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Dey2013 PDF
Dey2013 PDF
Mobile Robot
Golap Kanti Dey, Raqibul Hossen, Md.Shafayet Noor, Kazi Tanvir Ahmmed
Department of Applied Physics, Electronics and Communication Engineering,
University of Chittagong, Chittagong-4331, Bangladesh
d.k.golap@gmail.com, raqib_saikat@yahoo.com, noorshafayet@yahoo.com, tanvir@cu.ac.bd
Abstract—The intention of designing a robot is to facilitate the technology for wireless communication. Guangming’s
human beings through giving security and working as a helping powerful home security robot could leap over particles more
hand through reprieving. The technology used in this rescue and than 4 times its own size. Reference [3] worked on the Dual
security robot has a number of important features such as functional reconfigurable mobile robot. They focused on
robotic car control by cell phone, automatically avoiding designing flexible mobile robot & various issues related to
obstacles in its way. It can sense gas, smoke and provide an alert interfacing various modules with CPLD (Complex
through text messaging. The robot can detect bombs, pick and Programmable Logic Devices). I. B Celik [4] worked on
place objects and also do distance measurements. A high quality development of a robotic arm controller by using hand gesture
wireless video camera equipped with a stepper motor for the
recognition. Sourangu Banerji [5] developed an unmanned
omni-directional view is used for the spying purpose which is
vehicle using a GSM network with microcontroller. Reference
mounted on the robo car to send real video images and audio
signals. These audio and video stream received by the receiver
[6] gave us an idea about real time human tracking using
unit can be used to take proper steps according to the received sensor for home security robot. They combined the data for
signals. This robot can also be used to reach places where both vision and depth sensor. The combat robot [7] which was
humans cannot reach like hidden places, small tunnels. The radio operated had all the controls like normal car. Through a
ultimate focus of this system is to offer far possible security for wireless camera this combat robot gave all the information
the human being. In this paper, we have illustrated our work by about the enemy. These types of applications are very much
using the entire sub modules. useful for the industries and places where the access of human
being is difficult, specifically, if the path of the robot is quite
Keywords-Objects pick and place module; Robotic car; Sensors; complicated and not suitable for laying cables. The only
Wireless Camera. solution exists is Wireless communication between the robot
and the base station.
I. INTRODUCTION
In our work we are controlling a robot through wireless
Robot is an electromechanical, reprogrammable, communication system, which is known as DTMF system.
multifunctional device which is capable of acting in the highly Microcontroller is used to control all operations. According to
varied environment, and takes autonomous actions. The word the motor operations the robot will operate in specified
“Robot” was first used in a 1921 play titled R.U.R. Rossum’s directions. If any obstacle is observed by the robot it will
Universal Robots, by Czechoslovakian writer Karel Capek. change its direction or it will stop. Our system is equipped
Now a day's every system is automated in order to face new with smoke sensor, gas sensor, object pick up and place
challenges. In the present days automated systems have less module for the security purpose of the human being. The
manual operations, flexibility, reliability and accuracy. Due to main aim of using these sensors is to monitor the smoke
this demand every field prefers automated control systems. through smoke sensor, leakage of gas using gas sensor in any
Especially in the field of electronics automated systems are industry or home. If input voltages of these sensors exceed the
giving good performance. threshold level, an alert is given through a text message. Here
In the present scenario of war like situations, unmanned we also used an Object pick and place module for the
systems plays very important role to minimize human losses. surveillance system.
So this kind of robot is very useful to do operations like
II. FRAMEWORK OF THE SYSTEM
detecting leakage of gases, obstacle, and object pick up and
place at the time of emergency as well as security purpose [1] The heart of our rescue and security robot is a
providing human-robot interaction in rescue robotics. Microcontroller, which is configured by programming in the
Micro C Pro, an advanced C compiler for the PIC
Wireless robotics is one of the evolving fields of Microcontroller Unit. Various sensory unit inputs, DTMF
application, where different technology is used. It is an decoder input are given to the microcontroller unit. After
application where the concept of embedded processor to applying the power supply [8], microcontroller takes action
wireless communication is being used for a practical through pre-defined instructions. Using the entire sensory unit
application. Guangming Song [2] developed surveillance robot like gas sensor, ultrasonic sensor for the obstacle detection,
with hopping capabilities which was adopted with the Zigbee
Wireless video
transmission unit
Stepper
Gas sensor unit
motor
Mobile phone
Obstacle detection and distance
measurement unit Wireless video
signal receiver
MICRO-
CONTROLLER DTMF decoder
unit
H-bridge module
& speed control
Metal detector
Start
DTMF signal
Micro-controller
Object
pick Object
up pick-
Rotate Rotate off
servo servo
motor motor
down- upwar
ward d
F. Ultrasonic Sensor
The ultrasonic sensor used here for the obstacle
detection and through proper programming and interfacing
module we had measured the distance of the obstacle. The
measurement distance of this module is within 0.03-3m. It
transforms the data into impulse with different width. The
advantage [11] of ultrasonic sensors is long-range detection,
the drawback of that is the unstable system and slow reaction
rate. The circuit connection for this unit is simple. Just have to
fed the output (pin 2) of the sensor to a pin of microcontroller
and connect the other two pins with the power rail
respectively.
Figure 8. Flow chart of the gas sensor G. Wireless Video Transmission Unit
E. Smoke Sensor Wireless video camera mounted on the robotic car is used
Apart from the gas sensor we have also used a smoke for the surveillance and spying purpose. We can make a large
sensor. So here we are monitoring the gas and smoke also. number of areas automated by controlling the direction of the
When smoke sensor senses smoke, that is, when the sensors camera by generating the DTMF frequencies. For this total
smoke sensing branch voltage exceeds the reference level action just install the wireless camera on the robotic car and
called threshold level the output of the sensor is activated and set the wireless receiver to a TV or monitor to watch the
action and take the necessary steps through recorded video
the microcontroller receives the sensor output. This sensory
footage.
element is very much compatiable with microcontroller and
having good sensitivity and rapid response time. LPG gas may A TV capture card is a computer component that allows
be harmful for the human being, so through the above process television signals to be received by a computer. It is a kind of
we can use it for security purpose of the mankind. Smoke television tuner. Most TV tuners also function as video
sensing circuit actually warns anyone against fire accidents. capture cards, allowing them to record television programs
Alert is given to the subscriber through the message by the onto a hard disk. The card contains a tuner and an analog-to-
sms interfacing unit. After sensing the smoke the sensor is digital converter along with demodulation and interface logic.
kept inactive for 5 minutes. After that it again starts sensing
the smoke. We can use it for both home and industrial security
purpose.
IV. CONCLUSION
The distance controlled rescue and security mobile robot [3] Mr. Bhushan C. Patil, Mr. Rabinder Henry, “Dual functional
is successfully designed and assembled. It is based on reconfigurable mobile robot,” IEEE Region 10 Conference, pp.1-5,
microcontroller which is the brain of the complete system. TENCON 2008.
DTMF decoder decodes the received tone and gives binary [4] I.B. Celik, M. Kuntalp, “Development of a robotic-arm controller by
equivalent of it to the microcontroller. The controller is using hand gesture recognition,” International Symposium on
Innovations in Intelligent Systems and Applications (INISTA), pp. 1-5,
programmed such that appropriate output is given to motor IC July 2012.
L298 which will drive two DC motor connected with it. As [5] Sourangsu Banerji, “Design and Implementation of developed an
rescue and security features are the most important factors of Unmanned Vehicle using a GSM Network with Microcontrollers,”
this mobile robot - object pick and place module, gas sensor, International Journal of Science, Engineering and Technology Research
metal detector, smoke sensor, distance measurement unit plays (IJSETR) Volume 2, Issue 2, pp.367-374, February 2013.
vital role to integrate these two aspects. In our work we have [6] June-Young Jung, Byoung-Kyu Dan, Kwang-Ho An, Seung-Won Jung,
deptict the modern application of cell phone. In the era of the and Sung-Jea Ko, “Real-time Human Tracking Using Fusion Sensor for
industrial revolution, people tends to bulid big industries and Home Security Robot,” 2012 IEEE International Conference on
consumer electronics (ICCE), pp.420-421, 2012.
high rise apartments to make profits. But many of them are
[7] Dr.S.Bhargavi, S.Manjunath “Design of a intelligent combat robot for
very much unconscious about the secutiry of industry and high
war field,” (IJACSA) International Journal of Advanced Computer
rise building as well as the human being who are working or Science and Applications, Vol. 2, No. 8, pp.64-70, 2011.
living their. After the disaster like earthquakes many people [8] Robert L.Boylestad and Louis Nashelsky, “Electronic Devices and
are embracing death due to the procrastination of the Circuit Theory,” 8th Edition, 2006.
deliverance. Considering all the situations, the robot [9] Thomas Bräunl, “EMBEDDED ROBOTICS-Mobile Robot Design and
integrated with different sub modules can be used for Applications with Embedded Systems,” 2nd Edition © Springer-Verlag
redemption and security purpose. Berlin Heidelberg 2003, 2006, Printed in Germany.
[10] D. Sparsha, G.Vandana, “Remote Controlled Metal Detecting Robot
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