WIRELESS AI BASED INTELLI MOBILE ROBOT

FOR MULTI SPECIALTY OPERATIONS

With CCD Camera for Wireless Video /
Audio Transmission, Auto Dialer, SMS
Facility

WHAT IS A ROBOT?
The Webster defines a Robot as - An automatic apparatus or device that performs functions
ordinarily ascribed to humans or operates with what appears to be almost human intelligence,
which means Robot, is defined as a mechanical design that is capable of performing human
tasks or behaving in a human-like manner

The Robotics Institute of America defines a robot as follows

A robot is a reprogrammable multifunctional manipulator designed to move material, parts, tools
or specialized devices through variable programmed motions for the performance of a variety of
tasks and used for Relief operations

HISTORY ABOUT THE ROBOTS & ITS EVALUATION

The term “robot” has its origins in a Czech word “robotnik” meaning worker or serf. It was first introduced
by the playwright Karel Capek in a 1920 play. The robot theme was popularized by Isaac Asimov in
science fiction in the late 1940’s and the early 1950’s, and subsequently by Hollywood movies.
Mechanization and automation can be traced back to the industrial revolution. The first example of
complete mechanization dates back to the development of Jacquard looms (named after the silk weaver
Joseph Maria Jacquard) used in the silk industry in France and Italy in the early 19 th century. These looms
could be mechanically reprogrammed to produce different patterns.
However, these looms were simply machines. There is no notion of “intelligence” that is built into these
looms. Further, the process of programming could be very tedious, particularly for complex patterns, and
had to be done manually.
The next 100-150 years saw many innovative engineering solutions to pressing problems in industry. A
rotary crane equipped with a motorized gripper to remove hot ingots from a furnace was developed by
Babbit in 1892. Pollard invented a mechanical arm for spray painting in 1938.
The first teleoperator or telecheric, a device that allows an operator to perform a task at a distance,
isolated from the environment that the task is performed in, was developed by Goertz1. It was designed
to manipulate radioactive materials. The operator was separated from the radioactive task by a concrete
wall with viewing ports. Two handles on the “master” side allowed the operator to manipulate a pair of
tongs on the “slave” side
Robots come in different shapes and sizes and with
different capabilities. They also perform several tasks, An Industrial Robot is a
some of them are quite beyond the capabilities of human
beings.
re-programmable
It was demonstrated by the first human cyborg Prof. Kevin
device which is
Warwick of University of Reading, UK that humans can designed to both
link with robots to acquire several dimensions of nature for manipulate and
better functioning.
transport parts, tools,
or used for specialized
WHY ROBOTS
manufacturing
 Quality Improvement
implementations
 Improvement of Working Environment through variable
 Better-Cost Effectiveness programmed motions
 Flexibility to Change for the performance of
 Multi Specialty Operations
MAJOR APPLICATION AREAS
The four major areas where automation should be considered are as follows
 Heavy Lifting
 Repetitive Work
 Contaminated Environments (Solvents, Noise, Heat, Dust)
 Jobs Requiring Continuously High Levels of Concentration

ANATOMY OF A ROBOT
The Basic Components of a Robot System are
• The Mechanical linkage • Controllers
• Actuators and Transmissions • Stepper Motors
• Sensors • User interface
• Power conversion unit

COMPARISON BETWEEN HUMAN TERMS AND ROBOT TERMS

HUMAN TERMS ROBOT TERMS

 Brain  Computer
 Senses  Sensors
 Blood  Electrical/ Hydraulic Power
 Hands  Manipulator
 Feet  Wheels (normally)

Robots can be Turtles, Vehicles, Rovers, Walkers

ADVANTAGES OF USING ROBOT

 The ROBOT is a basic tool for automation and will be of great use to perform repetitive
tasks of picking and placing in an industrial production line
 Its use can be extended and exploited by few modifications to do difficult and hazardous
tasks for nuclear applications
 It can be used to do work effectively due to its great-added accuracy which will results the
quality improvement in the work

ABOUT OUR PROJECT

In manufacturing industry, a large fraction of the work is repetitive and judicious
application of automation will most certainly result in optimum utilization of machine
and manpower, Here our ROBOT plays a vital dual role
Our ROBOT is a Wireless, Artificial Intelligence based Mobile Robot with multi specialty
approach. Basically it will have facilities such that it can move in any direction, say
right, left, forward, backward etc. the commands will be received from the keyboard -
Wireless.
Our robot main functionality is Materials Handling - `Pick and Place', which has been
developed to achieve automation in applications where great sophistication is not
needed and simple tasks like picking up of small parts at one location and placing them
at another location can be done with great ease.
Another main function of our multi specialty robot is fire security function – Fire
Fighting, which is a system of putting together motors, solenoids, and wires, among
other important components
Our Robot is used to extinguish the fire in case of Fire Accidents. The movement of the
Robotics controlled by means of stepper motor, which is involved in the major
application of Robotics field.
Our Robot also consists of a Solenoid, which is actuated to pour the water whenever it
senses the Fire. This project is divided into modules for better understanding of the
circuit.

SPECIAL FEATURES & POWERS OF THE ROBOT

 WIRELESS MOVEMENTS – FORWARD, REVERSE, RIGHT & LEFT

 MATERIALS HANDLING FUNCTION – PICK & PLACE

 360 DEGREE ROTATION – ANY ANGLE FREE MOVEMENTS FOR ALL AXES

 OBSTACLE SENSING AND COLLISION AVOIDANCE

 DIRECTION SENSING

 MATERIALS HANDLING, PICK & PLACE ARM

 AUTO DIALER

 PIC MICROCONTROLLER – FLASH & EEPROM

 MECHANICAL MODEL FOR REAL TIME OPERATIONS

 STEPPER MOTOR

 STEPPER POWER SUPPLY BOARD

 OPTOCOUPLER WITH STEPPER DRIVER BOARD

 SENSORS

 RS 232 CONVERTERS

 POWER SOURCE

 WIRELESS SOLUTIONS – RF

 RF RECEIVER MODULE - 433.92 MHZ (FT-COM-RX2), BANDWIDTH – 4MHz

 RF TRANSMITTER MODULE - 433.92 MHZ (FT-COM-TX2), BANDWIDTH – 4 MHz

WIRELESS COMMUNICATION
The process using the Radio - Frequency spectrum for Transmitting and Receiving Voice, Data
and Video signals by which information(s) are shared is known as Wireless Communication

ARTIFICIAL INTELLIGENCE - DEFINITION

Artificial Intelligence is a branch of Science which deals with helping machines find solutions to
complex problems in a more human-like fashion. This generally involves borrowing characteristics
from human intelligence, and applying them as algorithms in a computer friendly way.
A more or less flexible or efficient approach can be taken depending on the requirements
established, which influences how artificial the intelligent behavior appears. AI is generally
associated with Computer Science, but it has many important links with other fields such as
Maths, Psychology, Cognition, Biology and Philosophy, among many others.
Our ability to combine knowledge from all these fields will ultimately benefit our progress in the
quest of creating an intelligent artificial being.

THE MAIN MODULES INCLUDES

 PIC Microcontroller Board
 Optocoupler with Stepper Driver Board
 Stepper Power Supply Board
 Pick & Place Arm for Materials Handling
 Fire Sensing Unit and Extinguisher

PIC MICROCONTROLLER BOARD

This is the board, which contains PIC Microcontroller Chip as well as the clock Circuitry, Reset
Circuit and Power Supply for the Microcontroller.
A microcontroller is a highly integrated chip, which includes, on one chip, all or most of the
parts needed for a controller. The microcontroller could be called a ``ONE-CHIP SOLUTION''.
It typically includes: CPU (central processing unit) RAM (Random Access Memory)
EPROM/PROM/ROM (Erasable Programmable Read Only Memory) I/O (input/output) - serial
and parallel timers interrupt controller By only including the features specific to the task
(control), cost is relatively low.
A typical microcontroller has bit manipulation instructions, easy and direct access to I/O
(input/output), and quick and efficient interrupt processing. Microcontrollers are a ``one-chip
solution’’, which drastically reduces parts count, and design costs

STEPPER MOTOR BASICS – MOTOR WITH STEP MOVEMENTS

Motion Control, in electronic terms, means to accurately control the movement of an object
based on either speed, distance, load, inertia or a combination of all these factors. There are
numerous types of motion control systems, including; Stepper Motor, Linear Step Motor, DC
Brush, Brushless, Servo, Brushless Servo and more. This document will concentrate on Step
Motor technology.
In Theory, a Stepper motor is a marvel in simplicity. It has no brushes, or contacts. Basically it's
a synchronous motor with the magnetic field electronically switched to rotate the armature
magnet around. A Stepping Motor System consists of three basic elements, often combined
with some type of user interface (Host Computer, PLC or Dumb Terminal
TYPES OF STEPPER MOTORS
There are basically three types of stepping motors; variable reluctance, permanent magnet and
hybrid. They differ in terms of construction based on the use of permanent magnets and/or iron
rotors with laminated steel stators.

BIPOLAR CHOPPER
Bipolar chopper drivers are by far the most widely used drivers for industrial applications.
Although they are typically more expensive to design, they offer high performance and high
efficiency. Bipolar chopper drivers use an extra set of switching transistors to eliminate the
need for two power sources.
Additionally, these drivers use a four transistor bridge with recirculating diodes and a sense
resistor that maintains a feedback voltage proportional to the motor current. Motor windings,
using a bipolar chopper driver, are energized to the full supply level by turning on one set (top
and bottom) of the switching transistors. The sense resistor monitors the linear rise in current
until the required level is reached. At this point the top switch opens and the current in the
motor coil is maintained via the bottom switch and the diode. Current "decay" (lose over time)
occurs until a preset position is reached and the process starts over. This "chopping" effect of
the supply is what maintains the correct current voltage to the motor at all times.

ADVANTAGES OF USING THIS KIND OF MOTOR

1. Can be started with full speed at any time or instant
2. Can be stopped with full speed at any time or instant
3. The speed of the motor will not be affected by Electrical or Mechanical reasons
4. Similarly the Voltage or the Current or the Torque will not decide the Speed of the Motor
5. Speed can be decided by the Pulses width and speed can be increased or reduced using
the external gears
6. Less maintenance & no need for external cooling

OPTOCOUPLER WITH STEPPER DRIVER BOARD

Optocoupler means two electrical signals are optically coupled with Electrical isolation.
Optocouplers are very essential for stepper motor. The need of Optocoupler is to isolate the
Microcontroller Board form the Stepper Motor to restrict any high voltage to the Microcontroller
board, and this board also contains stepper Driver circuit to amplify the Voltage and to
withstand high current because the pulse coming out from the Microcontroller is not tough
enough to drive the Motor.

STEPPER POWER SUPPLY

This board contains the power Supply for the stepper motor and relay driver.

PICK & PLACE ARM FOR MATERIALS HANDLING

The Arm of the Robot will rotate 360 Degrees, Free & easy rotation, which will Pick & Place the
Objects
MECHANICAL FEATURES & MODEL
Unbreakable, Less in Weight, Easy Movements, No need for surface grinding, Economic in
Fabrication, Electrical Isolation, Thermal Stability, Free Rotation, Metal Construction, Stepper
Motors, Hose Clamps, Shaft Collars & Couplers, Universal Joints, Wheels, etc.,

RS232 CONVERTER
It Converts the PC Voltage (-10v to +10) to PIC Microcontroller Voltage (-5v to +5v) and vice
versa
TEMPERATE INDICATOR & CONTROLLER
In certain industries we have to maintain the temperature below 20øC to safe guard the
electronic from thermal runaway failures. We are using THERMISTOR (THERMAL
RESISTOR), which comes under passive transducer classification. Thermistor finds wide
applications and advantages like Fast response, smaller in size, Rugged (Not affected by shock
and vibration), Good sensitivity, Low cost.
A thermistor is a ceramic semiconductor, which exhibits a large change in resistance with a
change in its body temperature. The word thermistor is actually a contraction of the words
"THERMAL RESISTOR". Although there are both positive coefficient (PTC) and negative
coefficient (NTC) are available, for our application we use negative coefficient (NTC) type
thermistor.
These NTC thermistors are compose of oxides such as the oxides of the MANGANESE,
NICKEL, COBALT, COPPER, IRON and TITANIUM

AUTO DIALER
This facility is applicable in the above system for the following Services like Fire Detection
during Night Mode enabled
Auto Dialer means, a device that automatically dials pre-programmed numbers to establish and
complete a call or to gain access to a network

RF TRANSMITTER AND RECEIVER

This is the RF based Transmitter and Receiver module, which can facilitate the remote
applications

RF FEATURES
 Complete super regenerative RF Transmitter & Receiver Module operating @ 433.92 MHz
 Compact in Size & Model
 No External Components & No tuning is required
 High Performance SAW based architecture with a maximum range of 100 feet @ 4800 bps
data rate
 Low Power Consumption
 RF Receiver Module - 433.92 MHz (FT-COM-RX2), Bandwidth–4 MHz
 RF Transmitter Module -433.92 MHz (FT-COM-TX2), Bandwidth – 4 MHz

FEATURES OF THE ROBOT

 Ours is a Wireless ROBOT with Wireless Movements
 It can move from one location to another location
 Ours is an industrial ROBOT, Controlled by the PC
 It is also a Mobile Robot which has got certain artificial intelligence feature
 The artificial intelligence facility helps the ROBOT to detect any obstacle and deviate from
the obstacle path and move in a different direction
 Our ROBOT will pick the Objects and will place it in another place
 Another unique concept about our ROBOT is that it can sense any fire and detect the fire
 It can also the put off the fire
 WIRELESS AI BASED INTELLI MOBILE
ROBOT FOR MULTI SPECIALTY
OPERATIONS

OPTIONAL

VIDEO / AUDIO COLOR SECURITY CAMERA – WIRELESS

We can use this Video Color Security Camera with Audio in the
ROBOTICS APPLICATION as an Eye, (I – ROBO), Smallest Truly
Wireless COLOR Video Camera

 Smallest Camera with Transmitter & Receiver and Video

Surveillance For Security

 Hi Resolution - Color Wireless & Cordless Camera with Clear

Audio Output

 Just Fix it to SYSTEM, PC or TV or VCR and Record the

Important Activities

 Easy Start Process, Continuous Monitoring, Excellent

Resolution

 Can Gather Sensitive Information while Handling Materials,

Fire Fighting, Night Time Operations

 To Transmit Live Video

WIRELESS COMMUNICATION
The process using the Radio-Frequency spectrum for Transmitting
and Receiving Voice, Data and Video Signals by which information(s)
are shared is known as Wireless Communication
WIRELESS AI BASED INTELLI MOBILE ROBOT FOR
MULTI SPECIALTY OPERATIONS

Multi Specialty Robot

RS232 PICK & PLACE
Wireless
Rx Interface FIRE FIGHTING

Alarm Wireless
Receiver for
CCD Camera

ROBOT MODEL

Microcontroller Kit

Power Supply Microcontroller

Relay Relay Driver

Driver Power Supply Wireless Tx

Stepper CCD
Stepper
Driver Camera
Motor
Board

Intruder Temperature
Fire Sensor
Sensor

Pick ‘n’ Fire

Place Arm Extinguisher