Robot for Rescue

8/12/2019 Robot for Rescue

http://slidepdf.com/reader/full/robot-for-rescue 1/47

Dept. of ECE 1 AWH Engg. Calicut

CHAPTER 1

INTRODUCTIONA robot is a machine and is designed to execute one or more task repeatedly, with

speed and precision. An important aspect of robotic security system is surveillance of

specified area. Interesting application can be seen in robot scanning area to find explosive

devices. Asset and location protection system using robot allow hands-free operation via pre-

operational programming to response external stimuli. Over the long haul, it is easy to see

that security robot can provide significant cost saving, while they may never replace a human

security professional. Others may need to approach an armed barricaded suspect or enemy

combatant. These works mainly focus on target perception and identification and robot

localization. It is very essential to have a robot during disaster condition like Earthquake or

bomb blast, where we have to identify live human beings as quickly as possible to save life.

In this situation, human rescuers must make quick decision under stress, and try to get

victims to safety often at their own risk.

In our project, dynamic section will be detect the alive human presence and location

information and also status of environment, then send the information to the static section asquickly as possible. All of those tasks are performed mostly by human and trained dogs, often

in very dangerous and risky situation. But they can enter into gaps and move through small

holes, that is impossible for humans and even trained dogs and also we have to ensure the

safety of rescuers life. That is why we have mostly depends on the rescue robot.

This system consists of two sensors, GPS module, RF Communication in dynamic

section. Here PIR sensor is helps to determine the presence of alive humans and so

temperature sensor will give the status of dynamic area. And a wireless camera is provided

here gives the live view of target area. The movement is provided by DC gear motors. The

whole section is controlled by AVR microcontroller. Which should interacted with the static

section by RF Communication. Static section will give proper direction to AVR through

laptops. It can work in automatic mode also while following the previous command.




CHAPTER 2

BLOCK DIAGRAM

DYNAMIC SECTION

Fig: 2.1 Block diagram of rover




STATIC SECTION

Fig2.2: Block diagram of static section

2.1 BLOCK DIAGRAM DESCRIPTION

DYNAMIC SECTION:

2.1.1 Power supply:

A power supply is a device that supplies electrical power to an electrical load. There

are AC power suppliers and DC power suppliers. And it provides required power, 5V to the

circuits and 3.17V to the Zigbee. A schematic power supply is shown in below:

Fig 2.3: Block diagram of power supply

Transformer:

It is a static electrical device that transfers energy by inductive coupling between its winding

circuits. Depending on the winding there are step-up and step-down.

Here we provided 12-0-12V step-down transformer for obtain low AC voltage. Then itsoutput is given to the rectifier circuit.




Rectifier:

Here we used bridge rectifier for converting AC to DC voltage. It consists of four diodes

connected in the form of bridge. It provides more power than other rectifiers.

Filter:

It is used to smoothens rectified DC output. Mainly there are three filters such as capacitor,

RC and LC and CLC. We used capacitor filter for smoothens and 2.1percentage ripples

remaining its output.

Voltage regulator:

Here 78xx series regulator is provided. Which regulate voltage.

2.1.2 AVR micro controller:

The AVR (Advanced Virtual Risc), is a modified Harward Architecture 8-bit RISC,

single chip microcontroller which was developed by Atmel in 1996. The microcontroller

ATMEGA8535 is used in this project. It is the brain of the project and it controls the entire

working of this project. The microcontroller has various optional modules. Interrupt module,

USART module, timer module, are some of the most commonly used modules

2.1.3 PIR sensor:

A passive infrared sensor (PIR sensor) is an electronic sensor that measures infrared

(IR) light radiating from objects in its field of view. It consists of PIR sensor, Motiondetection IC, and a Fresnel Lenz. Which detect the presence of human.

All objects emit heat energy in the form of radiation. Usually this radiation is

invisible to the human eye because it radiates at infrared wavelengths, but it can be detected

by electronic devices designed for such a purpose. Each object have its own radiation range,

the human body emit infrared radiation in the range between 8µm - 20 µm.




2.1.4 Temperature sensor:

Temperature sensor provides the information about the temperature of that placecontinuously. LM35 sensor is used as temperature sensor in this project. It provided three pin

for input, ground, output respectively.

2.1.5 Camera:

Wireless webcam used for this project. It allows live view of that area. It has a small

lens in the front, which captures light by using light detectors known as charge-coupleddevices (CCDs). The CCD is able to convert the picture into a digital format, which consists

of a string of zeros and ones that your computer can understand. The webcam captures the

image and is able to transfer it to control section.

2.1.6 RF communication:

Here Zigbee is used as RF Communication for wireless transmission and reception.

RF waves use Zigbee and Bluetooth communication for communication purpose. We use

Zigbee in this project, because it has low cost, low power wireless mesh networking. The low

cost allows the technology to be widely deployed in wireless control and monitoring

application, the low power allows longer life with smaller batteries, and the mesh networking

provides high reliability and larger range.

Zigbee can activate within 15msec or less the latency can be very low and the device

can be very responsive- partially compared with Bluetooth, the wake-up delay is very less.

2.1.7 MAX232:

Since RS232 is not compatible with today’s microprocessors and microcontrollers we

need a line-driver to convert the RS232’s signals to TTL voltage levels that will be

acceptable to the today’s microprocessor pins. One example of such a converter is MAX232

from Maxim co-operation.




2.1.8 L293D:

L293D is a driver IC, which used to drive the motors, as well as other high-current/high-voltage loads in positive-supply applications and at a time it can control two

motors. All inputs are TTL compatible

2.1.9 Motors:

Motors helps rover to move towards left, right, up and down movements.

The movement can be controlled as:

• Forward- 4 motors rotate clockwise

• Backward- 4 motors rotate anticlockwise

• Right- left side motors only rotate

• Left- right side motors only rotate

2.1.10 GPS module:

The Global Positioning System (GPS) is used here for obtaining the location and time

information in all weather, anywhere on or near the Earth, where there is an unobstructed

line of sight to four or more GPS satellites. It program provides critical capabilities to

military, civil and commercial users around the world.

2.1.11 Status area:

Status area provide here for checking the status and working of all area through

LEDs. Here we have 4 LEDs, to check area of supply, microcontroller, PIR and data

reception on microcontroller respectively.




STATIC SECTION:

This section mainly consists of a PC and a zigbee. The PC processes the informationand does corresponding control movements. A zigbee should be connected with the system to

facilitate the wireless communication. And a MAX 232 is used here to serial interface

between PC and zigbee. Max 232 converts RS232 voltage levels to TTL voltage levels and

TTL voltage to RS232. It provides 2-channel RS232C ports and 2- channel TTL ports. This

module has direct interaction with the zigbee only. With the help of C#.NET we can control

the movement of a robot.




CHAPTER 3

CIRCUIT DIAGRAM







Fig 3.1: Circuit diagram of rover

CHAPTER 4HARDWARE DISCRIPTION

4.1 POWER SUPPLY

Fig 4.1: Power supply

Power supply is a device or system that supplies electrical or other types

of energy to an output load or group of loads. There are AC power suppliers and DC power

suppliers. A simple AC powered linear power supply usually uses a transformer to convert

the voltage from the wall outlet (mains) to a different, usually a lower voltage. If it is used to

produce DC a rectifier circuit is employed either as a single chip, an array of diodes

sometimes called a diode bridge or Bridge Rectifier. Commonly specified power supply

attributes include:

The amount of voltage and current it can supply to its load.

How stable its output voltage or current is under varying line and load conditions.

How long it can supply energy without re-fuelling or recharging (applies to power

supplies that employ portable energy sources).




4.2 AVR MICROCONTROLLER :

Fig 4.2: AVR Microcontroller

The AVR (Advanced Virtual Risc), is a modified HarwardArchitecture 8-bit RISC, single chip microcontroller which was developed by Atmel in 1996.

The AVR was one of the first microcontroller families to use on-chip flash memory for

program storage, as opposed to one time programmable ROM, EPROM, or EEPROM used

by other microcontrollers at the time. The main part of the human interface device is the

microcontroller. Here we use ATMEGA 8535 microcontroller.

4.2.1 ATMEGA8535:

The AT mega8535 is a low power CMOS 8- bit microcontroller based on the AVR

enhanced RISC architecture. By executing instructions in a single clock cycle, the AT mega

8535 achieves throughputs approaching 1MIPS per MHz.

The AVR core combines a rich instruction set with 32 general purpose working

registers. All 32 registers are directly connected to the Arithmetic Logic Unit (ALU),

allowing two independent registers to be accessed in one single instruction executed in one

clock cycle. The resulting architecture is more code efficient while achieving through puts up

to ten times faster than conventional CISC microcontrollers.

The ATmega8535 provides the following features: 8K bytes of In-System

Programmable Flash with Read-While-Write capabilities, 512 bytes EEPROM, 512 bytes

SRAM, 32general purpose I/O lines, 32 general purpose working registers, three flexible

Timer/Counters with compare modes, internal and external interrupts, a serial programmable

USART, a byte oriented Two-wire Serial Interface, an 8-channel, 10-bit ADC with optional

differential input stage with programmable gain in TQFP package, a programmableWatchdog Timer with Internal Oscillator, an SPI serial port, and six software selectable




power saving modes. The Idle mode stops the CPU while allowing the S-RAM,

Timer/Counters, SPI port, and interrupt system to continue functioning.

The Power-down mode saves the register contents but freezes the Oscillator, disabling

all other chip functions until the next interrupt or Hardware Reset. In Power-save mode, the

asynchronous timer continues to run, allowing the user to maintain a timer base while the rest

of the device is sleeping. The ADC Noise Reduction mode stops the CPU and all I/O

modules except asynchronous timer and ADC, to minimize switching noise during ADC

conversions. In Standby mode, the crystal/resonator Oscillator is running while the rest of the

device is sleeping. This allows very fast start-up combined with low-power consumption.

In Extended Standby mode, both the main Oscillator and the asynchronous timer

continue to run. The device is manufactured using Atmel’s high density nonvolatile memory

technology. The On-chip ISP Flash allows the program memory to be reprogrammed In-

System through an SPI serial interface, by a conventional nonvolatile memory programmer,

or by an On-chip Boot program running on the AVR core. The boot program can use any

interface to download the application program in the Application Flash memory. Software in

the Boot Flash section will continue to run while the Application Flash section is updated, providing true Read-While-Write operation. By combining an 8-bit RISC CPU with In-

System Self-Programmable Flash on a monolithic chip, the Atmel ATmega8535 is a

powerful microcontroller that provides a highly flexible and cost effective solution to many

embedded control applications.




Pin diagram:

Fig 4.3: Pin diagram of AVR

Pin diagram description:

VCC: Digital supply voltage.

GND: Ground.

Port A (PA7...PA0)

Port A serves as the analog inputs to the A/D Converter. Port A also serves as an

8-bit bi-directional I/O port, if the A/D Converter is not used. Port pins can provide internal

pull-up resistors (selected for each bit).




Port B (PB7…PB0)

Port B is an 8-bit bi-directional I/O port with internal pull-up resistors

(selected for each bit).

Port C (PC7…PC0)

Port C is an 8-bit bi-directional I/O port with internal pull

up resistors (selected for each bit)

Port D (PD7…PD0)

Port D is an 8-bit bi-directional I/O port with internal pull

up resistors (selected for each bit).

RESET: Reset input. A low level on this pin for longer than the minimum pulse

length will generate a reset, even if the clock is not running. Shorter pulses are not

guaranteed to generate a reset.

XTAL1: Input to the inverting Oscillator amplifier and input to the internal clock

operating circuit.

XTAL2: Output from the inverting Oscillator amplifier.

AVCC: AVCC is the supply voltage pin for Port A and the A/D Converter. It should

be externally connected to VCC, even if the ADC is not used. If the ADC is used, it

should be connected to VCC through a low-pass filter.

AREF: AREF is the analog reference pin for the A/D Converter .




Basic circuit description:

Fig 4.4: Basic circuit description:

The microcontroller used in the project is AT Mega 8535 (8bit, RISC mcu). The

MCU (Microcontroller Unit) is powered with a +5V dc connected to pin no 10 and GND to

pin no11. A 4MHz crystal is supplied for generating clock frequency. The MCLR (pin no 1)

is connected to +5V and to a tactile switch used to RESET the device..It consists of a crystal

oscillator for generating clock frequencies for the entire operations in the PIC. It offers a

maximum of 20MHz clock pulse. There are two capacitors (C4, C5) to avoid damping.

Damping is an affect that tends to reduce the amplitude of oscillations in crystal

oscillator. This crystal oscillator is connected to OSC1 and OSC2 (i.e. 12 th and 13th pins).The

capacitor connected across the VCC is known as bypass capacitor. As the name indicates it

bypass the high input AC components. A reset switch SW1 is used to reset the AVR. This pin

is connected to RST/MCLR of the IC. When the switch is pressed the 5v supply is grounded

and the AVR is reset.




Block diagram of atmega 8535:

Fig 4.5: Block diagram of atmega 8535




Architectural overview:

In order to maximize performance and parallelism, the AVR use Harvard

architecture – with separate memories and buses for program and data. Instructions in the

program memory are executed with a single level pipelining. While one instruction is being

executed, the next instruction is pre-fetched from the program memory. These conceptacles

instructions are to be executed in every clock cycle.

The program memory is In-System Re-Programmable Flash memory. The fast-access

Register File contains 32 x 8-bit general purpose working registers with a single clock cycle

access time. This allows single-cycle Arithmetic Logic Unit (ALU) operation. In a typical

ALU operation, two operands are output from the Register File, the operation is executed,

and the result is stored back in the Register File – in one clock cycle. Six of the 32 registers

can be used as three 16-bit indirect address register pointers for Data Space addressing –

enabling efficient address calculations. One of these address pointers can also be used as an

address pointer for look up tables in Flash program memory.




Fig.4.6: Architectural overview

The ALU supports arithmetic and logic operations between registers or between a

constant and a register. Single register operations can also be executed in the ALU.

After an arithmetic operation, the Status Register is updated to reflect information

about the result of the operation.

Program flow is provided by conditional and unconditional jump and call instructions,able to directly address the whole address space. Most AVR instructions have a single 16-bit

word format. Every program memory address contains a 16- or 32-bit instruction. Program

Flash memory space is divided in two sections, the Boot Program section and the Application

Program section. Both sections have dedicated Lock bits for write and read/write protection.

The SPM instruction that writes into the Application Flash memory section must reside in the

Boot Program section. During interrupts and subroutine calls, the return address Program

Counter (PC) is stored on the Stack. The Stack is effectively allocated in the general data

SRAM, and consequently the Stack size is only limited by the total SRAM size and the usage




of the SRAM. All user programs must initialize the SP in the reset routine (before subroutines

or interrupts are executed). The Stack Pointer SP is read/write accessible in the I/O space.

The data SRAM can easily be accessed through the five different addressing modes

supported in the AVR architecture.

The memory spaces in the AVR architecture are all linear and regular memory maps.

A flexible interrupt module has its control registers in the I/O space with an additional Global

Interrupt Enable bit in the Status Register. All interrupts have a separate Interrupt Vector in

the Interrupt Vector table. The interrupts have priority in accordance with their Interrupt

Vector position. The lower the Interrupt Vector address, the higher the priority. The I/O

memory space contains 64 addresses for CPU peripheral functions as Control Registers, SPI,

and other I/O functions.

USART:

The Universal Synchronous and Asynchronous serial Receiver and Transmitter

(USART) is a highly flexible serial communication device. The main features are:

• Full Duplex Operation (Independent Serial Receive and Transmit Registers)

• Asynchronous or Synchronous Operation

• Master or Slave Clocked Synchronous Operation

• High Resolution Baud Rate Generator

• Supports Serial Frames with 5, 6, 7, 8, or 9 Data Bits and 1 or 2 Stop Bits

• Odd or Even Parity Generation and Parity Check Supported by Hardware

• Data Over Run Detection

• Framing Error Detection

• Noise Filtering Includes False Start Bit Detection and Digital Low Pass Filter

• Three Separate Interrupts on TX Complete, TX Data Register Empty and RX Complete

• Multi-processor Communication Mode

• Double Speed Asynchronous Communication Mode




Data reception – the USART receiver:

The USART Receiver is enabled by writing the Receive Enable (RXEN) bit inthe UCSRB Register to one. When the Receiver is enabled, the normal pin operation of the

RxD pin is overridden by the USART and given the function as the Receiver’s serial input.

The baud rate, mode of operation and frame format must be set up once before any serial

reception can be done. If synchronous operation is used, the clock on the XCK pin will be

used as a transfer clock.

USART Initialization:

The USART has to be initialized before any communication can take

place. The initialization process normally consists of setting the baud rate, setting frame

format and enabling the Transmitter or the Receiver depending on the usage. For interrupt

driven USART operation, the Global Interrupt Flag should be cleared (and interrupts globally

disabled) when doing the initialization. Before doing a re-initialization with a changed baud

rate or frame format, be sure that there are no ongoing transmissions during the period the

registers are changed. The TXC Flag can be used to check that the Transmitter has completed

all transfers and the RXC Flag can be used to check that there are no unread data in the

receive buffer. Note that the TXC Flag must be cleared before each transmission (before

UDR is written) if it is used for this purpose.

Data Transmission – The USART Transmitter

The USART Transmitter is enabled by setting the Transmit Enable (TXEN)

bit in the UCSRB Register. When the Transmitter is enabled, the normal port operation of the

TxD pin is overridden by the USART and given the function as the Transmitter’s serial

output. The baud rate, mode of operation and frame format must be set up once before doing

any transmissions. If synchronous operation is used, the clock on the XCK pin will be

overridden and used as transmission clock.




Multi-processor Communication Mode:

Setting the Multi-processor Communication Mode (MPCM) bit in UCSRA

enables a filtering function of incoming frames received by the USART Receiver. Frames

that do not contain address information will be ignored and not put into the receive buffer.

This effectively reduces the number of incoming frames that has to be handled by the CPU,

in a system with multiple MCUs that communicate via the same serial bus. The Transmitter is

unaffected by the MPCM setting, but has to be used differently when it is a part of a system

utilizing the Multi-processor Communication Mode. If the Receiver is set up to receive

frames that contain five to eight data bits, then the first stop bit indicates if the frame contains

data or address information. If the Receiver is set up for frames with nine data bits, then the

ninth bit (RXB8) is used for identifying address and data frames. When the frame type bit

(the first stop or the ninth bit) is one, the frame contains an address. When the frame type bit

is zero the frame is a data frame.

The Multi-processor Communication Mode enables several slave MCUs to

receive data from a Master MCU. This is done by first decoding an address frame to find out

which MCU has been addressed. If a particular Slave MCU has been addressed, it will

receive the following data frames as normal, while the other Slave MCUs will ignore the

received frames until another address frame is received.

Two-wire Serial Interface:

Features:

• Simple yet Powerful and Flexible Communication Interface, only Two Bus Lines Needed

• Both Master and Slave Operation Supported

• Device can Operate as Transmitter or Receiver

• 7-bit Address Space Allows up to 128 Different Slave Addresses

• Multi-master Arbitration Support

• Up to 400 kHz Data Transfer Speed

• Slew-rate Limited Output Drivers




• Noise Suppression Circuitry Rejects Spikes on Bus Lines

• Fully Programmable Slave Address with General Call Support

• Address Recognition Causes Wake-up when AVR is in Sleep Mode.

Two-wire Serial Interface Bus Definition:

The Two-wire Serial Interface (TWI) is ideally suited for typical microcontroller

applications. The TWI protocol allows the systems designer to interconnect up to 128

different devices using only two bi-directional bus lines, one for clock (SCL) and one for

data(SDA). The only external hardware needed to implement the bus is a single pull-up

resistor for each of the TWI bus lines. All devices connected to the bus have individual

addresses, and mechanisms for resolving bus contention are inherent in the TWI protocol.

Analog Comparator:

The Analog Comparator compares the input values on the positive pin AIN0

and negative pin AIN1. When the voltage on the positive pin AIN0 is higher than the voltage

on the negative pin AIN1, the Analog Comparator Output, ACO, is set. The comparator’s

output can be set to trigger the Timer/Counter1 Input Capture function. In addition, the

comparator can trigger a separate interrupt, exclusive to the Analog Comparator. The user

can select Interrupt triggering on comparator output rise, fall or toggle.

Analog-to-Digital Converter:

Features :

• 10-bit Resolution

• 0.5 LSB Integral Non-linearity

• ±2 LSB Absolute Accuracy

• 65 - 260 μs Conversion Time

• Up to 15 k SPS at Maximum Resolution




• 8 Multiplexed Single Ended Input Channels

• 7 Differential Input Channels

• 2 Differential Input Channels with Optional Gain of 10x and 200x(1)

• Optional Left Adjustment for ADC Result Readout

• 0 - VCC ADC Input Voltage Range

• Selectable 2.56V ADC Reference Voltage

• Free Running or Single Conversion Mode

• ADC Start Conversion by Auto Triggering on Interrupt Sources

• Interrupt on ADC Conversion Complete

• Sleep Mode Noise Canceller

4.3 PIR SENSOR:

Fig 4.7: PIR sensor

As live human body emits thermal radiation it is received and manipulated by the PIR

sensor to detect humans. PIR sensors are passive infrared sensors. They detect change in the

heat and this can be used to detect movement of people. It has digital output and can be

directly given to the digital pins and no ADC is needed. It operates at 5V DC.

The PIR (Passive Infra-Red) Sensor is a pyroelectric device that detects motion by

measuring changes in the infrared (heat) levels emitted by surrounding objects. This motion

can be detected by checking for a sudden change in the surrounding IR patterns. When

motion is detected the PIR sensor outputs a high signal on its output pin. This logic signal can




be read by a microcontroller or used to drive a transistor to switch a higher current load.

Detection range is up to 20 feet away.

Fig 4.8: Pins of PIR sensor

Some additional advantages of using PIR sensor are

Single bit output

Jumper selects single or continuous trigger output

Mode, 3-pin SIP header ready for breadboard or through whole Project.

Small size makes it easy to conceal

Compatible with BASIC Stamp, Propeller, and many other microcontrollers.

4.4 TEMPERATURE SENSOR:

Fig 4.9: Temperature sensor




The LM35 series are precision integrated-circuit temperature sensors, with an output

voltage linearly proportional to the Centigrade temperature. Thus the LM35 has an advantage

over linear temperature sensors calibrated in ° Kelvin, as the user is not required to subtract a

large constant voltage from the output to obtain convenient Centigrade scaling. The LM35

does not require any external calibration or trimming to provide typical accuracies of ±¼°C at

room temperature and ±¾°C over a full −55°C to +150°C temperature range. Low cost is

assured by trimming and calibration at the wafer level. The low output impedance, linear

output, and precise inherent calibration of the LM35 make interfacing to readout or controlcircuitry especially easy. The device is used with single power supplies, or with plus and

minus supplies. As the LM35 draws only 60 μA from the supply, it has very low self-heating

of less than 0.1°C in still air. The LM35 is rated to operate over a −55°C to +150°C

temperature range, while the LM35C is rated for a −40°C to +110°C range (−10° with

improved accuracy).

Fig 4.10: PIN diagram of temperature sensor

The LM35 series is available packaged in hermetic TO transistor packages, while the

LM35C, LM35CA, and LM35D are also available in the plastic TO-92 transistor package.

The LM35D is also available in an 8-lead surface-mount small outline package and a plastic

TO-220 package.




Fig 4.11: PIN representation of temperature sensor

Temperature sensor provides the information about the temperature of that place

continuously

4.5 CAMERA:

Fig 4.12: Camera

Wireless webcams are used for security purposes, and allow you to take pictures and

video further away from your computer. They can be used to monitor outdoor and indoor

property to help keep your home or business safe.




A wireless webcam is a compact camera that is able to transmit pictures and video

directly to your computer. It has a small lens in the front, which captures light by using light

detectors known as charge-coupled devices (CCDs). The CCD is able to convert the picture

into a digital format, which consists of a string of zeros and ones that your computer can

understand. The webcam captures the image and is able to transfer it to your computer; the

wireless capability is set up by using a router that connects to both the computer and camera.

The software in your computer allows you to capture the images and video in your

web cam. Depending on the type of camera, you have will rely on your software settings,

which will depend on the reason for using the wireless webcam; if you are using the camera

to stream video, then the frame rate will need to be set at a high level, like 24 frames per

second. If you just want to take pictures, then it can be set at a lower level. A reliable and fast

connection to the Internet is necessary, so that the images from the webcam stay up-to-date.

4.6 MAX 232:

Fig 4.13: MAX232 IC

The MAX232 converts from RS232 voltage levels to TTL voltage levels. A MAX232

chip has long been using in many µC boards. It provides 2-channel RS232C port and requires

external 10uF capacitors.

The MAX232 from Maxim was the first IC which in one package contains The

necessary drivers (two) and receivers (also two), to adapt the RS-232 signal voltage levels to




TTL logic. It became popular, because it just needs one voltage (+5V) and generates the

necessary RS-232 voltage levels (approx. -10V and +10V) internally. This greatly simplified

the design of circuitry. Circuitry designers no longer need to design and build a power supply

with three voltages (e.g. -12V, +5V, and +12V), but could just provide one +5V power

supply, e.g. with the help of a simple 78x05 voltage converter.

MAX-232 includes a Charge Pump, which generates +10V and -10V from a single

5vsupply.This I.C. also includes two receivers and two transmitters in the same package. This

is useful in many cases when you only want to use the Transmit and Receive data Lines. You

don't need to use two chips, one for the receive line and one for the transmission

Fig 4.14: Pin diagram of MAX232

However this convenience is expensive, but compared with the price of designing a

new power supply it is very cheap. There are also many variations of these devices. Each

receiver converts TIA/EIA-232 -F inputs to 5-V TTL/CMOS levels. These receivers have a

typical threshold of 1.3 V, a typical hysteresis of 0.5 V, and can accept ±30-V inputs. Each

driver converts TTL/CMOS input level into TIA/EIA-232-Flevels.The driver, receiver, and

voltage-generator functions are available as cells in the Texas Instruments




Fig 4.15: Circuit diagram of MAX232

It should be noted that the MAX232 (A) is just a driver/receiver. It does not generate

the necessary RS-232 sequence of marks and spaces with the right timing. It does not decode

the RS-232 signal. It does not provide a serial/parallel conversion. All it does is to convert

signal voltage levels. Generating serial data with the right timing and decoding serial data has

to be done by additional circuitry.

4.7 MOTORS:

Fig 4.16: Motors

A DC motor is designed to run on DC electric power. Two examples of pure DC

designs are Michael Faraday's homo polar motor (which is uncommon), and the ball bearing

motor, which is (so far) a novelty. By far the most common DC motor types are the brushed

and brushless types, which use internal and external commutation respectively to create an




oscillating AC current from the DC source — so they are not purely DC machines in a strict

sense.

The classic DC motor design generates an oscillating current in a wound rotor, or

armature, with a split ring commutator, and either a wound or permanent magnet stator. A

rotor consists of one or more coils of wire wound around a core on a shaft; an electrical

power source is connected to the rotor coil through the commutator and its brushes, causing

current to flow in it, producing electromagnetism.

Many of the limitations of the classic commutator DC motor are due to the need

for brushes to press against the commutator. This creates friction. At higher speeds, brushes

have increasing difficulty in maintaining contact. Brushes may bounce off the irregularities in

the commutator surface, creating sparks. (Sparks are also created inevitably by the brushes

making and breaking circuits through the rotor coils as the brushes cross the insulating gaps

between commutator sections. Depending on the commutator design, this may include the

brushes shorting together adjacent sections — and hence coil ends — momentarily while

crossing the gaps. Furthermore, the inductance of the rotor coils causes the voltage across

each to rise when its circuit is opened, increasing the sparking of the brushes.) This sparkinglimits the maximum speed of the machine, as too-rapid sparking will overheat, erode, or even

melt the commutator.




Fig 4.17: Circuit diagram of geared motor

The making and breaking of electric contact also causes electrical noise, and the sparks

additionally cause RFI. Brushes eventually wear out and require replacement, and the

commutator itself is subject to wear and maintenance (on larger motors) or replacement (on

small motors).




4.8 L293D MOTOR DRIVER:

Fig 4.18: Motor driver IC

The L293 and L293D are quadruple high-current half-H drivers. The L293 is

designed to provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V.

The L293D is designed to provide bidirectional drive currents of up to600-mA at voltages

from 4.5 V to 36 V. Both devices are designed to drive inductive loads such as relays,

solenoids, dc and bipolar stepping motors, as well as other high-current/high-voltage loads in

positive-supply applications. All inputs are TTL compatible. Each output is a complete

totem-pole drive circuit, with a Darlington transistor sink and a pseudo-Darlington source.

Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4

enabled by 3,4EN. When an enable input is high.




Fig 4.19: Circuit diagram of motor driver IC

The associated drivers are enabled and their outputs are active and in phase with their

inputs. When the enable input is low, those drivers are disabled and their outputs are off and

in the high-impedance state. With the proper data inputs, each pair of drivers forms a full-H

(or bridge) reversible drive suitable for solenoid or motor applications. A VCC1 terminal,

separate from VCC2, is provided for the logic inputs to minimize device power dissipation.

The L293and L293D is characterized for operation from 0°C to 70°C




4.9 RF COMMUNICATION:

Fig 4.20: RF communication Radio frequency (RF) is a rate of oscillation in the range of about 3 kHz to 300 GHz,

which corresponds to the frequency of radio waves, and the alternating currents which carry

radio signals. RF usually refers to electrical rather than mechanical oscillations; however,

mechanical RF systems do exist. The term "radio frequency" is to describe the use of wireless

communication, as opposed to communication via electric wires.

Zigbee and Bluetooth communication are use the RF waves for communication. In

this project we use Zigbee because it is a low cost, low power wireless mesh networking. The

low cost allows the technology to be widely deployed in wireless control and monitoring

application, the low power allows longer life with smaller batteries, and the mesh networking

provides high reliability and larger range.

Zigbee can activate within 15msec or less the latency can be very low and the device

can be very responsive- partially compared with Bluetooth, the wake-up delay is very less.

This predominates over the zigbee communication over the other.




4.10 GPS MODULE:

Fig 4.21: GPS module

The Global Positioning System (GPS) is a space-based satellite navigation system

that provides location and time information in all weather, anywhere on or near the Earth,

where there is an unobstructed line of sight to four or more GPS satellites. It is maintained by

the United States government and is freely accessible to anyone with a GPS receiver.

The GPS program provides critical capabilities to military, civil and commercial users aroundthe world. In addition, GPS is the backbone for modernizing the global air traffic system.

4.11 BUZZER:

Fig 4.22: Buzzer




A buzzer or beeper is an audio signaling device. This is a small 12mm round buzzer

that operates around the audible 2 kHz range. We drove it directly from a 5V PIC to generate

the tones for our Simon demonstration game. Use buzzers to create simple music or user

interfaces. Buzzers may be mechanical, electromechanical or piezoelectric. Typical uses of

buzzers and beepers include alarm devices, timers and confirmation of user input such as a

mouse click or keystroke.




CHAPTER 5

WORKING

This Project deals with live personal detection robot is based on 8 bit AVR

Microcontroller. For this we include PIR sensor, in addition also obtain the information

about the temperature of that place continuosly by temperature sensor and it will trace the

longitude and latitude position through GPS and will send to the destination using zigbee

communication. The movement of robot is possible in two modes. One is manual and other is

automatic. In manual mode, the robot is controlled by the computer and it is transmitted to

robot using zigbee RF communication whereas in automatic, the robot will continue the

previous command.

Power supply is provided here for supply enough energy to every part of the project.

Considering manual mode, user can control the movement of robot using .NET application

stored in computer. This application can converts the command into characters and send to

AVR in the dynamic part through zigbee communication. That is the command like left,right, forward and backward is converted into characters and transmitted. In dynamic section

the AVR rotates the motor according to the given command using two dual motor driver

L293D IC. The L293D IC is used to provide enough power supply to the gear motor. The

movement of gear motor can be controlled as:

• Forward- 4 motors rotate clockwise

• Backward- 4 motors rotate anticlockwise

• Right- left side motors only rotate

• Left- right side motors only rotate

While moving, if there is any presence if humans the PIR produce a high voltage at

output and sends to AVR. A buzzer is also connected to PIR, which starts sounding by

obtaining sufficient voltage from driver unit. The camera connected to the robot not only

helps the movement of robot but also verifies the detected object is human or not. A




temperature connected to AVR in order to obtain the temperature of the dynamic area. Since

temperature is an analog value, we use an ADC to convert it into digital value. The GPS

attach to the AVR using MAX232 and collects latitude and longitude location. The

microcontroller collects the information from all the subparts and transmits back to the

computer using zigbee as characters. At static part, the .NET application converts character

into user friendly data. Thus the rescuers will reach the location and can take necessary steps.




CHAPTER 6

SOFTWARE INTRODUCTION

6.1 EMBEDDED C

An embedded hardware device, depending on its size and capabilities,

can have an operating system — such as embedded Linux — with limited or minimal

functionality compared to a desktop version. For very small embedded devices, an OS might

be entirely absent: it is not possible to write programs, compile, and run and debug the code

in such small devices. In such a situation, it is necessary to use cross compilers (or

assemblers), which compile programs written in a high-level language on a host system

(typically a PC) and generate code for a target system (for example, an embedded device).

Characterestics of embedded C

Like most imperative languages in the ALGOL tradition, C has

facilities for structured programming and allows lexical variable scope and recursion, while a

static type system prevents many unintended operations. In C, all executable

code is contained within functions. Function parameters are always passed by value. Pass-by-

reference is achieved in C by explicitly passing pointer values. Heterogeneous aggregate data

types (struct) allow related data elements to be combined and manipulated as a unit. C

program source text is free-format, using the semicolon as a statement terminator (not a

delimiter).

C also exhibits the following more specific characteristics:

Lack of nested function definitions

Variables may be hidden in nested blocks

Partially weak typing; for instance, characters can be used as integers

Low-level access to computer memory by converting machine addresses to typed

pointers

Function and data pointers supporting ad hoc run-time polymorphism

Array indexing as a secondary notion, defined in terms of pointer arithmetic




A pre processor for macro definition, source code file inclusion, and conditional

compilation

Complex functionality such as I/O, string manipulation, and mathematical functions

consistently delegated to library routines

A relatively small set of reserved keywords

A lexical structure that resembles B more than ALGOL, for example

{ ... } rather than ALGOL's begin ... end

the equal-sign is for assignment (copying), much like Fortran

two consecutive equal-signs are to test for equality (compare to .EQ. in

Fortran or the equal-sign in BASIC)

&& and || in place of ALGOL's and or (these are semantically distinct from

the bit-wise operators & and | because they will never evaluate the right

operand if the result can be determined from the left alone (short-circuit

evaluation)).

A large number of compound operators, such as +=, ++, etc.

6.2 C#.NET

C#.NET is the next generation of the C# language from Microsoft. With C# you can

build .NET applications quickly and easily. Applications made with C# are built on the

services of the common language runtime and take advantage of the .NET Framework.

C# is comparatively easy to learn and use, and has become the programming

language of choice for hundreds of thousands of developers over the past decade. An

understanding of C# can be leveraged in a variety of ways, such as writing macros in Visual

Studio and providing programmability in applications such as Microsoft Excel, Access and

Word.




6.3 VISUAL BASIC

VISUAL BASIC is a high level programming language which evolved ifrom theearlier DOS version called BASIC. BASIC means beginners all purpose symbolic instruction

code. It is a very easy programming language to learn. The code looks a lot like English

language. Different software companies produced different version of BASIC, such as

Microsoft QBASIC, QUICKBASIC, GW BASIC, and IBM BASIC A and so on. However,

people prefer to use Microsoft Visual Basic today, as it is a well developed programming

language and supporting resources are available everywhere. Now, there are many versions

of VB exist in the market, the popular one still widely used by many VB programmers is

none other than Visual Basic6.

VISUAL BASIC is a VISUAL and events driven programming language. There

are the main divergent from the old BASIC. In BASIC, programming is done in a text only

environment and the programming is executed sequentially. In VB, programming is done in a

graphical environment. In the old BASIC , you have to write the programming code for each

graphical object you wish to display it on screen, including its position and its colour.

However, in VB, you just need to drag and drop any graphical object anywhere on the form,and you can change its colour anytime using the properties windows.

On the other hand, because user may click on certain object randomly, so each

object has to be programmed independently to be able to response to those actions (events).

Therefore, a VB program is made up of many subprograms, each as its own program code,

and each can be executed independently and the same time which can be linked together in

one way or another. With VB 6, we can create any program depending on your objective.

Visual Basic is an ideal programming language for developing sophisticated

professional applications for Microsoft Windows. It makes use of Graphical User Interface

for creating robust and powerful application. The GUI as the name suggest, uses illustrations

for test, which enable users to interact with an application. This feature makes it easier to

comprehend things in a quicker and easier way.




Fig 2.23: Visual basic user menu

Coding in GUI environment is quite a transition to traditional, linear

programming methods where the user is guided through a linear path of execution and is

limited to small set of operations. In GUI environment, the number of options open to the

user is much greater, allowing more freedom to the user and the developer. Features such as

easier comprehension, user friendliness, faster application development and many other

aspects such as introduction to Active X technology and internet features make Visual Basic

an interesting tool to work with.




Visual Basic was developed from BASIC programming language. In the 1970’s,

Microsoft start developing ROM based interpreted BASIC for the early microprocessor based

computers. In 1982, Microsoft QuickBasic revolutionized Basic and was legitimized as a

serious development language for MS-DOS environment. Later on Microsoft Corporation

created the enhanced version of Basic called Visual Basic for Windows.

Visual Basic (VB) is an event-driven programming language. This is called

because programming is done in a graphical environment unlike the previous version BASIC

where programming is done in a test only environment and executed sequentially in order to

control the user interface. VB enables the user to design the user interface quickly by drawing

and arranging the user elements. Due to this spent time is saved for the respective task.

Important Features of VB

Full set of objects- you ‘draw’ the application.

Lots of icons and pictures for your use.

Response to mouse and keyboard actions.

Clipboard and printer access.

Full array of mathematical, string handling and graphics functions.

Can handle fixed and dynamic variables and control arrays

Sequential and random access files support.

Useful debugger and error – handling facilities.

Powerful database access tools.

6.4 DIPTRACE

It is used to design schematic circuit diagram, PCB design and component layout.

6.5 TOPWIN6

Topwin6 is a software used for burn program to IC.




CHAPTER 7

FLOW CHART

Table 7.1: Flow chart

Start

System setup

Send wanted characters

Control robotic movement

Send images to system

using camera

If GPS or

temperatur

e

If human

detected

Buzzer ON

LED ON




CHAPTER 8

ADVANTAGE

The main advantage of our project is detection and identification of living bodies. It

also possible for humans and even trained dogs but entering into gaps and move through

small holes is feel difficult for rescuers. Robot can able to start searching in collapsed

building areas and Possible to find out the life at the time of earth quake. It offers very fast

and secure than rescuers.




CHAPTER 9

CONCLUSION

Recent natural disasters and man-made catastrophes have focused attention on

the area of emergency management rescue .These experiences have shown that most

governments preparedness and emergency responses are generally inadequate in dealing with

disasters. Considering the large number of people who have died due to reactive,

spontaneous, and unprofessional rescue efforts resulting from a lack of adequate equipment

or lack of immediate response, researchers have naturally been developing mechatronics

rescue tools and strategic planning techniques for planned rescue operations. Aiming at the

enhancing the quality of rescue and life after rescue, the field of rescue robotics is seeking

dexterous devices that are equipped with learning ability , adaptable to various types of

situations. Considering various natural disasters and man-made catastrophes need for rescue

robots is focused.



REFERANCE

[1] Richard H Barnett, Sarah Cox, Larry O'Cull ‘ Embedded C Programming and the Atmel

AVR ’; 560 pages; 2006; ISBN 978-1-4180-3959-2

[2] Joe Pardue: ‘ C Programming for Microcontrollers Featuring ATMEL's AVR Butterfly

and WinAVR Compiler ’; 300 pages; 2005; ISBN 978-0-9766822-0-2.

[3] Steven F Barrett, Daniel Pack, Mitchell Thornton: ‘ Atmel AVR Microcontroller Primer:

‘Programming and Interfacing’; 194 pages; 2007; ISBN 978-1-59829-541-2.

[4] http://www.avrfreaks.nic

[5] "How Infrared motion detector components work". Non commercial research page.

Glolab Corporation. Retrieved 2013-05-31.

[6] http://www.digikey.com/us/en/techzone/sensors/resources/articles/sensing-motion-with-

passive-infrared-sensors.html

http://en.wikipedia.org/wiki/Special:BookSources/9780976682202






http://www.avrfreaks.nic/




http://www.glolab.com/pirparts/infrared.html


http://www.digikey.com/us/en/techzone/sensors/resources/articles/sensing-motion-with-passive-infrared-sensors.html










Documents

Robot for Rescue