UGV-Review.ppt

UNMANNED GROUND UNMANNED GROUND VEHICLE FOR SECURITY VEHICLE FOR SECURITY

APPLICATIONAPPLICATION

RAHUL KUMARRAHUL KUMAR

ELECTRICAL ELECTRICAL &ELECTRONIC &ELECTRONIC

ENGG.ENGG.

Project By,Project By,

1 UGV FOR SECURITY APPLICATIONS

Under The Guidance of

Based on the IEEE paperBased on the IEEE paper

“Design and implementation of an “Design and implementation of an unmanned ground vehicle for unmanned ground vehicle for

security purpose”security purpose”


Design and implementation of prototype teleported Design and implementation of prototype teleported unmanned guided vehicle (UGV) for security unmanned guided vehicle (UGV) for security applications.applications.

The system continuously monitors the critical The system continuously monitors the critical location and this information can be viewed and location and this information can be viewed and controlled through a PC with the help of a wireless controlled through a PC with the help of a wireless cam which is attached with the laser gun.cam which is attached with the laser gun.

Provides internal and external security to the Provides internal and external security to the military, industries, offices, army etc.military, industries, offices, army etc.

ABSTRACTABSTRACT


AIMAIM

To study onTo study on

Renesas MicrocontrollerRenesas Microcontroller

Zigbee Communication.Zigbee Communication.

Motor Control.Motor Control.

Video Transmission and Reception.Video Transmission and Reception.

Obstacle Detection.Obstacle Detection.

UGV FOR SECURITY APPLICATIONS 4

EXISTING TECHNOLOGYEXISTING TECHNOLOGY


Ripsaw Packbot

Disadvantages:-Disadvantages:-

- cannot be used for obstacle detection.- cannot be used for obstacle detection.

- doesn’t support audio transmission.- doesn’t support audio transmission.

- doesn’t support multiple UGV control.- doesn’t support multiple UGV control.

PROPOSED TECHNOLOGYPROPOSED TECHNOLOGY

Supports obstacle detection.Supports obstacle detection.

Supports audio transmission.Supports audio transmission.

Supports multiple UGV control.Supports multiple UGV control.


PROJECT PLANPROJECT PLAN 11stst Review Review

Block Diagram.Block Diagram.Division of Responsibility.Division of Responsibility.

22ndnd Review ReviewEach Module Bring Up.Each Module Bring Up.

33rdrd Review ReviewIntegrationIntegration

Final ReviewFinal ReviewFinal Integration and Testing.Final Integration and Testing.Demonstration of ProjectDemonstration of Project

UGV for military applications 8

UGV for military applications 9

GENERAL BLOCK DIAGRAMGENERAL BLOCK DIAGRAM

Transmitter

PCinterface

User

ReceiverControl

Unit

MotorUnit

CameraReceiver

Camera Transmitter

Transmitter Section Receiver Section (UGV)

BLOCK DIAGRAMBLOCK DIAGRAM TRANSMITTERTRANSMITTER

PC

WIRELESSTRANSMITTER

XBee

LEDINDICATOR

FRONT-ENDSOFTWARE

RS232CONNECTOR

HONESTTECHTVR

USBTV

TUNERCARD

WIRELESSCAMERA

RECEIVER

POWERSUPPLY

FINE TUNING OPTION

9V

VIDEO


RECEIVERRECEIVER

CONTROLUNIT

RENESASMICRO

CONTROLLER

WIRELESSRECEIVER

XBee

WIRELESSCAMERA

DRIVERSTEPPER MOTOR

STEPPERMOTOR

POWERSUPPLY

DRIVERGEAR MOTOR

GEARMOTOR

5V12V

9V

OBSTACLE DETECTION


DEVELOPMENT TOOLDEVELOPMENT TOOL

HEWHEW (High Performance Embedded Workshop) (High Performance Embedded Workshop)

- Integrated Development Equipment- Integrated Development Equipment

DXP Protel 2004DXP Protel 2004

- Circuit Diagram Designing- Circuit Diagram Designing

- PCB Designing- PCB Designing

APPLICATION SOFTWAREAPPLICATION SOFTWARE

HyperTerminalHyperTerminal

-Application used to communicate with -Application used to communicate with computer and remote UGV. computer and remote UGV.

-Sends set of commands and receives data -Sends set of commands and receives data from from UGV.UGV.

Honest Tech TVRHonest Tech TVR

-Software for viewing videos signals-Software for viewing videos signals

-Helps to record the video & audio signals.-Helps to record the video & audio signals.

-Snap shots are also available-Snap shots are also available


PCB DESIGNINGPCB DESIGNING

Schematic:-Schematic:-- Placing of Components.- Placing of Components.

- Annotate.- Annotate.- Net list Creation.- Net list Creation.

PCB designing:-PCB designing:-- Porting to PCB- Porting to PCB- Component Layout- Component Layout- Routing- Routing- Gerbar File Formation. - Gerbar File Formation.

MICROCONTROLLERMICROCONTROLLER


““Y” RENESAS ?? Y” RENESAS ??

Easily available.Easily available. Low cost.Low cost. Internal peripherals.Internal peripherals. Low power consumption.Low power consumption. High performance.High performance. Software support.Software support. In circuit programming and On-chip debugging.In circuit programming and On-chip debugging.


COMPARISONCOMPARISON


RENESAS R8C series RENESAS R8C series

1.1.No error data sheets.No error data sheets.

2.Less cost and good 2.Less cost and good performance. performance.

3.Code protection Facility is 3.Code protection Facility is available available

4. R8C is CISC Architecture4. R8C is CISC Architecture

5.8bit/16bit Architecture5.8bit/16bit Architecture

PIC 18F seriesPIC 18F series

1.Error data sheet is available. 1.Error data sheet is available.

2. Cost is high and the performance 2. Cost is high and the performance is not up to RENESASis not up to RENESAS

3. Code protection facility is not 3. Code protection facility is not availableavailable

4.18F series is RISC Architecture4.18F series is RISC Architecture

5.Pure 8 bit architecture5.Pure 8 bit architecture

COMPARISONCOMPARISON


RENESAS R8C series RENESAS R8C series

6.EMI,EMC performance is good.6.EMI,EMC performance is good.

7.Development tool is very 7.Development tool is very strong. optimized code will be strong. optimized code will be generated generated

8.RENESAS chip will work from 8.RENESAS chip will work from 1.8V to 5V 1.8V to 5V 9.Flash programming voltage is 9.Flash programming voltage is low low 10.Flash programming is fast10.Flash programming is fast

PIC 18F seriesPIC 18F series

6. EMI,EMC performance is poor 6. EMI,EMC performance is poor

7.Development tools are very 7.Development tools are very weak, they generate large codesweak, they generate large codes

8. Dedicated chips only will work 8. Dedicated chips only will work in low voltagesin low voltages

9.Flash programming voltage is 9.Flash programming voltage is highhigh

10. Flash programming is slow10. Flash programming is slow

FEATURESFEATURESR8C/25, R8C/25, R5F21258SDFPR5F21258SDFP16 bit microcontroller. 16 bit microcontroller. Program ROM-64 Kbytes.Program ROM-64 Kbytes.Data Flash-1 Kbytes × 2.Data Flash-1 Kbytes × 2.RAM capacity-3 Kbytes.RAM capacity-3 Kbytes.Address space: 1MegaByteAddress space: 1MegaByte..

Power supply: 5VPower supply: 5V52 pin package.52 pin package.I/O ports: 41 pinsI/O ports: 41 pins


ARCHITECTUREARCHITECTURE


CIRCUIT DIAGRAM-CIRCUIT DIAGRAM-CONTROLLERCONTROLLER


ZIGBEE ZIGBEE


FEATURESFEATURES

Meet Zigbee /IEEE 802.15.4 standard.Meet Zigbee /IEEE 802.15.4 standard.Operates in unlicensed bands including 2.4 GHz, 900 Operates in unlicensed bands including 2.4 GHz, 900

MHz and 868 MHz.MHz and 868 MHz.Support for multiple network topologies such as point-Support for multiple network topologies such as point-

to-point, point-to-multipoint and mesh networksto-point, point-to-multipoint and mesh networks

Y “ZIGBEE” ??Y “ZIGBEE” ??

Low-costLow-cost Low-powerLow-power Low latencyLow latency Long battery lifeLong battery life Secure networking.Secure networking. Multiple communicationMultiple communication Easy to useEasy to use

INTERNAL BLOCK DIAGRAMINTERNAL BLOCK DIAGRAM


HOW COMMUNICATION OCCURS??


Micro Controller Xbee

RX

TX

GND

PCXbee

RX

TX

GND

RS 232 ConnectorRS 232 Connector

-RS232 is a Standard for serial data -RS232 is a Standard for serial data communication.communication.

-Connects TTL compactable Xbee to -Connects TTL compactable Xbee to the the COM COM port of PC.port of PC.

-MAX 232 convert RS232 voltage level to -MAX 232 convert RS232 voltage level to TTL TTL levellevel

GEAR MOTORGEAR MOTOR

SPECIFICATIONSPECIFICATION

2000::100 rpm2000::100 rpm

CIRCUIT DIAGRAMCIRCUIT DIAGRAM


STEPPER MOTORSTEPPER MOTOR


SPECIFICATIONSPECIFICATION

Step angle – 3.125Step angle – 3.125 CurrentCurrent Voltage Voltage TorqueTorque

STEPPER MOTORSTEPPER MOTOR



WIRELESS CAMERAWIRELESS CAMERA&&

RECEIVERRECEIVER


Wireless Pinhole A/V PAL CameraWireless Pinhole A/V PAL Camera§ § Image Device: 1/3 CMOSImage Device: 1/3 CMOS

§ TV system: PAL§ TV system: PAL

§ Horizontal Definition: 380TV Lines§ Horizontal Definition: 380TV Lines

§ Minimum Illumination: 3.0 Lux§ Minimum Illumination: 3.0 Lux

§ Transmission Frequency: 1.2GHz§ Transmission Frequency: 1.2GHz

§ Power Adapter: DC 9V or 9V Battery§ Power Adapter: DC 9V or 9V Battery

§ Dimension: 50x35x40mm (LxWxD)§ Dimension: 50x35x40mm (LxWxD)

§ Recommended Max Range for Objects: 5m§ Recommended Max Range for Objects: 5m

§ Transmission Range: 12~15m§ Transmission Range: 12~15m

§ Built In Microphone: Max Audio Range 1~2m§ Built In Microphone: Max Audio Range 1~2m


RADIO A/V RECEIVER RADIO A/V RECEIVER

§ Receiving Frequency: 1.2GHz§ Receiving Frequency: 1.2GHz§ Demodulation Mode: FM§ Demodulation Mode: FM§ Antenna: 50ohm SMA§ Antenna: 50ohm SMA§ Receiving Sensitivity: <-85dBm§ Receiving Sensitivity: <-85dBm§ Dimension: 120x81x20mm (LxWxD)§ Dimension: 120x81x20mm (LxWxD)§ Channels Available: 1§ Channels Available: 1§ Channel Tuning for Multiple Cameras§ Channel Tuning for Multiple Cameras§ AV OUT§ AV OUT

USB TV TunerUSB TV Tuner

-Peripheral for receiving Video & Audio -Peripheral for receiving Video & Audio signals. signals.

-Decodes video and audio signals.-Decodes video and audio signals.


OBSTACLE OBSTACLE DETECTIONDETECTION

IR TransmitterIR Transmitter

wave length -850nmwave length -850nm forward voltage :1.5Vforward voltage :1.5V Max.forward current : 50mAMax.forward current : 50mA range : 15-30cmrange : 15-30cm intensity angle: 24-30Degreeintensity angle: 24-30Degree chip material: GaAlAschip material: GaAlAs lens colour:Dark Bluelens colour:Dark Blue

IR receiverIR receiver

PhotodiodePhotodiode FeaturesFeatures

Fast response time․Fast response time․High photo sensitivity ․High photo sensitivity ․



POWER SUPPLYPOWER SUPPLY

POWER SUPPLYPOWER SUPPLY

Linear Power Supply.Linear Power Supply. Regulators usedRegulators used

LM7805-Control unit-5V LM7805-Control unit-5V

LM7809-Camera-9VLM7809-Camera-9V

LM1117-Zigbee module-3.3VLM1117-Zigbee module-3.3V




ADVANTAGESADVANTAGES

Saves human life in dangerous situations.Saves human life in dangerous situations.Less power consumption.Less power consumption.Low cost.Low cost.Performs dull, dirty and dangerous activities.Performs dull, dirty and dangerous activities.Used to handle those situations which are risky Used to handle those situations which are risky and impractical for human capability. and impractical for human capability. Intelligent.Intelligent.Supports obstacle detection.Supports obstacle detection.Supports audio transmission.Supports audio transmission.Supports multiple UGV control.Supports multiple UGV control.


DISADVANTAGESDISADVANTAGES

Can’t be used in water.Can’t be used in water.Can’t be used in vertical planes.Can’t be used in vertical planes.Unable to fly.Unable to fly.


APPLICATIONSAPPLICATIONS

Used for security applications.Used for security applications.Can be used instead of man in dangerous Can be used instead of man in dangerous situations.situations.Can be used where the human labor is too Can be used where the human labor is too expensive. expensive. Can be used to perform dull, dirty and dangerous Can be used to perform dull, dirty and dangerous activities.activities.


ADDITIVE FEATURESADDITIVE FEATURES

Temperature sensorTemperature sensorMetal detector.Metal detector.Bomb detector.Bomb detector.Solar energy instead of battery.Solar energy instead of battery.

FUTURE ENHANCEMENTSFUTURE ENHANCEMENTS

Can be developed for submarine applications.Can be developed for submarine applications.Can be developed for the use in vertical planes.Can be developed for the use in vertical planes.Can be developed with an ability to fly.Can be developed with an ability to fly.


FLOW CHARTFLOW CHART


33

YESYES

STARTSTART

CHECK CHECK OVERFLOW BITOVERFLOW BIT

RESETRESET

NONO

CHECK FOR CHECK FOR SERIAL DATASERIAL DATA

YESYES

NONO

11

22

CHECK CHECK FOR FOR

OBSTUCLEOBSTUCLE

YESYES

REVERSE REVERSE AND STOPAND STOP

NONO

22


22 33


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UGV-Review.ppt