Advanced Multi level hand gesture controlled Shooter Robot ABSTRACT

This Project discusses a military/ rescue purposeshooter robot thats controlled by multi level hand gestures commands. The structure of the robot has been designed to maximize the stability. This project is developed using Embedded Technology. An embedded system is a combination of computer circuitry and software that is built into a product for purposes such as control, monitoring and communication without human intervention. Embedded systems are at the core of every modern electronic product, ranging from toys to medical equipment to aircraft control systems. Embedded systems span all aspects of modern life and there are many examples of their use. The uses of embedded systems are virtually limitless, because every day new products are introduced to the market that utilizes embedded system in novel ways Project uses Microchips microcontroller IC named Peripheral Interface Controller (PIC) and Microchips Integrated Development Environment, MPLAB, to simulate and assemble the written code.

INTRODUCTION
Advanced hand gesture controlled shooter robot is a new robotic technology, which can be used to control a remote object with the help of hand gesture. The gestures are read by the help of mems sensor and flux sensor .this reading are transmitted to robot by the help of zigbee transmitter.In robot it consist of pic 16F877A and pic 16F873A which can be programmed using MP lab for different values of flux sensor and mems Thus taking this value robot

COMPONENTS REQUIRED
PIC 16F873A PIC 16F877A ULN2003 IC L293D IC MEMS SENSOR FLEX SENSOR ZIGBEEMODULE STEPPER MOTOR(5KG TORQUE) STEPPER MOTOR(1KG TORQUE) DC MOTOR WIRELESS CAMERA

PIC16F877A
This powerful (200 nanosecond instruction execution) yet easy-to-program (only 35 single word instructions) CMOS FLASH-based 8-bit microcontroller packs. The PIC16F877A features 256 bytes of EEPROM data memory, self programming, an ICD, 2 Comparators, 8 channels of 10-bit Analog-to-Digital (A/D) converter, 2 capture/compare/PWM functions, the synchronous serial port can be configured as either 3-wire Serial Peripheral Interface (SPI) or the 2-wire Inter-Integrated Circuit (IC) bus and a Universal Asynchronous Receiver Transmitter (USART). All of these features make it ideal for more advanced level A/D applications in automotive, industrial,appliances and consumer application

PIC16F873A
This powerful (200 nanosecond instruction execution) yet easy-to-program (only 35 single word instructions) CMOS FLASH-based 8-bit microcontroller packs The PIC16F873A features 128 bytes of EEPROM data memory, self programming, an ICD, 2 Comparators, 5 channels of 10-bit Analog-to-Digital (A/D) converter, the synchronous serial port can be configured as either 3-wire Serial Peripheral Interface (SPI) or the 2-wire Inter-Integrated Circuit (IC) bus and a Universal Asynchronous Receiver

Transmitter (USART). All of these features make it ideal for more advanced level A/D applications in automotive, industrial, appliances and consumer applications.

ULN2003A
The ULN2001A, ULN2002A, ULN2003 andULN2004Aare high voltage,high current Darlington arrays each containing seven open collector darling ton pairs with common emitters. Each channelrated at 500mAand can withstand peak currents of 600mA.Suppressiondiodesare included for inductive load driving and the inputs are pinned oppositethe outputs to simplify board layout.

L293D IC
The L293D is a quadruple push-pull 4 channel driver capable of delivering 600 mA (1.2 A peak surge) per channel. The L293D is ideal for controlling the forward/reverse/brake motions of small DC motors controlled by a microcontroller such as a PIC or BASIC Stamp. The L293D is a high voltage, high current four channel driver designed to accept standard TTL logic levels and drive inductive loads (such as relays solenoids, DC and stepping motors) and switching power transistors. The L293D is suitable for use in switching applications at frequencies up to 5 KHz. Features Include:

600 mA Output Current Capability Per Driver Pulsed Current 1.2 A / Driver Wide Supply Voltage Range: 4.5 V to 36 V Separate Input-Logic Supply NE Package Designed for Heat Sinking Thermal Shutdown & Internal ESD Protection High-Noise-Immunity Inputs

MEMS SENSOR
Micro-electromechanical systems (MEMS) are Free scales enabling technology for acceleration and pressure sensors. MEMSbasedsensor products provide an

interfacethat can sense, process and/or control the surrounding environment. Free scales MEMS technology provides the following advantages: cost efficiency, low power, miniaturization, high performance andintegration. Functionality can be integrated onthe same silicon or in the same package,which reduces the component count and contributes to overall cost savings.

FLEX SENSORS
Images new bi-directional Bi-Flex Bend Sensor is a unique component that changes resistance when bent. An un-flexed sensor has a nominal resistance of 10,000 ohms

(10 K). As the flex sensor is bent in either direction the resistance gradually decreases. Sensor is also pressure sensitive, and may be used as a force or pressure sensor The flex sensor operating temperature is -45F to 125F .

FLEX SENSOR

ZIGBEE MODULE
Zigbee is a software-based protocol that sits on top of the 802.11 RF wireless devices standard similar to Bluetooth. Unlike Bluetooth, Zigbee is capable of forming large networks of nodes and boasts advanced features such as mesh networking, simple addressing structures, route detection, route repair, guaranteed delivery and low power operation modes. The CC2520 is TI's second generation ZigBee /IEEE 802.15.4 RF transceiver for the 2.4 GHz unlicensed ISM band. This chip enables industrial grade applications by offering state-of-the-art selectivity/co-existence, excellent link budget, operation up to 125C and low voltage operation.

Zigbee module

Wireless camera
Wireless camera is mainly used to control the device remotely. In order to transmit the data using rf module. Thus by this we can control the vehicle by viewing the real time video through the tv.

STEPPER MOTORS AND DC MOTOR

Stepper motors operate differently from DC brush motors, which rotate when voltage is applied to their terminals. Stepper motors, on the other hand, effectively have multiple "toothed" electromagnets arranged around a central gear-shaped piece of iron. The electromagnets are energized by an external control circuit, such as a microcontroller. To make the motor shaft turn, first, one electromagnet is given power, which makes the gear's teeth magnetically attracted to the electromagnet's teeth. When the gear's teeth are aligned to the first electromagnet, they are slightly offset from the next electromagnet. So when the next electromagnet is turned on and the first is turned off, the gear rotates slightly to align with the next one, and from there the process is repeated. Each of those slight rotations is called a "step", with an integer of steps making a full rotation. In that way, the motor can be turned by a precise angle. A DC motor is an electric motor that runs on direct current (DC) electricity. .Brushless DC motors use a rotating permanent magnet or soft magnetic core in the rotor, and stationary electrical magnets on the motor housing. A motor controller converts DC to AC. This design is simpler than that of brushed motors because it eliminates the complication of transferring power from outside the motor to the spinning rotor. Advantages of brushless motors include long life span, little or no maintenance, and high efficiency. Disadvantages include high initial cost, and more complicated motor speed controllers. Some such brushless motors are sometimes referred to as "synchronous motors" although they have no external power supply to be synchronized with, as would be the case with normal AC synchronous motors.

PROJECT DESCRIPTION
In this project there are two parts, Multi level hand gesture capture and a Shooting Robot. The Robot is designed with microcontroller (PIC), Zigbee, Drive & shooting Mechanisms Sensors laser point and wireless camera. In the hand gesture captureside there are Microcontroller, accelerometer, flex sensors and Zigbee module.

Block Diagram Shooting Robot

Drive ZigBee Module Mechanism

PIC 16F877A uC

360 Rotating Gun point with tilt control

Laser pointed Firing mechanism

Figure 1 Multi level hand gesture capturing system

PIC 16F873A Microcontroller

ZigBee Module MEMS Sensor Accelerometer

Figure 2 Flex sensors

Multi level hand gesture capturing hand glove design

Figure 3

Figure 4

Consider the block diagram it consist of two parts, one for robot control and one for receiving signals from hand. Consider the figure 3.this the part from where we generate favorable signal to control the robot, it consist of flux sensors and mems to generate hand gesture signals. These electric signals are processed usingPIC 16F873Aand sent to robot module with the help of zigbee module. zigbee is a transceiver which can receive and sent data. Now lets consider the figure 1which has a transceiver module (zigbee).which receive the transmitted data and this data is processed using pic16f877a.In pic the different data values are processed and for each values of data the robot is controlled. The robot mainly consist of two stepper motor, one dc motor and a firing gun (laser).The stepper motors are of torque 5 kg and 1kg respectively. These stepper motors are used to rotate the second platform and the firing gun. The dc motor is used to run the vehicle. The wireless camera is used to remotely access the robot .The image is transmitted by a rf module shown in the figure 4.

FEATURES

Can use for Military applications Independent of line-of-sight communication. Long Transmission range available. Low power consumption, with battery life. Robot can control from Multi level hand gesture commands. Highly reliable.

CIRCUIT DIAGRAM

Battery
J8
1 2

U5 LM317 C5 0.1uF VIN

ADJ

VCC VOUT 2 R12 1k R14 1k MMA7660 + C6 1uF D2 VCC J9 LED C7 + 0.1uF 10uF C8 1 2 3 4 5 10 9 8 7 6 C9 + 0.1uF 10uF SDA SCL C10 VCC

R13 10k

VCC VCC R15 R 1

VCC

FLEX Sensor FLEX Sensor FLEX Sensor FLEX Sensor

20

J10 CON2 J11 CON2 J12 CON2 J13 CON2

2 1 2 1 2 1 2 1

U6 RB7/PGD RB6/PGC RB5 RB4 RB3/PGM RB2 RB1 RB0/INT 28 27 26 25 24 23 22 21 VCC 11 12 13 14 15 16 17 18 R16 10k 5 2 3 4 6 7 8 9
1 10

MCLR/VPP/THV

C11 22pF C12 22pF

19 8

GND GND

RA0/AN0 RA1/AN1 RA2/AN2/VREFRA3/AN3/VREF+ RA4/T0CKI RA5/SS/AN4 RC0/T1OSO/T1CKI RC1/T1OSI/CCP2 RC2/CCP1 9 OSC1/CLKIN RC3/SCK/SCL RC4/SDI/SDA Y2 RC5/SDO 20MHz RC6/TX/CK 10 OSC2/CLKOUT RC7/RX/DT

2 3 4 5 6 7

VDD

VCC

SCL SDA

J14 20 19 18 17 16 15 14 13 12 11

PIC16F873/SO

ZigBee Module

FIGURE: 2.CIRCUIT DIAGRAM OF HAND PART

Battery
J1
1 2

VCC_12 U1 LM317 3 C1 0.1uF VIN

ADJ

VCC VOUT 2 R1 1k + R3 1k C2 1uF D1 U2 LED STEP11 STEP12 STEP13 STEP14 STEP21 STEP22 STEP23 STEP24 1 2 3 4 5 6 7 8 IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8
GND

VCC_12 1 2 3 4 5 18 17 16 15 14 13 12 11

J2

R2 10k

OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8

STEPPER VCC_12 1 2 3 4 5 J3

VCC_12 VCC R4 4.7k VCC

32 11

10

STEPPER ULN2803

COM

VCC R5 10k VCC J4 5 2 3 4 6 7 8 9 20 19 18 17 16 15 14 13 12 11 R6 10k

IN1 IN2

U3 33 34 35 36 37 38 39 40 15 16 17 18 23 24 25 26 19 20 21 22 27 28 29 30 STEP11 STEP12 STEP13 STEP14 STEP21 STEP22 STEP23 STEP24 LASER

VDD

2 3 4 5 6 7 8 9 10

RE3/MCLR/VPP

RB0/INT0/FLT0/AN12 RB1/INT1/AN10 RA0/AN0 RB2/INT2/AN8 RA1/AN1 RB3/AN9/CCP2 RA2/AN2/VREF-/CVREF RB4/KBI0/AN11 RA3/AN3/VREF+ RB5/KBI1/PGM RA4/T0CKI/C1OUT RB6/KBI2/PGC RA5/AN4/SS/HLVDIN/C2OUTRB7/KBI3/PGD RE0/RD/AN5 RE1/WR/AN6 RE2/CS/AN7 RC0/T1OSO/T13CKI RC1/T1OSI/CCP2 RC2/CCP1/P1A RC3/SCK/SCL RC4/SDI/SDA RC5/SDO RC6/TX/CK RC7/RX/DT RD0/PSP0 RD1/PSP1 RD2/PSP2 RD3/PSP3 RD4/PSP4 RD5/PSP5/P1B RD6/PSP6/P1C RD7/PSP7/P1D

VDD

R7 10k
IN3

R8 10k
IN4

R9 10k

ZigBee Module

U4 IN1 IN2 IN3 IN4 VCC VCC_12 2 7 10 15 1 9 16 8 IN1 IN2 IN3 IN4 EN1 EN2 VSS VS L293D OUT1 OUT2 OUT3 OUT4 3 6 11 14

10

1 2 1 2

J5 MOTOR1 J6 MOTOR2 R10 10K J7 1 2 VCC

C3 22pF C4 22pF

13 Y1 20MHz 14

RA7/OSC1/CLKI

VSS

RA6/OSC2/CLKO PIC16F877A

VSS

12

31

4 5 12 13

GND GND GND GND

R11 LASER 1K

2
1

Q1 BC107

LASER

FIGURE 2.1 . CIRCUIT DIAGRAM OF ROBOT PART

ALGORITHM

1. gesture capturing system wait for the start action 2. The robot waits for the command from the hand gesture capturing system. 3. After the START action, commands according to the hand gesture send to the robot 4. When the robot receive the command, the robot follow the actions 5. Go to step 4. 6. Robot will STOP on the Power ON the Robot 7. Power ON hand gesture capturing system 8. Wireless Camera will transmit the data to system 9. Hand gesture capturing system start reading MEMS sensor 10. Hand gesture capturing system start reading FLEX sensor 11. Hand command from hand gesture capturing system

This is the main steps taking place in the robot function.