123-127 WIRELESS RF BASED SURVEILLANCE ROBOT
Contents
1. Hardware testing is done before making the final circuits and after completing the robot Testing had been carried in following situations e Testing the RF Transceivers to investigate about its functioning and the performance e Testing the Motor Controller Circuit e Testing the light sensing circuit e Testing the code to control the robot via the transmitters 126 ERANDYA ET AL WIRELESS RF BASED SURVEILLANCE ROBOT PNCTM VOL 1 JAN 2012 To perform these testing a virtual COM Port terminal is e User can control the robot appropriately to inspect used instead of the remote controller interface places where they want PIC simulator IDE software is used to test the code written e Robot can detect obstacles and inform the user to drive the robot PIC Simulator IDE is simulation software e User is provided with the visual aid to control the which can be used to test hex files robot remotely Black box testing methodology is used to test the integrity e Robot can maintain the light condition of the of the software remote controller Functions were tested in an end user perspective to validate the expected functionality The following test cases were written covering all areas and the results were logged as follows surrounding environment to provide constant visual aid to the user This project was highly successful and all the targeted areas were covered and it is functional as expected TABLE I TEST CASES REFERENCES Exp ected Re2. for the communication between RF Transceiver and the computer On the click of Display button system will send a message to the operating system to display the video format dialog box to the user When the user clicks Camera button system will display the video source settings dialogue box to the user This is also done by using the windows inbuilt messages On the click of this System Setting button it will show the form which is used to change the settings of the remote controller interface By using this form user can change the parameters stated below e Com Port number Baud rate Data Bits Parity Bits Controller keys Following figure shows the above mentioned form 125 ERANDYA ET AL WIRELESS RF BASED SURVEILLANCE ROBOT PNCTM VOL 1 JAN 2012 Baud Rate 3600 v Comm Port a Data Bits Parity C 7 Bit SBit Stop Bits Even 1 Bit C Odd c None Controller Setup Start Keys Up Key wW W Left Key A Down Key S Right Key D Controller Setup End Keys Up Key wW q q Left Key A Down Key S Right Key D Controller Setup Reverse Keys EE 17 Left Key a Right Key d Controller Setup Other Keys za A IR input 1 IR input 2 Fig 9 System Settings form of the GUI On the click of Exit button user can exit from the remote controller interface There is a timer associated with this private sub That timer is used to
3. give a millisecond time period to close the camera before closing the application If this timer did not exist the system will produce an error That happens because of closing of the system before the camera is disabled When the user focuses on this Click to Set Focus button it will activate the navigation system of the interface It simply focuses on a text box When the user is pressing the keys to navigate the robot those keys will secretly type on this hidden text box System will pass those data to the com port User will only see an animation produced by the images hidden in the background according to the keys they press When the user is pressing the keys on the text box focused by the Click to Set Focus button a letter will pass to the com port according to the pre defined settings At the instance the button got focus it will change its caption as Use ASDW for Navi This is done to inform the user that he can navigate the robot by using the keys A S D and W keys in the key board When the user lost the focus from the text box above mentioned key will change its caption to the previous one When an obstacle is detected by the robot it is transmitting a signal to the computer If there are any obstacles microcontroller is programmed to send the character x When that signal received by the remote controller interface it will indicate it by making the warning sign in the bottom right hand corner
4. the key values and the port parameters This should Same as disconnect the expected webcam driver close the port and exit from the software Navigation controls Click to set focus Same as button should allow expected the user to navigate the robot by pressing the predefined navigation keys IV CONCLUTION This Project was started to develop as a surveillance robot which can be controlled remotely by a personal computer to get the information about people or places in the surrounding environment As a summery 127
5. ERANDYA ET AL WIRELESS RF BASED SURVEILLANCE ROBOT PNCTM VOL 1 JAN 2012 Wireless RF Based Surveillance Robot Controlled via Computer E M D Goonethileke and P K W Abeygunawardhana Abstract Wireless RF based surveillance robot is a robot which can monitor the surrounding environment and provide the feedback to its user It is equipped with a wireless camera to provide visual aid to the operator The robot is controlled manually by the user The specialty here is that user is controlling the robot through a computer via a Graphical User Interface GUI Radio Frequency RF technology is used as the communication medium between robot and the computer When the robot meets an obstacle it is sensed by the IR sensors and the robot will alert the user Then the operator can control the motors appropriately to move around the obstacles to get the needed information In addition robot can sense the light level When it is too dark the user will not be able to see clearly through the camera Therefore the light in the robot will work depending on the light conditions of the surrounding environment Available surveillance robots in the market have their own control units Uniqueness in this product is that it can be controlled using a common computer That also makes this product a cost effective product Keywords Wireless Robot Surveillance Robot Computer Controlled Robot Remote Controlled Robot Spy Robot I INTRODUCTION There are situatio
6. either 2WD 4WD or threaded tracks This robot is built by using threaded tracks in order to gain the ability of moving steadily Due to the threaded tracks it can go over both rough and smooth surfaces B Software Development 1 Microcontroller Programming Code inside the microcontroller consists of following major parts USART communication Interrupt handling Analogue to Digital Conversion A to D conversion Motor Controlling e Obstacle Detection This program is used some inbuilt functions in the MikroC library to control the robot Light condition detection is done by using A to D conversion Obstacle detecting part of this robot is done by using Interrupt handling and USART communication Remote controlling part of this robot is done by using USART communication and wireless RF communication Activity diagram for controlling mechanism of the robot is shown below 124 ERANDYA ET AL WIRELESS RF BASED SURVEILLANCE ROBOT PNCTM VOL 1 JAN 2012 Activate LDR conversion S there any obstacle in the path Yes Disable interrupts Acknowledge the user Obstacle is there Control the robot under limited conditions Control the robot o according to the incoming command Checking for obstacles No obstacles Acknowledge the user and enable the interrupts Fig 6 Activity diagram of the controlling mechanism of the robot 2 GUI Development This GUI is the simple software which developed to con
7. eo of the camera is available to the user by this same GUI Using this robot people will be able to get information about the places without their presence Army repair engineers and the parents of the small children are the main target audience of this project This is a very useful project when it comes to surveillance Main aim of this project was to provide surveillance facilities to army and the other people who need it I E M D Goonethileke was a student at Sri Lanka Institute of Information Technology New Kandy Road Malabe Sri Lanka She is now with the Electronics Department Arthur C Clark Institute for Modern Technologies Katubedda Moratuwa Sri Lanka e mail ishara erandya gmail com P Abeygunawardhana is now with the Research Center and the Department of Electronics and Computer Engineering of Sri Lanka Institute of Information Technology New Kandy Road Malabe Sri Lanka e mail Pradeep a sliit Ik Objective of this project was to build a robot which can be used to collect information about people or places remotely by using any common computer To achieve these objectives following things had to be done e Hardware designing and Implementation Designing and developing the communication and controlling circuits of the robot Developing the mechanical structure of the robot e Programming the microcontroller of the robot e Developing the Graphical User Interface of the robot Software Development e Integrat
8. in to red color When there are no obstacles in front or in the back side of the robot it will transmit another signal e to the computer That action will result in turning the obstacle detected label into its original state Due to the problems with the sensors sometimes it transmits multiple signals For example when an obstacle detected by the robot sometimes it transmits a set of signals like xeexexexexexexexex instead of sending one x To avoid that problem if the above mentioned signal comes to the computer remote controller interface will blink the obstacle detected label for three times and will turn to its original state These are done by using two timers Basic activity diagram for the software based remote controller is shown below Activate Remote Search for Comport Search for webcam Receive command to move the robot Webcam found Com Port found on system Send move command to RF transmitter Display video feed Open Com Port No Webcam present No Com Ports available in the system Deactivate Remote Close any existing webcam connection or Com Port connection Fig 10 Basic activity diagram of the GUI Activity diagram for obstacle detection indicator is shown in the figure below No obstacles Obstacle is there Indicating the user through the indicator Fig 11 Activity diagram for obstacle indicating system of the GUI Ill TESTING
9. ion e Testing the design e Final working design Il METHOD This project consists of two main parts e Hardware design of the robot e Software based remote controller for the robot A Hardware Design Following figure shows the high level architecture of this robot RF RF Transceiver T gt EEE Transceiver UART to USB convertor LDR LED Bulb a AV to USB convertor Microcontroller Video Receiver e a ee a eee ee ere _ Wireless Camera Robot Fig 1 High Level Architecture of the robot Gear Motors As shown in the above diagram GUI is passing the instructions provided by the user to the Universal Serial Bus USB to Universal Asynchronous Receiver Transmitter UART converter and it will pass that to the wireless RF transceiver connected to it This RF transceiver will then transmit that information to the RF transceiver at the robot end After receiving the data RF transceiver at the robot end will pass it to the microcontroller to process According to the received data microcontroller will activate or deactivate motors appropriately In the mean time Infra Red IR sensors 123 ERANDYA ET AL WIRELESS RF BASED SURVEILLANCE ROBOT PNCTM VOL 1 JAN 2012 attached to the robot will sense obstacles around the robot and that feedback will transmit to the user with the help of microcontroller and the RF transceivers Automated lightning syste
10. m situated in the robot is working according to the feedback provides from the Light Dependent Resistor LDR connected to the microcontroller At a pre defined lightning level in the surrounding environment Light Emitting Diode LED bulb will light automatically through the microcontroller Wireless camera attached to the robot is providing visual aid to the user via the GUI This camera is transmitting the audio and video signals to the receiver at the computer end Then that receiver will pass those received information to the computer through an Audio Video AV to USB converter 1 Main Components Used in this Robot e Track and Wheel sets Wireless RF transceivers USB to UART converter Gear motors Following figure shows the high level architecture of this robot Wireless spy camera with the receiver AV to USB converter PIC16F877A microcontroller IR LED and IR sensors LDR and LED bulb 2 Mechanical Structure This robots mechanical structure can divide into three main parts e Top Layer e Middle Layer e Bottom Layer Following figures shows how the components and the circuits are mounted to each layer LDR Wireless Camera 3 3V Battery Pack and part of the light controlling circuit 12V Battery Fig 3 Middle layer of the robot structure Fig 4 Bottom layer of the robot structure Following figure shows how the robot looks like Fig 5 Final Design of the robot Most of the time ground robots have
11. ns where ground information is priceless like military operations and rescue operations For military there is a huge need for a ground vehicle that can spy on enemy grounds When there is a really severe threat it is not safe to lead the soldiers into those places Before leading them to that kind of place it is essential to know the details of that place to ensure their safety Getting information is also helping them to be prepared for the situation ahead On the other hand there are many places where people cannot go due to various reasons For example if a person wants to know what is on a ceiling of his house he has to climb on to the ceiling But that is not safe and there might be practical issues such the person may not fit in the available space In the present days many parents are also have problems in keeping eye on their beloved kids while they are busy with work Therefore there is a need of a baby monitor system All these problems focus on a common solution that is a surveillance robot which can provide information of its surrounding environment to a remote user This project contains a robotics based solution to gather information to solve the problems mentioned above This is a project to build a robot which can provide information about surrounding environment to its user via a computer This robot has its own camera to provide visual aid to the user User can control the robot by using the navigation keys in the GUI Vid
12. sult 1 Dr Liew Voon Kiong Visual Basic 6 tutorial Result http www vbtutor net vb6 vbtutor html Created on October 16 Ability to connect Activate Remote Same as 1996 Last updated September 29 2011 with the PC webcam button should expected 2 seas hee alam in 7 eae Basic 7 ttp www codeproject co vb webcamcapture aspx and display video on automatically locate March 2006 the remote controller the default webcam 3 Multimedia Messages http msdn microsoft com en interface driver of the pc and s library dd743599 v VS 85 aspx display 4 MikroC User Manual Disconectahe DisconneccRenote Simes http www mikroe com pdf mikroc mikroc_ manual pdf 5 RF Transceiver Selection Guide remote button should close expected http www flexipanel com Docs RF the webcam driver 20Transceiver 20Selection 20Guide 20DS500 pdf 2 February safely and shutdown 2007 6 PICI6F877A Datasheet http ww1 microchip com downloads en device port doc 39582b pdf Change display Display button on the Same as 7 L293D atasheet http users ece utexas edu valvano Datasheets settings controller should open expected L293d pdf a dialog to select the resolution and color the communication depth Select Webcam feed The Camera button Same as should open a dialog expected box to select a webcam and then display the feed on the screen Change System System Settings Same as Settings button on the expected interface should open a form where the user can define
13. trol the robot using a computer This GUI is developed using Visual Basic 6 software VB6 Following figure shows how the GUI looks like SURVEILLANCE BOT do wee na a Designed and created by Ishara Erandya Goonethileke Copyright 2011 All rights reserved Fig 7 GUI of the robot Each button on this GUI is reserved for various purposes When the Activate Remote button is clicked once it will map the web camera into the picture box in the left side corner of the interface At the same time it will deactivate itself and activate Disconnect Remote Display and Camera buttons This button will also open a port for the communication between the RF Transceiver and the computer Following figure shows the remote controller interface after activating it Designed and created by Ishara Erandya Goonethileke Copyright 2011 All rights reserved Fig 8 Activated remote If the user tries to activate the remote without connecting the RF Transceiver module to the computer it will display a message box saying that Port Not Found without activating the above mentioned buttons If there is no web camera available this system is displaying a message box by saying No Web Cam Found to the user When Disconnect Remote button is clicked by the user camera and the other command buttons are activated by the Activate Remote button will be deactivate It will also close the port which is opened
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