ANDROID MOBILE PHONE CONTROLLED WI-FI ROBOT WITH PICK AND PLACE OPTION

Transcription

1 ANDROID MOBILE PHONE CONTROLLED WI-FI ROBOT WITH PICK AND PLACE OPTION Nannapuraju Sindhuja M.Tech Student, Dept of ECE, MRIET, Maisammaguda, Dhulapally village, Hakimpet, Medchal Mandal, Ranga Reddy district, Telangana, India. U. Sravan Kumar M.Tech, Assistant Professor, Dept of ECE, MRIET, Maisammaguda, Dhulapally village, Hakimpet, Medchal Mandal, Ranga Reddy district, Telangana, India. Dr. M Narsing Yadav MS, Ph.D, HOD, Professor Dept of ECE, MRIET, Maisammaguda, Dhulapally village, Hakimpet, Medchal Mandal, Ranga Reddy district, Telangana, India. ecehod.mriet@gmail.com Abstract: Today human-machine interaction is moving away from mouse and pen and is becoming ubiquitous and much more compatible with the physical world. In the present generation the gap between machines and humans is being reduced with the introduction of new technologies to free from trouble the standard of living.. In this paper, include rigorous analysis of different techniques of Human- Machine Interaction. This paper analyses the motion technology through an android smart phone with Wi- Fi module to control the movements of a robot.sensors placed on robot continuously update the temperature and gas values of surrounding area and display on mobile phone and lcd display. The signals of the Wi-Fi Module are controlled by the ARM 7 processor. Also a camera is equipped for remote view and the robot will automatically avoid obstacle and move when it is in operation without intervention from the operator. Ultrasonic sensor used for obstacle detection purpose. Keywords: WIFI, ARM 7, Sensors, Motor Driver, DC Geared Motors, Camera, LCD, Buzzer, PC. I. INTRODUCTION Robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm. Types of robot arms depend on their range, working capability and reach. Cartesian robot is used for dual-arm work, plotting and handling arc welding. Its range is mostly 2 dimensional. Cylindrical robot is also used for the above mentioned working categories, but since it operates in a cylindrical coordinate system, it can be used to do the operations more precisely and accurately, furthermore it also has a wider reachable range. Spherical robot works on the polar coordinate system. SCARA robot is mainly used for dual-arm work. It has to parallel rotary joints to provide flexibility in a plane. Then for a three dimensional reach it is usually combined with other mechanisms. Articulated robot has three rotary joints. Parallel robots are used in the mobile platform handling cockpit flight simulators. It is a robot whose arms have concurrent prism shaped or rotary joints. Anthropomorphic robot

2 This resembles a human hand, with independent fingers and thumbs. Gripper is an end-of-arm device often used in material handling applications. Generally the gripper is a device that is capable of generating enough grip force to retain an object while the robot performs a task on the part such a pick-andplace operation. Any gripper must be capable of performing the task of opening and closing with a prescribed amount of force over many years of daily operation. The most commonly used grippers are finger grippers. These grippers generally have two opposing fingers or three fingers like a lathe chuck. The fingers are driven together such that once gripped any part is centered in the gripper. II. HARDWARE SYSTEM Fig 1: Transmitting section This gives some flexibility to the location of components at the pick-up point. Two finger grippers can be further split into parallel motion or angular motion fingers. Angular jaw gripper open and close around a central pivot point, moving in an arcing motion. An angular gripper is used when there is a need to get the tooling out of the way. The advantage for an angular gripper falls on its simple design and only requires one power source for activation. However, it has several disadvantages including jaws that are not parallel and a changing centre of grasp while closing. Meanwhile, parallel jaw gripper moves in a motion parallel in relation to the gripper s body. A parallel gripper is used for pulling a part down inside a machine because the fingers fit into small areas better. An advantage of parallel type gripper is that the centre of the jaws does not move perpendicular to the axis of motion. Thus, once the gripper is centered on the object, it remains centered while the jaws close. Space constraints might lead to the use of parallel over angular. Fig 2: Receiver section III. METHODOLOGY Micro controller: This section forms the control unit of the whole project. This section basically consists of a Microcontroller with its associated circuitry like Crystal with capacitors, Reset circuitry, Pull up resistors (if needed) and so on. The Microcontroller forms the heart of the project because it controls the devices being interfaced and communicates with the devices according to the program being written. ARM7TDMI: ARM is the abbreviation of Advanced RISC Machines, it is the name of a class of processors, and is the name of a kind technology too. The RISC instruction set, and related decode mechanism are much simpler than those of Complex Instruction Set Computer (CISC) designs.

3 Liquid-crystal display: LCD is a flat panel display, electronic visual display that uses the light modulation properties of liquid crystals. Liquid crystals do not emit light directly. LCDs are available to display arbitrary images or fixed images which can be displayed or hidden, such as preset words, digits, and 7-segment displays as in a digital clock. Temperature sensor: A thermistor is a type of resistor whose resistance is dependent on temperature. Thermistors are widely used as inrush current limiter, temperature sensors (NTC type typically), self-resetting over current protectors, and self-regulating heating elements. The TMP103 is a digital output temperature sensor in a four-ball wafer chip-scale package (WCSP). The TMP103 is capable of reading temperatures to a resolution of 1 C. Fig 3: Temperature sensor Ultrasonic sensor: The sensor is primarily intended to be used in security systems for detection of moving objects, but can be effectively involved in intelligent children s toys, automatic door opening devices, and sports training and contact-less-speed measurement equipment. Infrared sensors are characterized by high sensitivity, low cost and are widely used. But, these sensors can generate false alarm signals if heating systems are active or temperature change speed exceeds some threshold level. Moreover, infrared sensors appreciably lose sensitivity if small insects penetrate the sensor lens. Ultrasound motion detection sensors are characterized by small power consumption, suitable cost and high sensitivity. That it why this kind of sensor is commonly used in home, office and car security systems. Existing ultrasound sensors consist of multiple passive and active components and are relatively complicated for production and testing. Sensors often times require a laborious tuning process. Fig 4: Ultrasonic sensor Gas sensor: They are used in gas leakage detecting equipments in family and industry, are suitable for detecting of LPG, i-butane, propane, methane, alcohol, Hydrogen, smoke. The surface resistance of the sensor Rs is obtained through effected voltage signal output of the load resistance RL which series-wound. The relationship between them is described: Rs\RL = (Vc-VRL) / VRL Fig 6: Gas sensor

4 DC Motor: A DC motor relies on the fact that like magnet poles repels and unlike magnetic poles attracts each other. A coil of wire with a current running through it generates an electromagnetic field aligned with the center of the coil. By switching the current on or off in a coil its magnetic field can be switched on or off or by switching the direction of the current in the coil the direction of the generated magnetic field can be switched 180. Fig 7: DC Motor Motor driver (L293D): DC motors are typically controlled by using a transistor configuration called an "H-bridge". This consists of a minimum of four mechanical or solidstate switches, such as two NPN and two PNP transistors. One NPN and one PNP transistor are activated at a time. Both NPN and PNP transistors can be activated to cause a short across the motor terminals, which can be useful for slowing down the motor from the back EMF it creates. H-bridge. Sometimes called a "full bridge" the H-bridge is so named because it has four switching elements at the "corners" of the H and the motor forms the cross bar. The switches are turned on in pairs, either high left and lower right, or lower left and high right, but never both switches on the same "side" of the bridge. If both switches on one side of a bridge are turned on it creates a short circuit between the battery plus and battery minus terminals. If the bridge is sufficiently powerful it will absorb that load and your batteries will simply drain quickly. Usually however the switches in question melt. WIFI: Wi-Fi is the name of a popular wireless networking technology that uses radio waves to provide wireless high-speed Internet and network connections. A common misconception is that the term Wi-Fi is short for "wireless fidelity," however this is not the case. Wi-Fi is simply a trademarked phrase that means IEEE x. Wi-Fi works with no physical wired connection between sender and receiver by using radio frequency (RF) technology, a frequency within the electromagnetic spectrum associated with radio wave propagation. When an RF current is supplied to an antenna, an electromagnetic field is created that then is able to propagate through space. The cornerstone of any wireless network is an access point (AP). The primary job of an access point is to broadcast a wireless signal that computers can detect and "tune" into. In order to connect to an access point and join a wireless network, computers and devices must be equipped with wireless network adapters Wi- Fi is supported by many applications and devices including video game consoles, home networks, PDAs, mobile phones, major operating systems, and other types of consumer electronics. Any products that are tested and approved as "Wi-Fi Certified" (a registered trademark) by the Wi-Fi Alliance are certified as interoperable with each other, even if they are from different manufacturers. For example, a user with a Wi-Fi Certified product can use any brand of access point with any other brand of client hardware that also is also "Wi-Fi Certified". Products that pass this certification are required to carry an identifying

5 seal on their packaging that states "Wi-Fi Certified" and indicates the radio frequency band used (2.5GHz for b, g, or n, and 5GHz for a). o Ad hoc and Infrastructure support multiple security authentication mechanisms: o WEP64/WEP128/ TKIP/CCMP(AES) o WEP/WPA-PSK/WPA2-PSK support quick networking support wireless roam Fig 8: WIFI Module VSD03 is the new third-generation embedded UART-WIFI modules studied by VSD TECH. UART-WIFI is an embedded module based on the UART serial, according with the WIFI wireless WLAN standards, It accords with IEEE protocol stack and TCP / IP protocol stack and it enables the data conversion between the user serial and the wireless network module. Through the UART-WIFI module, the traditional serial devices can easily access to the wireless network. VSD03 does a comprehensive hardware and software upgrades based on the products. Its main features include: Interface: 2*4 pins of Interface: HDR254M-2X4 The range of baud rate: 1200~115200bps RTS / CTS Hardware flow control single 3.3V power supply Wireless support IEEE802.11b / g wireless standards support the range of frequency: 2.412~2.484 GHz support two types of wireless networks: Buzzer: A buzzer or beeper is a signaling device, usually electronic, typically used in automobiles, household appliances such as a microwave ovens, & game shows. The word "buzzer" comes from the rasping noise that buzzers made when they were electromechanical devices, operated from steppeddown AC line voltage at 50 or 60 cycles. Other sounds commonly used to indicate that a button has been pressed are a ring or a beep. The "Piezoelectric sound components" introduced herein operate on an innovative principle utilizing natural oscillation of piezoelectric ceramics. These buzzers are offered in lightweight compact sizes from the smallest diameter of 12mm to large Piezo electric sounders. Today, piezoelectric sound components are used in many ways such as home appliances, OA equipment, audio equipment telephones, etc. And they are applied widely, for example, in alarms, speakers, telephone ringers, receivers, transmitters, beep sounds, etc. Fig 9: Types of Buzzers

6 IV. CONCLUSION The conclusion for the results of the use of Wi-Fi and accelerometer sensor on the android-based phone to control the mobile robot motion is as follows: The accelerometer sensor on android smart-phone can be used as an motion control of robots. Overall, the control process goes well.. The farther the distance between the smart-phone and the robot, the slower the response time of robot in motion. In the future we have intention to test the system. V. REFERENCES [1]. Song, M., Kim, B., Ryu, Y., Kim, Y., and Kim, S., Control Robot System Using Android Smartphone, The 7th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Busan-Korea, [2]. Krofitsch C., Grabler R., Android-Based LowCost Robot Controller, Practical Robotics Institute Austria (PRIA). [3]. Namratha S.N, Anjanaparua, Kumuda. S, Self Balancing Robot Using Android Phone, BMS college of Engineering, IT Department, Bangalore. [4]. Pradeep N., Sharief M., Siddappa M., Building Vision And Voice Based Robots Using Android, 1st Annual International Interdisciplinary Conference, [5]. M. Klingmann, Accelerometer-Based Gesture Recognition with the iphone, Goldsmiths University, MSc in Cognitive Computing, London, September [6]. T.A. Baede., Motion Control of an Mobile Robot, National University of Singapore, Faculty of Engineering, Departement of Mechanical Engineering, 2006.