping malls, jewelry show rooms, etc., where there can be threat from intruders or terrorists.

Figure.25 Line following Robot.

Line following robot can be used in following applications:

Robots are increasingly being integrated into working tasks to replace humans especially to perform the repetitive

task. These robots are currently used in many fields of applications including office, military tasks, hospital

operations, dangerous environment and agriculture. It can be used in green house plants for irrigation and sprinkling

of pesticides.

Figure.26 DTMF controlled robot.

The main application of this robot is to control the robot via a mobile miles away from the robot. All the above robots

can be in integrates into one and DTMF could be used to control its functional mode.

6. Future Work

The proposed system gives the possibility of creating the robot which could be controlled by cellphone by the user

who is miles away from robot. The project could further be expanded by adding more features such as adding a

camera to any to the robot to act as surveillance robot or adding speech recognition to make it become a better spy

robot.

7. Conclusion

In this paper, we have implemented a multifunctional robot which can be controlled by accelerometer or a wireless

remote, it could help in obstacle detection, human body detection, temperature detection, it can follow a black line

path autonomously. These various functional modes of the robot are controlled by a cellphone. Pressing the

designated keys for a particular functional mode will make the robot function accordingly. The robot is a low cost



alternative to buying separate robots for specific functions. It can be used for intelligent services robotics or in

agricultural field or by a handicapped person to maintain his house security.

8. References

1. Varun Varadan, Antara Sharma, Dhruvin Sheth, Aakash Shroff “Gesture Controlled Accelerometer Using Wireless

RX-TX” International Journal of Scientific & Engineering Research, Volume 5, Issue 9, September 2014, pp.616-

620.

2. Anjali Parate, Apurva Parad, Anurag Shinde, Jasmin Untawale “Mobile Controlled Robot For Surveillance

Application” International Journal of Engineering Research and Applications (IJERA), International Conference

On Industrial Automation And Computing (ICIAC- 12-13 April 2014).

3. G.M. Acaccia, R.C. Michelini, R.M. Molfino, R.P. Razzol, “Mobile robots in greenhouse cultivation: inspection

and treatment of plants”, 2003.

4. Alireza Rafiq, Davood kalantari, Hamid Mashhadimeyghani, “Construction and development of an automatic

sprayer for greenhouse”, June 2003.

5. www.engineersgarage.com.

6. http://www.circuitstoday.com/wp-content/uploads/2011/01/Remote-Control-Operated-spy-Robot-Circuit-Remote-

Control-Section.

Corresponding Author:

Kumaresan P*,

Email: [email protected]

http://www.engineersgarage.com/

http://www.circuitstoday.com/wp-content/uploads/2011/01/Remote-Control-Operated-

mailto:[email protected]

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