UNMANNED GROUND VEHICLE FOR SECURITY APPLICATION

Project By, RAHUL KUMAR

Under The Guidance of

ELECTRICAL &ELECTRONIC ENGG.

UGV FOR SECURITY APPLICATIONS

Based on the IEEE paper Design and implementation of an unmanned ground vehicle for security purpose

UGV FOR SECURITY APPLICATIONS

ABSTRACT

Design and implementation of prototype teleported unmanned guided vehicle (UGV) for security applications. The system continuously monitors the critical location and this information can be viewed and controlled through a PC with the help of a wireless cam which is attached with the laser gun. Provides internal and external security to the military, industries, offices, army etc.
UGV FOR SECURITY APPLICATIONS 3

AIM
To study on

Renesas Microcontroller
Zigbee Communication. Motor Control. Video Transmission and Reception. Obstacle Detection.
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UGV FOR SECURITY APPLICATIONS

EXISTING TECHNOLOGY
Ripsaw Packbot

UGV FOR SECURITY APPLICATIONS

Disadvantages:- cannot be used for obstacle detection.

- doesnt support audio transmission.

- doesnt support multiple UGV control.

PROPOSED TECHNOLOGY

Supports obstacle detection. Supports audio transmission. Supports multiple UGV control.

UGV FOR SECURITY APPLICATIONS

PROJECT PLAN

1st Review Block Diagram. Division of Responsibility. 2nd Review Each Module Bring Up. 3rd Review Integration Final Review Final Integration and Testing. Demonstration of Project
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UGV for military applications

GENERAL BLOCK DIAGRAM

Transmitter Section Receiver Section (UGV)

Transmitter PC interface Camera Receiver

Receiver

Control Unit

User

Camera Transmitter

Motor Unit

UGV for military applications

BLOCK DIAGRAM

TRANSMITTER
FINE TUNING OPTION WIRELESS TRANSMITTER XBee

WIRELESS 9V CAMERA RECEIVER VIDEO

POWER SUPPLY

RS232 CONNECTOR

USB TV TUNER CARD

HONEST TECH TVR

PC

FRONT-END SOFTWARE

LED INDICATOR

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 RECEIVER
OBSTACLE DETECTION WIRELESS RECEIVER XBee

WIRELESS CAMERA STEPPER MOTOR 12V DRIVER STEPPER MOTOR 5V

CONTROL UNIT RENESAS MICRO CONTROLLER

9V POWER SUPPLY

GEAR MOTOR

DRIVER GEAR MOTOR 11

UGV FOR SECURITY APPLICATIONS

DEVELOPMENT TOOL

HEW (High Performance Embedded Workshop)

- Integrated Development Equipment

DXP Protel 2004 - Circuit Diagram Designing - PCB Designing

APPLICATION SOFTWARE

HyperTerminal -Application used to communicate with computer and remote UGV. -Sends set of commands and receives data from UGV. Honest Tech TVR -Software for viewing videos signals -Helps to record the video & audio signals. -Snap shots are also available
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PCB DESIGNING
Schematic:- Placing of Components. - Annotate. - Net list Creation. PCB designing:- Porting to PCB - Component Layout - Routing - Gerbar File Formation.

MICROCONTROLLER
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Y RENESAS ??

Easily available. Low cost. Internal peripherals. Low power consumption. High performance. Software support. In circuit programming and On-chip debugging.

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COMPARISON
RENESAS R8C series PIC 18F series

1.No error data sheets.

2.Less cost and good performance. 3.Code protection Facility is available

1.Error data sheet is available.

2. Cost is high and the performance is not up to RENESAS 3. Code protection facility is not available

4. R8C is CISC Architecture

5.8bit/16bit Architecture

4.18F series is RISC Architecture

5.Pure 8 bit architecture
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UGV FOR SECURITY APPLICATIONS

COMPARISON
RENESAS R8C series PIC 18F series 6.EMI,EMC performance is good. 6. EMI,EMC performance is poor 7.Development tool is very strong. 7.Development tools are very optimized code will be generated weak, they generate large codes 8.RENESAS chip will work from 1.8V to 5V 9.Flash programming voltage is low 10.Flash programming is fast
UGV FOR SECURITY APPLICATIONS

8. Dedicated chips only will work in low voltages 9.Flash programming voltage is high 10. Flash programming is slow
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FEATURES
R5F21258SDFP 16 bit microcontroller. Program ROM-64 Kbytes. Data Flash-1 Kbytes 2. RAM capacity-3 Kbytes. Address space: 1MegaByte. Power supply: 5V 52 pin package. I/O ports: 41 pins
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R8C/25,

ARCHITECTURE

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CIRCUIT DIAGRAMCONTROLLER

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ZIGBEE

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FEATURES
Zigbee /IEEE 802.15.4 standard. Operates in unlicensed bands including 2.4 GHz, 900 MHz and 868 MHz. Support for multiple network topologies such as pointto-point, point-to-multipoint and mesh networks
Meet

Y ZIGBEE ??

Low-cost Low-power
Low latency

Long battery life Secure networking. Multiple communication

Easy to use

INTERNAL BLOCK DIAGRAM

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HOW COMMUNICATION OCCURS??

Micro Controller

RX TX GND Xbee Xbee

RX

PC
TX GND

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RS 232 Connector

-RS232 is a Standard for serial data communication. -Connects TTL compactable Xbee to the COM port of PC. -MAX 232 convert RS232 voltage level to TTL level

GEAR MOTOR

SPECIFICATION

2000::100 rpm

CIRCUIT DIAGRAM

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STEPPER MOTOR

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SPECIFICATION

Step angle 3.125 Current Voltage Torque

STEPPER MOTOR

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CIRCUIT DIAGRAM

WIRELESS CAMERA & RECEIVER

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Wireless Pinhole A/V PAL Camera

Image Device: 1/3 CMOS TV system: PAL Horizontal Definition: 380TV Lines Minimum Illumination: 3.0 Lux Transmission Frequency: 1.2GHz Power Adapter: DC 9V or 9V Battery Dimension: 50x35x40mm (LxWxD) Recommended Max Range for Objects: 5m Transmission Range: 12~15m Built In Microphone: Max Audio Range 1~2m
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RADIO A/V RECEIVER

Receiving Frequency: 1.2GHz Demodulation Mode: FM Antenna: 50ohm SMA Receiving Sensitivity: <-85dBm Dimension: 120x81x20mm (LxWxD) Channels Available: 1 Channel Tuning for Multiple Cameras AV OUT

USB TV Tuner -Peripheral for receiving Video & Audio signals. -Decodes video and audio signals.

UGV FOR SECURITY APPLICATIONS

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OBSTACLE DETECTION

IR Transmitter

wave length -850nm forward voltage :1.5V Max.forward current : 50mA range : 15-30cm intensity angle: 24-30Degree chip material: GaAlAs lens colour:Dark Blue

IR receiver

Photodiode Features Fast response time High photo sensitivity

CIRCUIT DIAGRAM

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POWER SUPPLY

POWER SUPPLY

Linear Power Supply. Regulators used LM7805-Control unit-5V LM7809-Camera-9V LM1117-Zigbee module-3.3V

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CIRCUIT DIAGRAM

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ADVANTAGES
Saves human life in dangerous situations. Less power consumption. Low cost. Performs dull, dirty and dangerous activities. Used to handle those situations which are risky and impractical for human capability. Intelligent. Supports obstacle detection. Supports audio transmission. Supports multiple UGV control.

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DISADVANTAGES
Cant be used in water. Cant be used in vertical planes. Unable to fly.

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APPLICATIONS
Used for security applications. Can be used instead of man in dangerous situations. Can be used where the human labor is too expensive. Can be used to perform dull, dirty and dangerous activities.

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ADDITIVE FEATURES
Temperature sensor Metal detector. Bomb detector. Solar energy instead of battery.

FUTURE ENHANCEMENTS
Can be developed for submarine applications. Can be developed for the use in vertical planes. Can be developed with an ability to fly.

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FLOW CHART
START 3 NO CHECK OVERFLOW BIT YES NO CHECK FOR OBSTUCLE REVERSE AND STOP YES

RESET

CHECK FOR SERIAL DATA

NO

2 2

YES 1

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SWITCH

FORWARD

REVERSE

LEFT

RIGHT

STOP

CAMER A LEFT

CAMER A RIGHT

LASER GUN

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