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, some of them are quite beyond the capabilities of human beings. It was demonstrated by the first human cyborg Prof. Kevin Warwick of University of Reading, UK that humans can link with robots to acquire several dimensions of nature for better functioning.
WHY ROBOTS
Quality Improvement Improvement of Working Environment Better-Cost Effectiveness Flexibility to Change
An Industrial Robot is a re-programmable device which is designed to both manipulate and transport parts, tools, or used for specialized manufacturing implementations through variable programmed motions 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 Actuators and Transmissions Sensors • • • • Controllers Stepper Motors User interface Power conversion unit
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COMPARISON BETWEEN HUMAN TERMS AND ROBOT TERMS HUMAN TERMS
Brain Senses Blood Hands Feet
ROBOT TERMS
Computer Sensors Electrical/ Hydraulic Power Manipulator 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. 2. 3. 4. 5. 6. Can be started with full speed at any time or instant Can be stopped with full speed at any time or instant The speed of the motor will not be affected by Electrical or Mechanical reasons Similarly the Voltage or the Current or the Torque will not decide the Speed of the Motor Speed can be decided by the Pulses width and speed can be increased or reduced using the external gears 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 Resolution Process, Continuous Monitoring, Excellent
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
Wireless Rx
RS232 Interface
Multi Specialty Robot PICK & PLACE FIRE FIGHTING
Alarm
Wireless Receiver for CCD Camera
ROBOT MODEL
Microcontroller Kit Power Supply Microcontroller