Kuwait University Department of Electrical Engineering SWAT Robot
Contents
1. RF Module Wireless Transmitter Unit TX RX The RF modules are used to transmit and receive signals used to control the robot The modules operates at frequency of 433 92 MHz UHF and can send a signal up to 500 ft 152 meters depending on environment conditions Illustration 6 RF transmitter Illustration 7 RF receiving module module The 2 joined Boe bot chases Illustration 8 Original Boe bot The above figure shows the original Boe bot in this project however two Boe bot chases has been joined together to construct a one solid base with 4 wheels drive One micro controller is used on the Boe bot as the other is used as described above send the serial commands e Wireless camera Transmitter and receiver Illustration 9 Wireless camera receiver The wireless camera is an of shelf item that uses 2 4 GHz frequency channel 4 It has a built it Infra red LEDs which enables it to operate in the dark The receiver is connected to the computer via USB special software included with the camera is used to monitor the audio video stream e Servos There exists 9 servos in the robot 4 Parallax continuous spinning servos comes with the Boe bot kit used for wheels Parallax servos has range of 650 850 Y2us duty cycle to operate A train of pulses is sent to the servos 650 2 1s is the maximum rotation speed in one direction 750 2y1s is idle and 850 2 s is the maximum rotation speed in th2. You cannot move the robot around it s self while it s moving in the 1 place 27 Choosing Camera Gun To select the camera press button 3 on the joystick to select the gun press button 4 on the joystick Choose the speed of the camera gun movement The buttons 5 and 6 decreases amp increases the speed respectively Move the Camera Gun To start moving the camera gun whatever is selected you press the view switch in the direction desired Laser ON OFF Press button 2 on the joystick to toggle the laser on off The laser will help you locate the position where the gun is pointing at Arming the System Before shooting the system should be armed press the button number 10 on the joystick to arm the system Shooting the Weapon After the system has been armed press button number 1 on the joystick to engage the target Reset the Servos In case the user has lost the sense of directions lost the camera or gun positions he can simply press the joysticks button number 9 This will reset the servos positions holding the camera and gun 28 Appendix G o LabVIEW Programming The Joystick Module Illustration 20 Joystick module front panel Running the joysticks module can let you monitor all the axises values amp buttons of the joystick This panel has ID Is the joysticks COM configuration Default O if Joystick was 1 USB device to be connected to the computer x Representing th
3. o User s Manual Software Installation e Install LabVIEW e Install InterVideo WinDVR comes with the wireless camera Connections e Connect the Joystick to the USB port of the laptop Connect the Camera receiver to the other USB port of the laptop Connect the serial port of the computer to the micro controller 1 e Connect the batteries of both micro controllers e Connect the camera with the 9V battery Software Initialization e Start LabVIEW by opening the modular design front panel 01 Module vi e Run the program e Select the proper joystick ID Default 0 if it was the 1 USB device that was connected to the computer Run InterVideo WinDVR e Choose correct camera channel Ch 4 used in this project Usage Robot Movements The joystick acts as a controller for the robot each axis movements will move the robot in a different direction It s a simple combination that can be realized after little experimenting with it The y axis will give the forward or reverse speed while the combination of x and y axises will start a differential speeds between right and left wheels that causes rotation of the robot The z axis of the joystick will move the robot around it s self note that the z axis function will not work if the joystick has values in x or y directions Meaning it should be centered otherwise the x amp y directions will be taken instead of the z axis because they have a higher priority
4. In this prototype unit it is assumed that the frequency of 433 MHz is not used by any other device nearby and is only dedicated for the robot communication system It is also assumed that the frequency of 2 4 GHz channel 4 is also not used by any nearby equipment as it will be used for the audio video stream The robot is most likely going to operate indoors the equipment used for communication should have the sufficient power to send signals through walls o Constrains Time and budget limitations did not allow the usage of powerful motors to drive the robot and enable a faster movement instead weak and slow servos were used to mobilize the robot The effective range of the robot is currently limited by the wireless camera that is currently in use which has a relatively poor indoor range The final mechanical design is not very rugged due to time limitations final design should look and feel stiffer o System Environment and External Interfaces The hardware used in this system consists of Laptop serial port DB9 female serial cable Joystick x2 Boe bot kits RF transceivers Camera Wireless Transmitter O tut ON ES Wireless Camera Receiver The Software used in this system o LabVIEW o Basic Stamp editor Inluded with the Boe bot kits o InterVideo DVR Included with the wireless camera o Budget and Cost The estimated cost of this prototype system is as follows o Laptop 350 KD o x2 Boe bot kit
5. 1 16468 WAIT 201 r 1 speed dat shoot This initiates port 1 for serial communication at baud rate of 9600 bit s It will wait the start receive signal from the computer which is decimal 201 then it 43 will start receiving the data amp storing them into the specified variables PULSOUT 0 1200 This will sent a pulse with the width of 2us 1200 to the port 0 where the RF unit is connected this will enable the receiving RF unit to synchronize it s clock with the RF s transmitter clock in preparation for data reception SEROUT 0 16468 201 r l speed dat shoot Will send the data serially to the port 0 RF transmitter unit with the same baud rate and the same start receive signal 44 Micro controller 2 Robot The second micro controller is on board the robot which receives amp executes all the commands Code Serial RF TX STAMP BS2 PBASIC 2 5 r VAR Byte I VAR Byte rr VAR Word Il VAR Word speed VAR Byte dat VAR Byte shoot VAR Byte value0 VAR Bit valuel VAR Bit value2 VAR Bit value3 VAR Bit value4 VAR Bit value5 VAR Bit value6 VAR Bit value7 VAR Bit servo VAR Word servol VAR Word servo2 VAR Word servo3 VAR Word servo4 VAR Word servos VAR Word counter VAR Byte 45 Initialize Servos GOSUB Initialize Servos DO SERIN 0 16468 WAIT 201 r l speed dat shoot rr 1500 650 r Il 650 1 PULSOUT 12 rr PULSOUT 13 Il PULSOUT 14 rr PULSOUT 15
6. Gas facen 3 Design Methodology erine a E E EE EENE A E E E EE E E 3 Risks and Volatile Areas tanta ku om el aavu AEEA iu 3 Contemporary Engineering ISSUCS ia a etat E cides E Ra Svcd sees 4 Details ofthe DESEO 4 Thery of ODEIA AS a A ante 4 System Specifications ee ae ie re assecat 5 Hardware and Software Requirementt cccsscccsssssscssscessccsnssesccseccesscesessessessnccesscesseseessenaes 6 Hardware Requirements and Design Approach cccescccescceseeceeceseeceseceeeceseceeeeeseceseeeeeeaes 6 Software Requirements and Design Approach ccccceseeeseceseeeeseceseeeeeeceeeeeeeeeeeeneeeeeeneeeeees 11 Testand Dema one estocs Ra EN NE ae 19 TS Esta AA AAA o ty ee Ga Ohana eae 19 Demonstrati n airea tt 19 Financial Information A A ie ub obese EErEE t 19 Results and Discussiont raeson ia 20 Resmlts 01 the Projecta aten os 20 Discussion of the Results of the projec atenen etat e e Ga Da art 20 Lessons Leam di atm lema ee a Es 20 Teams Performance st eta cos aaa Laa gues vanana 20 Conclusion and Future WOrK A GS A i ide 20 Concl sionS tetes om t 20 ERC VOL etc et tec US ASE VAS 20 Reir ne ia metil acre le 21 APPERdiIX A Sie asda fusca dte et node let 22 Appendix BE I EU A SE A maas 23 Parts Dia comeses coca ua tensa 23 A E ml wing 24 EQUIDAD ami cel 24 PRPC e D PAE ee cor TA SA A E AENEASE 25 SONA TIS da me er aS 25 Appe dix El itin mts A AA EE AA TA 26 Special ReSOUECCS iori tem iaia a 26 PDS TU ta emissor
7. Hat Move camera gun Note those are the assumed functions that should be implemented in the next stages of the design 13 Brief description of the functionality Shoot To trigger the weapon Laser on off toggle laser on off Decrease movement speed Decrease the speed of the servos holding the camera gun Increase movement speed Increase the speed of the servos holding the camera gun Select camera Will select the camera servos to move Select Gun Will select the gun servos to move Reset servo positions Will send a signal to move all the servos holding the camera and gun to their center position Arm the system Enables the shoot function So even if you press the shoot button the system will not shoot unless it is in the armed state Toggles on off Hat The hat is the small movable directional switch on the top of the joystick this will move the selected camera gun to move in the direction we specify with the speed we ve set The modular module The modular module represented in illustration 13 is the module that contains all other modules in the design it also has it s own functionalities and provides the final user s front panel From the joystick module we have got 2 values for the wheel servos plus other buttons The 2 speed values are sent to the serial module The buttons will be programmed now to perform the assigned tasks Laser button A special function is written to enables toggling of the lase
8. a 810 int holdo hold n ed lt 100 H 4 B sl i if B10 0 speed spee hold 0 1 i if B10 1 8a hold else a i aa 0 i I B3 1 88 spe 0 ed gt 1 M hold 1 E speed speedO hold 1 if armed 0 ie armed 1 laser 1 else if armed 1 else if laser 1 armed 0 laser 0 Illustration 27 Modular design block diagram showing arm speed amp laser Illustration 27 shows extra functions such as arm mode speed for the servos holding camera gun amp laser on off function 34 In the arm and laser functions a hold technique is used to prevent continuous switching while the button on the joystick is kept pressed When the button for the arm function or laser on off is pressed the formula node detects that the button has been pressed and then checks the previous status of the system amp performs the opposite operation toggling between on off It then sends the boolean value to LEDs on the front panel to indicate the status The problem with LabVIEW is that it resets the variables on each cycle of the program that will reset the status every time to fix this problem the output value is used as an input value in the same formula node A hold function will keep the code from leaving a loop until the button is released so it won t toggle the status tens of times a second The servos speed controlling camera gun is controlled by a function that sets the speed of movement from 1 to 99 The value starts with 0 in La
9. the joystick module data manipulation module serial port module and other internal functionality which will be discussed after the joysticks module e Joystick module The joystick module is specialized in identifying and initialize the hardware joystick get variables from different axises or buttons The joystick module was the 1 module to be designed In the early stages of the design it was the only module and had extra functionality such as manipulating some joystick data and creating two variables which are used as speeds for the right and left servo wheels The module still exports those two values to be used directly by the serial module The joysticks axises gives values ranging from 32768 32768 such resolution is not necessary We ve discussed that our servos that are used for wheels uses a range of 650 850 2us so the needed range is 850 650 200 Instead of sending the actual values of 650 850 sending data in the range of 0 to 200 will reduce bandwidth and original data can be restored on the other side For example The idle state requires 750 so we would send 100 and then add a value of 650 for each on the robot s side If we send 0 0 650 650 The joystick gives a position of it s 3 axises x y and z The x and y will determine the speed and direction of which the robot will be moving with The direct x and y values cannot be used as raw numbers and should be transformed to suit four conditions r
10. Il GOSUB Byte_Disassembly hat x gun IF value5 1 AND value2 1 THEN IF value6 0 AND servo1 lt 1050 THEN servol servol speed ELSEIF value6 1 AND servol gt 250 THEN servol servol speed ENDIF ENDIF hat y gun IF value3 1 AND value2 1 THEN IF value4 0 AND servo2 lt 1050 THEN servo2 servo2 speed ELSEIF value4 1 AND servo2 gt 250 THEN servo2 servo2 speed ENDIF ENDIF 46 hat x cam IF value5 1 AND value2 0 THEN IF value6 0 AND servo4 lt 1050 THEN servo4 servo4 speed ELSEIF value6 1 AND servo4 gt 250 THEN servo4 servo4 speed ENDIF ENDIF hat y cam IF value3 1 AND value2 0 THEN IF value4 1 AND servo5 lt 1050 THEN SerVO5 servos speed ELSEIF value4 0 AND servo5 gt 250 THEN servo5 servo5 speed ENDIF ENDIF Laser IF value1 1 THEN HIGH 6 ELSE LOW 6 ENDIF Shoot Condition Safety IF shoot 85 THEN FOR counter 0 TO 20 PULSOUT 3 290 PULSOUT 1 servol PULSOUT 2 servo2 PULSOUT 4 servo4 PULSOUT 5 servo5 47 PAUSE 10 NEXT FOR counter 0 TO 10 PULSOUT 3 600 PAUSE 20 NEXT ENDIF IF value0 1 THEN GOSUB Initialize_Servos ENDIF Give Servo Signal PULSOUT 1 servol PULSOUT 2 servo2 PULSOUT 4 servo4 PULSOUT 5 servo5 Initialize Servos servo 650 servo1 650 servo2 650 servo3 650 servo4 650 servo5 650 FOR counter 0 TO 50 PULSOUT 1 650 PULSOUT 2 650 PULSOUT 3 650 PULSOUT 4 650 PULSOUT 5 650 48 PA
11. Kuwait University Department of Electrical Engineering SVVAT Robot Designed by Ahmad Hadeed Supervised by Prof Mohamed Zribi Abstract In a hostage situation one needs to safely monitor the situation without risking the lives of the hostages and the rescuers The rescue mission will be greatly enhanced by having a camera filming the hostages and sending the information to the rescuers The SWAT robot is designed for such purposes The SWAT robot is a wireless robot controlled remotely by a computer via a joystick The robot sends live video audio streams to the rescuers team it provides valuable information to the rescuers Moreover the SWAT robot is equipped with a gun that enables the rescue team to remotely engage and kill the hostage takers The SWAT robot can be easily modified to handle other applications For example a modified SWAT robot can be used to detect and to dismantle bombs and or mines Table of Contents PADS ACES Let RI ec lat da ae mea i WOR CHO ia temo leer iv Prey eras Omen sues aaa 1 Design Considerat S a ES OS la ot 1 ASSUMDUONS iesieiticsio SEAS A dis 1 A te ac ce Mic dm ea nena le 1 System Environment and External Interfaces ssccsscccssssssccssccesscessesssecessssccesssscesseseessossneecs 2 1334794 2721 8521174 I EKD RE EAEE A EEE 2 SAEN a e o EE Es il ei Do E E 2 Ethics te ates edat di ct Get tea Dietes RT E EE 2 Performance ee si Secs ada Don aa Ed aa PEA re Viale 3 Documentations es A a
12. USE 20 NEXT RETURN Byte Disassembly temp VAR Byte value7 dat 128 TF dat gt 128 THEN temp dat 128 value6 temp 64 ELSE value6 dat 64 ENDIF IF dat gt 64 THEN temp dat 64 value5 temp 32 ELSE value5 dat 32 ENDIF IF dat gt 32 THEN temp dat 32 value4 temp 16 ELSE value4 dat 16 ENDIF IF dat gt 16 THEN temp dat 16 value3 temp 8 ELSE 49 value3 dat 8 ENDIF IF dat gt 8 THEN temp dat 8 value2 temp 4 ELSE value2 dat 4 ENDIF IF dat gt 4 THEN temp dat 4 value1 temp 2 ELSE value1 dat 2 ENDIF IF dat gt 2 THEN value0 dat 2 ELSE value0 dat ENDIF RETURN END 20
13. ack form the camera that would be processed on the computer This way it would make it easier to upgrade and transform into a smart autonomous mode that uses the computer resources to control the robot Nevertheless it can be programmed to act on it s own in case it loses communications with the controlling computer Not implemented at the moment e Details of the Design o Theory of Operation The SWAT robot is controlled through a joystick that is connected to a computer the computer will analyze the data and sends it serially to the BS2 Basic Stamp 2 micro controller the micro controller will receive the serially transmitted data and forwards it serially through the RF wireless unit The micro controller on the other side Robot will be waiting commands to execute It will receive the RF signal extracts the information in that signal and sends the appropriate signals to the specified servos to move rotate the robot move the camera gun turn on off the laser and even triggers the weapon A wireless attached camera on board the robot will send a live audio video stream to the controller The robot it s self can be rotated in all directions The camera and gun has the ability to move although it is limited to 180 degrees centered facing forward Once a target is identified and the controller decides to engage it he she should switch on the laser this will locate the position of where the gun is pointed at the controller
14. ata being sent from the computer s serial port amp sends it to the RF wireless module It just simply waits for start receive signal then it receives all the data to be transmitted then sends them to the wireless transmission unit Illustration 18 Micro controller 1 operation e Micro controller 2 Robot The 2 micro controller is the brain of the robot it starts by resetting all servos to their middle values positions It then waits for start receive signal starts receiving the data from the wireless unit identifies different parameters reformat for use amp execute Upon the execution of the code signals are sent to the servos to locate their new positions amp laser to turn it on off Illustration 19 Micro controller 2 operation o Test and Demonstration Test The design has been has been tested module by module at the beginning then after assembling the modules together the whole design has been tested and performed as expected Some small glitches has been discovered through testing and has been sorrected successfully Demonstration The demonstration would be a simple run of the SWAT robot amp showing it s capabilities The demonstration would also include a brief view on the LabVIEW design modules to clarify the image o Financial Information Item USD KWD Date Joystick 15 06 01 09 Parallax RF units 129 55 35 68 27 10 08 Delivery Charges 3 11 11 08 Wir
15. bVIEW you should then use the joystick buttons that controls the speed to increase or decrease the speed Again the output variable is used as an input variable again to prevent the reset of the value on each cycle The speed value is sent to an indicator Speed on the front panel to show the current speed if B5 1 gun 0 else if B6 1 B6 cam 0 gun 1 else if B5 1 88 B 6 1 H cam 0 gun 0 Illustration 28 Modular design block diagram showing camera gun selection data manipulation amp serial modules Illustration 28 shows a part of the modular design where either the camera or gun is selected to be moved The formula node detects which button on the joystick has been pressed amp switches between camera amp gun It then sends the boolean value to LED indicators located on the front panel to show which is selected The boolean value of the camera is inverted and logically anded with the gun s boolean value this will give a boolean value of 0 when the camera is selected and a boolean value of 1 when the gun is selected 35 All the previous parameters camera gun selection preview switch position armed status laser reset and shoot are sent to the data manipulation module located in the center top of illustration 28 The speed parameter is sent directly to the serial module located on the right top of illustration 28 The output of the data manipulation 2 bytes are sent to the ser
16. buffer Represents the received data from the serial port Currently not used possible uses for future upgrades and two way communications 41 lumetic 9 eel b IP MJ Ei ES gt ead buffer Visa ms a 5 El R ES Eren fa ne Illustration 34 Serial module block diagram The serial port is initiated at COM1 the baud rate is selected to be 9600 bits s the data length of 8 bits and no parity Other receive from serial port blocks will not be discussed because the function is currently not used Since out speed data is limited to 200 0 200 the start byte should be out of this range after all we do not want a data to trigger the start receive signal In this case the decimal value of 201 as start receiving remember that in the data manipulation module a boolean false 0 has been sent to bit_byte_string module to be used as the highest bit so the byte value can never exceed the 200 value Since the VISA module used for serial communication in LabVIEW can only use strings for communications any non string element should be converted into a string before being sent The first byte represents the start receive signal which is 201 decimal that is converted into a string before being sent The second byte is Numeric which represents the speed of the right wheel servos it is converted from numerical value to string value before transmission The third byte is Numeric 2 which
17. do the following Sends the 2 speed values from the joystick used for the wheels to the serial module Toggles laser signal and sends it to data manipulation module Toggles system arm signal Logically ANDs the shoot and arm signal and sends it to the data manipulation module Generates a speed variable to be used with servos controlling camera gun and sends it to the data manipulation module Toggles one bit to select either camera gun and sends it to the data manipulation module Sends the joystick button for the servo reset to the data manipulation module Illustration 15 Modular module and the Data manipulation module Illustration 16 Modular module front panel 15 Data manipulation module The data manipulation module is to collect the bits and other values to construct one byte that contains all the data to be sent to the robot The x and y directions are sent to a function that eliminates the negative sign for further usage in serial communications as vve are not going to use signed integers to represent the binary values The function will generate xo xxo yo and yyo bits For a negative x direction xo 0 positive x direction xo 1 the xxo 0 when there is no x direction movement and xxo 1 when there is a movement either x or x The same applies for yo and yyo The previous 4 bits along with the reset cam gun and laser and shoot signals total of 7 bits are sent to the bits_byte_string module that will combin
18. e other direction Another 5 servos used are Futaba servos they cannot rotate continuously instead they can rotate up to 180 degrees angle Futaba servos has a range of 250 1050 2us from one maximum end to the other Illustration 10 Futaba Servo 10 Laser pointer A small hand held laser pointer that is used to locate the position of where the gun is pointed to Illustration 11 Hand held laser pointer The switch of the laser module is kept closed the voltage to power the unit is sent via the micro controller when the laser module should be turned on e Weapon In this prototype an electric semi auto BB gun is used for demonstration Software Requirements and Design Approach LabVIEW has been the chosen software due to it s ease of use and ability to to communicate with different attached hardware on the computer The design approach is simple on the computer initiate joystick get data reformat data and send them to the computer s serial port The 1 micro controller just receives the serial data from the computer and forwards it to the RF unit The robot should then receive the wireless data and executes it Illustration 12 General Software Design 11 e LabVIEW Computer The program is separated into modules The 1 module is called the modular design which includes other modules and functions Illustration 13 Modular module general overview The modular design contains
19. e the bits into a byte The shoot signal will be sent as a full byte for safety reasons It has been realized that in rare conditions some communication errors might happen during data transfer due to the environment the gun would trigger but it s self when it s bit signal is switched to 1 during communications So it has been decided to send the a value of decimal 85 or binary 01010101 byte to minimize the chance of accidental weapon trigger Other communication errors which happens rarely won t be considered as a serious issue Bit_Byte_string This module will arrange the bits in a certain order to construct the control byte that will be sent to the micro controller later The byte is constructed by multiplying each bit by the location it occupies in the byte and summing them up The following row represents the final byte XO XXO yo yyo Cam Gun Laser Reset To construct that bit Reset 1 2 0 Laser 1 2 1 Cam Gun 1 2A2 yyo 1 243 yo 1 214 xxo 1 2A5 X 1 246 Then the results will be summed up and would represent the final byte The final byte will be sent through the data manipulation module to the serial module Serial Module The serial module is the module responsible for computer s serial communication 1 it will detect and initiate the hardware and then it will receive the bytes needed to be sent and sends them serially at the specified protocols and baud rate 16 I
20. e x axis of the joystick y Representing the y axis of the joystick Z_R Represents the z axis rotation B1 B10 The joysticks buttons X_New The new reduced x axis values Y_New The new reduced y axis values Z_R_NEW and Z R N V Represents the new reduced vales amp location of the z axis UP RIGHT LEFT and DOWN Gives the position of the view switch l and r Represents the final values that is sent to the wheel servos right and left Servos 29 button 6 button 8 i Illustration 21 Joysticks block diagram showing initialization amp parameter extraction The above figure shows the joystick module in LabVIEW with all axises amp button parameters being extracted if v 45 v 90 v 135 r 90 else r 1 if v 135 v 180 v 225 d 180 else d 1 if v 225 ma Illustration 22 Joysticks block diagram showing the view switch signal converted to UP RIGHT DOWN and LEFT In illustration 22 the v signal from the view switch which has either 0 45 90 135 180 225 270 and 315 values is transformed into boolean values indicating UP RIGHT DOWN and LEFT positions of the switch 30 if x lt 96 x gt 104 XO X x lelse xo 100 iffy lt 92 y gt 104 yor Y else yo 100 iF 2 lt 80 2 gt 120 8 8 x0 100 8 8 y0 100 20 2 else 20 100 Illustration 23 Joysticks block diagram showing 1 signal conditi
21. eless Camera 169 44 47 66 21 11 08 Parallax Extra Cables 31 09 8 65 17 11 08 amp IR unit Delivery Charges 8 01 12 08 Total 117 99 A laptop omputer would cost another 300 KD Software is currently excluded from the cost estimate Laser pointer about 3 KD already existing item A semi auto BB gun arround 10 KD already existing item Two Boe bot kits has been provided by professor plus another few servos 19 Results and Discussion o Results of the Project A SVVAT robot has been designed and implemented it has been presented 8 demonstrated to the professors of the department It performs all tasks given amp satisfies all requirements of the design o Discussion of the Results of the project The outcome was a wireless robot that can be controlled via a joystick connected to a computer It s able to send live video audio streams to the computer The camera amp gun can be rotated amp moved according to needs A laser that is attached would be activated to indicate the position or place that the gun would shoot Then it can engage a target by firing the weapon o Lessons Learned e When working with a project thinking of multi stages in parallel is required to avoid future incompatibilities e Working alone with a huge project might be good in terms of having all thoughts organized by a single person but it s always good to have a helping hand from someone trusted specially of you are time l
22. epresenting the four quadrants of the circle This means the x and y joystick numbers should be transformed to the right and left speeds for the servos This is done by writing a special code for each of the quadrants of the joystick this will use the x and y values of the joystick to generate the appropriate signal for the wheel servos The z axis is used to rotate the robot in it s position around it s z axis vertical Other buttons are extracted and connected to ports in the module for further usage Note that in the previous process 2 values ranging from 0 200 where generated and can be transmitted later using two bytes 1 byte for each wheel servo right and left Since the system is a 4 wheel drive 1 byte will be sent to 2 servos 12 O 8 0 0 0 In general the joystick module will do the following Identify and initiate the hardware Decrease the axises resolution for a suitable 0 200 range Use the x y and z axis s values to generate a suitable signal for the wheel servos Assign other joystick buttons as an external ports to be used later Continuously monitor the joystick with a sampling time of 5 ms Illustration 14 Joysticks module front panel Table 01 Listing the joystick buttons and their functionality Button Function 1 Shoot 2 Laser on off 3 Decrease movement speed 4 Increase movement speed 5 Select camera 6 Select gun 9 Reset servo positions 10 Arm system on off
23. es qe R a 27 Users Manuals eis evitant ilvesed kka ami al i a 27 SOL IE Installation eis items elits ona cota i 27 CONOCIO SAA AA AA otros ea a Ra mt 27 Softwar Initialization mites TEMA MSD toni oi a tema 27 ii Appendix E AS EMAS sa 29 LabVIEW Programa ies eco et ad tasa ad ai 29 The Joystick Mode cat PS Da DS 29 The Modular Desi ac a a Ai 33 Data Maiipilation Mod ici 37 o es Este cit ue Au Sous 39 SEM dal eis to a lia te ui ea 41 Appendix m OSAD AE E AS com eaten 43 Miero controllers Program Gi iscemionsios kann tane tegi sol vka kel sica 43 Nero control ita 43 Micro controller 2 RODOt ccscccssscessseceeseceesseeeesseceeeeceeseecsseeecesueeessseeeeesesesseaeeeeeseseaees 45 iii Introduction This project has to do with the design of a SWAT robot starting from scratch After searching for the appropriate design for a graduation project and proposing some designs that has been rejected a wireless robot unit with a wireless camera that was supposed to be sent for pipe inspection has been suggested by professor M Zribi I then suggested that it would be a SWAT robot that would engage targets if it s required so it would we a recognizance amp attack robot if required The design was set to be a wireless robot that is controlled via a joystick it sends live video feedback amp can use an on board weapon to shoot targets The project started by trying to interface the joystick to the computer LabVIEW has been cho
24. ial module 36 Data Manipulation Module Illustration 29 Data manipulation front panel The data manipulation module does the job of converting the different parameters received from the joystick into a usable data that can be sent easily through serial transmission The data manipulation module receives the the x y view switch positions amp converts them into 4 bits xi yi Input that represents the x and y values of the view switch cam gun Input that represents the chosen equipment to be controlled 0 for camera and 1 for the gun Laser Input represents the status of the laser Reset Input represents the reset signals for the servos Shoot Input that represents the shoot signal xo yo Outputs that represents the x and y directions of the view switch 0 indicates left while 1 indicates right XXO yyo Outputs that represents the status of the view switch idle or active Note we have xo and yo to be either left or right we need another indicator for idle or active The value of 0 indicates idle and the value of xo and yo are irrelevant If the value is 1 then the value of xo and yo are taken into calculations depending on which is active Ctrl_Byte1 Output byte of reconstructed bits Ctrl_Byte2 Output byte for the shoot signal 37 Illustration 30 Data manipulation block diagram This shows the formula node that takes the values of the view switch if the value i
25. imited o Team s Performance Not applicable the job has been done by one person Conclusion and Future work o Conclusions The project was a great success it achieved all requirements amp goals o Future Work Send the robot to dangerous amp life threatening environments e Equip robot with different sensors to be able to detect hazardous or radioactive materials in a certain environment e Equip with extra robotic arm to enable mine or bomb disassembly e Send robot into tight places such as vents or pipes for discovery purposes e Enable autonomous mode through image processing 20 References http www computerhope com help serial htm Parallax Boe bot user manual Parallax RF unit manual and datasheet 21 e Appendix A Ahmad Hadeed Kuwait telephone 965 97968044 e mail hadeed hadeed power com website www hadeed power com Education Kuwait university College of Engineering Department of Electrical Engineering 2008 2009 Advisor Prof Mohamed Zribi 22 e Appendix B o Parts List x2 Boe bot kits Parallax Transceiver set Laser pointer module X5 Servos Extra cables pins Serial cable Weapon 23 e Appendix C o Equipment List Laptop Computer Joystick Wireless camera 24 e Appendix D o Softvvare List LabVIEW BASIC Stamp Eitor Included with Boe bot kits 25 e Appendix E o Special Resources 26 e Appendix F
26. ing out the camera signal at the camera s receiver Illustration 3 Logitech Extreme 3D Pro Joystick The Computer Any portable computer laptop that has two USB ports Universal Serial BUS and a DB9 serial port would do A serial cable connects the computer s serial port with the micro controller boar At the computer s side the connector is a 9 pin female D SUB while on the other side at the chip it s separated into it s constructing wires Currently only 2 pins are required pin number 5 for common ground and pin number 3 for transmission from computer s side The serial port The following figure and table would explain the pins and gives a simple description Illustration 4 9 pin D SUB male connector at computer side DB 9 Pin Name Dir Description 1 CD Carrier Detect 2 RXD E Received Data 3 TXD gt Transmitted Data 4 DTR gt Data Terminal Ready 5 GND System Ground 6 DSR lt Data Set Ready 7 RTS gt Request to Send 8 CTS Clear to Send 9 RI Ring Indicator e Basic Stamp 2 Micro controller The micro controller that receives the serial signal and sends it through RF module Illustration 5 Basic Stamp 2 micro controller board This micro controller comes with the Boe bot kit It s relatively easy to program and has got some accessories compatible accessories This micro controller has a duty cycle of 2us and up to 15 digital I O ports
27. llustration 17 Serial module relation with other modules In all our previous numbers and bytes we did not exceed the decimal value 200 The last highest order bit the the control bit was left 0 on purpose the weapon s trigger highest bit was also left 0 this is because we want to use other values larger than 200 for control issues in this case the serial port uses the decimal value of 201 for start receive signal to the micro controller First it sends the decimal 201 to tell the micro controller to start to receive It then sends the bytes one by one The right servo speeds will be transformed into a byte string and sent then the left servo speeds will be transformed into a byte string and sent then the speed of camera gun servos will be transformed and sent then we have two ready bytes the control byte containing hat direction cam gun laser and reset At last but not least the shoot byte The following are the serial communication parameters Baud Rate 9600 b s Number of bits 8 Parity None Flow Control None o Oo OC 0 0 In general the serial module will do the following Identifies and initiates hardware and communication parameters Receives data to be transmitted Sends a start receive signal Converts data to byte if needed Sends a sequence of bytes serially 17 e Micro controller 1 This micro controller acts as a data redirector where is receives the d
28. oning for the joysticks axises parameters The resolution of the joysticks axises ranges from 32768 32768 and the servos only needs a range of 200 states to fully function Note that we have added the value of 64 because the joystick has an initial value of 64 that is shifted from the center We do signal conditioning we divide by 327 68 if the value has been initially 0 then the output of the division is 0 for maximum values 32768 327 68 100 and 32768 327 68 100 Then the value of 100 is added so that the 100 becomes 0 amp the value of 100 becomes 200 So basically now we have a range of 0 200 which is 200 Note The y axis is divided by a negative number that is because when using joysticks for flight simulators the axis is inverted Pulling down the joystick gives a positive number Illustration 24 shows the formula node that transforms the x amp y directions of the joystick to the r amp right amp left speeds for the servos It basically consists of the x amp y directions for the 4 quadrants of the circle idle state amp forward backward movements If the joystick is moving in the y direction then both r amp values have the same value of y r l y when x value is represented r amp 1 values change depending on the quadrant For example if the joystick is having y values only both r amp have the same value if x
29. r when the button is pressed a button hold technique is used here For example if you keep the button pressed the laser will toggle on off continuously the hold function is used to detect that the button is released before toggling again The laser signal is sent to the data manipulation module Armed system button Has the same technique used for the laser as for toggling and hold function but this one generates a system armed signal Shoot button The shoot button is logically anded with the armed signal and then sent to the data manipulation module Increase Decrease movement speed A function is written for the associated buttons so that a value between 1 and 100 is generated to control the speed of the servos moving the camera gun with button 3 decreasing the value and 4 increasing the value without going of limits This value is sent to the serial module Select Camera Gun Buttons 5 and 6 are sent to a function that toggles between camera gun the function sends one bit 0 if the camera was chosen and 1 if the gun was chosen This bit is send to the data manipulation module Reset servo positions One bit that is sent to the data manipulation module Hat The hat provides as a switch with 8 directions with up down right and left directions 14 The function will take the values and provide x 1 0 1 and y 1 0 1 The new x and y values are send to the data manipulation module In general the modular module will
30. represents the speed of the left wheel servos it is converted from numerical value to string value before transmission The fourth byte is Speed which represents the speed of the servos moving the camera or gun it is converted from numerical value to string value before transmission The fifth byte is Ctrl_Byte 1 which has already been described above It is ready for transmission as it is a string The sixth and final byte is the Ctrl Byte2 which indicates the shoot signal It is also ready for transmission as it is a string 42 Appendix H o Micro controllers Programing Micro controller 1 The first micro controller will receive the serially sent data from the computer amp forwards it to the robot using an RF unit Code Serial RF TX STAMP BS2 PBASIC 2 5 r VAR Byte l VAR Byte speed VAR Byte dat VAR Byte shoot VAR Byte DO SERIN 1 16468 WAIT 201 r speed dat shoot PULSOUT 0 1200 SEROUT 0 16468 201 r l speed dat shoot LOOP Description First fevv lines are for the design name micro controller type and version Few variables are being initialized the ones that have been mentioned before r for the speed of the wheels of the right servos for the speed of the wheels of the left servos speed for the speed of the servos holding camera and gun dat for the data byte 1 amp shoot for the shoot signal The DO LOOP will run infinitely and will keep executing the code inside SERIN
31. s 100 KD o Joystick 15 KD o RF transceivers 35 5 KD o Wireless camera 48 KD o x5 Servos 17 5 KD o Estimated total 564 KD Prototype o Safety Since the robot is capable of engaging targets remotely the weapon MUST NOT under any circumstances be false triggered Currently the design includes a simple communication code that minimizes the possibility of false triggering in case of communication scramble or miscommunication o Ethics The robot it s self is a portable compact device that is equipped with a camera that can see in total dark conditions in wrong hands it might be used to invade privacy o Performance The performance of this prototype will not allow it to participate in a real situation it requires a lot of modifications regarding the speed of mobility the body structure weapon handling and other communication issues The final product should have all of listed problems fixed Note that those problems exists due to hardware limitations due to time and budget limitations o Documentation The process of generating the user documents should be rather easy due to the simplicity of usage being in mind while designing the robot The user should not know much technical details to enable him her to use the robot As for the technical documentation it would start with the theory of operation and a general overview of what should the robot do and how would it executes it Then the software along with
32. s 07 then the value of xxo or yyo is 0 If the value is either 1 or 1 then the value of xo or xy is 0 and 1 respectively while xxo and yyo are 1 It also shows the shoot signal if statement the false case sends a byte of zeros in the case where it is true Not Shown A byte of 85 decimal or 01010101 binary is sent The block diagram also shows the bits_byte_string module which receives different parameters as bits amp then transforms them into a byte A boolean false signal 0 is sent to the bit byte string module to be used for the highest data bit so the byte value won t exceed 200 as we will discuss the serial module 38 Bits byte string module Illustration 31 Bits byte string front panel The bits byte string module is a simple module to construct a byte out of the bits Since LabVIEW doesn t have the capability of constructing a byte of of bits for transmission thins module has been created to solve the issue e b0 b7 Represents input bits e String Represents the output ASCII character if available String is sent to serial port module e Numeric Represents the output decimal value of the input bits bo E gt TE E Er al E y Y WWI LY g E 8 ese il EST TEI 5 TEI Illustration 32 Bits byte string block diagram showing the construction of the ctrl byte 1 of bits 39 Illustration 32 represents the con
33. sen at the end Two Boe bot chassis has been joined together to form the robot s body the joystick is connected to the computer the computer analyses the data amp sends it serially to a micro controller that receives the data amp sends it wireless through RF unit to the robot The on broad micro controller receives the data from the wireless unit amp then executes the commands iv Problem Statement It is desired to design a small robot to be used in a hostage situation In order to fulfill the requirements the robot has to accomplish the following The robot should be a vvireless standalone unit The robot should be relatively small in size enabling it to navigate through tight places The robot should send a live audio video stream that enables the SWAT team to have a close look at the situation and enables them to construct their rescue plan The robot should contain an offense mechanism that enables the controller to engage targets remotely In this case a gun The unit should be controlled via a joystick for the ease of use Design Considerations o Assumptions The SWAT robot is assumed to operate in a hostage situation the controller should be able to easily control maneuver and engage targets when ever he wanted to To ease things up all the controls are available from a single joystick Since the robot is able to engage targets by holding a real gun extra care should be taken to prevent false triggers
34. started to have a positive value the r starts decreasing as x increases This will give a speed difference between right amp left that shifts the robot to the right If the x starts to have a negative direction then the the value is decreased from amp the robot starts to rotate left etc This applies to the other two quadrants but in the opposite way just the same way you drive your car amp rotate your steering wheel 31 int ax abs x int ay abs y if y gt 0 amp amp x 0 l ay 100 r ay ax 100 else iffy gt 0 amp amp x LO r ay 100 l ay ax 100 else iffy lt 0 amp 8x lt 0 y 100 ax r y 100 else iffy lt 0 amp 8x gt 0 r y ax 100 l y 100 E forward backward speed else F x 08 k y 0 r l y 100 Hide else iff y O0 amp 8 amp 2 100 r l 100 titotation else A ad 52 r 100 2 100 Illustration 24 Joysticks block diagram showing the adjustment of r and for the four quadrants When the z axis of the joystick is rotated without moving in x amp y direction the r and values gets shifted of center equally to rotate the robot around it s z axis 32 The Modular Design Illustration 25 Modular design front panel This is the front panel that the user will see when working with the robot this panel indicates the commands sent to the robot This panel had Joystick_ID Is the joysticks COM configuration Default 0 if Joystick
35. struction of a byte from bits It is done through multiplying bits by the representing value of their positions in the bit For example the first byte is sent as is the second byte is multiplied by 2 and summed to the previous value the third byte is multiplied by 8 and summed to the previous value and SO on It is then represented as a decimal number amp string that is sent to the serial module later on 40 Serial Module Numeric Numeric 2 Do Ho Speed Ctrl_Byte1 A THO Ctrl Byte2 read buffer Illustration 33 Serial module front panel The serial module initiates the serial port hardware of the computer sets the communication parameters and protocols It sends a start receiving signal amp then it receives the the data bytes being sent from the whole system and sends them through the serial port to the waiting hardware which is the first micro controller in this case e Numeric Represents an input that represents the speed of the right wheel servos e Numeric 2 Represents an input that represents the speed of the left wheel servos e Speed Represents an input that represents the speed of the servos holding the camera or gun e Ctrl Byte 1 Represents an input that represents the first control byte that contains the data indicating the view switch direction camera gun selection laser status and reset switch status e Ctrl Byte2 Represents an input that represents the shoot byte control e Read
36. the hardware used should be explained in details Any new updates to either software hardware or both would require a revision to the technical documentation along with the user documents to insure that they match the new updates o Design Methodology The design is made with simplicity in mind whether it s the simplicity of the design simplicity of use or maintain It has also been designed with a relatively low cost in mind This design it s self relies pretty much on existing components So it would be easier to manufacture and maintain Broken parts can be easily removed and replaced on site o Risks and Volatile Areas It is highly recommended that the surrounding isn t subjected to noise that is electromagnetic noise to enable smooth operation The robot hasn t been yet tested with atmospheres containing flammable gases but the final product should withstand that The current prototype is not designed to withstand humidity or to operate in wet conditions the final product should handle that well There is no current FCC approval on the RF unit effects on other electronics and communication devices is not yet known o Contemporary Engineering Issues The design uses a powerful software LabVIEW that enables easy access and reconfiguration to the robot s control panel It is fairly said that the whole design is run through LabVIEW This way virtually any operation can be automated relying on the video feedb
37. uired the data should be transferred successfully from one device to another Starting with the joystick that is connected to the computer via USB Universal Serial BUS which should be identified by the software then monitored for data The laptop used in this project is equipped with a serial port which would ease the communication process so the analyzed data collected from the joystick is sent through the serial port Then a BS2 micro controller reads the incoming data from the computer s serial port and forwards it to the other micro controller on the robot via the RF transceiver The other micro controller on the robot will receive the signal process the data and sends it to the servos and or other devices such as the laser pointer A wireless camera sends a live audio video stream which is received by the camera s receiver which is also connected to the computer via USB Re Illustration 2 Block diagram of the local hardware unit The Joystick This Logitech joystick has been chosen because of the hat button located on the tip of the stick In this design it s used to move the camera gun The wired version has been chosen over the other wireless version after it has been discovered that the wireless joystick shares the same frequency spectrum of the wireless camera which is 2 4 GHz This would have an affect on the received audio video signal after a certain range were it seems that the joysticks signal starts mask
38. was 1 USB device to be connected to the computer l and r Representing the speed of the left amp right wheel servos Slide and r Graphical representation of and r values UP RIGHT LEFT and DOWN Gives the position of the view switch x The x value of the view switch y The y value of the view switch Speed The speed of movement for the servos holding the camera and gun B1 B10 Joystick buttons indication Hold Laser Hold Armed Button hold indication Not important for user only for debugging purposes Camera Indicating that the camera is chosen to be moved Gun indicating that the gun is chosen to be moved Armed Indicating the system status safe or armed amp ready to shoot Laser Indicates if the laser is switched on or off Shoot Will illuminate if the system is armed amp button 1 is pressed 33 ome lf lt 1 x 1 else x 0 int speedO speed ga int quit 0 ictal 26 Modular design block diagram Kea joystick module other parameters and buttons and preview switch 1 signal conditioning The joystick module is presented as a small block at the left upper side of the image buttons and other parameters has been extracted to show the status on the front panel screen The buttons UP RIGHT LEFT DOWN has been transformed from boolean for each to x and y negative and positive while i lt 100 H int armed0 armed IF B4 1 88 spe int laserO laser P 82 lint holdO hold H
39. will then have to arm the system before he can fire the weapon Different movements of the joystick will decide what direction the robot will start moving to different buttons on the joystick have different functions such as selecting camera gun to move speed of motion of camera gun switch laser on off reset servos positions and shoot The following illustration is a general block diagram of the system Illustration 1 Block diagram of the full design o System Specifications This SWAT robot is a wireless unit controlled by a remote portable computer e The robot is equipped with e camera that is able to operate in zero light conditions The final product should contain a fixable weapon stand that can handles different types of weapons e This system uses a laser pointer to indicate the position where the gun is pointed to o Hardware and Software Requirements The hardware exists of a joystick computer with a serial port a serial port cable with a female adapter at one end and free wires at the other end BS2 Basic Stamp 2 micro controllers in this case 2 Boe bot kits RF transceiver other servos The software is mainly LabVIEW which is being run on a MS Windows based laptop the robot doesn t need Basic Stamp Editor under normal operation It s only required as a part of the development and upgrading process of the robot Hardware Requirements and Design Approach For the system to perform as req
Download Pdf Manuals
Related Search