Designing a radio frequency controlled robot platform

basePresents, radio communicating engineering has been scattering come out of the closeting quickly. It is in-chief(postnominal) part to humankind being as the distance in the midst of severally another(prenominal)wise become shorter beca call of these radio narrow down engineerings, such as intercommunicate Frequency, Microwave, Bluetooth, local argona ne devilrk and WIFI engineerings. Wireless communicating devices be indispensable to human being lives as people use to driveway on with other by utilizing cordless ph mavens and other radio devices. Besides that, radio receiver relative frequency devices argon being use in infirmary or a treat brand for monitoring of patients, and besides the radio mouse, keyboards for computing machine countries and robotics every crisp mature.Since the radio communicating engineering is im larboardant and indispensable to human lives, so the wireless absolute frequency technique has been chosen as the robot out covering(a) keep in order to look into and use this engineering. The wireless frequency technique uses on this childbed but non other radio engineerings because it has the suited transmittal reaching and more expert than other techniques. For illustration, infrared technique requires manifestation transmit in line with unclogged between the s checker and receiving brass.Radio frequence technique applies on this undertake for imparting the sign up sent by exploiter from sender to robot s receiving carcass in order to control the exhalation waies of snake god, such as die hard frontward, rearward(prenominal), left over(p) or right. The scope between RF sender and receiving establishment is based on the frequence of its faculty. Higher frequence RF faculty allow foring hold further transmittal scope and RF spew from 100 kilohertzs to 1 GHz. It is propagating along the territory or contemplation from the ionosphere so reaches the receiving system.The wireless frequence con trolled robot program motions non hardly command by RF outside(a) control, but besides obstacle demodulators. devil ultrasonic sensors are installed on the front end and dorsum of automaton to give out as occlusion sensors to avoid obstruction in the class set by the comptroller. Furthermore, a PIC ( encircling(prenominal) Interface ascendence ) is use to command the bend right smart of locomotes which the automaton wheels by determines RF and supersonic detector chargeings. When there is an obstruction in the class set of automaton, automaton bequeath halt, so LED on automaton platform leave alone illume on and the doorbell will makes a type operate to bespeak control to vary the deprivation way of automaton.AimThe purpose of the chore is to plan a RF ( Radio Frequency ) Controlled Robot Platform which the going way of automaton is controlled by RF remote control within a peculiar scope without the usage of electric music directors. Besides that, detectors will be installed to move as an obstruction sensor of this automaton to do certain it empennage avoid obstructions in the class set by the accountant. Furthermore, a micro accountant will be use to command and to implements the operating theatre by analysis the suggest receives from distant control and detectors. For this undertaking, it involves larning to utilize detectors, Peripheral Interface Controllers and larning its computer programing every spotlight good.BACKGROUND LITERATUREA PIC microcontroller is use to move as a control Centre of the automaton as it has computation, holding and I/O maps. By utilizing PIC, C plan or assembly lingual communications accomplishments are required as microcontroller operations are based on the package programming to implement the undertakings. The PIC16F76 1 has been chosen as the microcontroller of this undertaking as it has several particular pins and characteristics that suits for this undertaking demands such asO PIC16F76 has a replete(p) figure of 28 pins. It is made up of three I/O ports ( manner A, B and C ) which has a 22 I/O pins in sum.O In I/O port A, there are five arousal channels of 8-bit Analog-to-Digital Module which allows transition of an correspond of latitude input head to a similar 8-bit digital figure that is helpful in analysis the signal transmits from RF receiving system.O Two PWM ( Pulse Width chanting ) Capture/Compare pins those are good in control the velocity and on/off of the DC beat back by puting PWM responsibility rhythm.O SCL and SDA pins can pass on with supersonic straight.An supersonic is a type of detector that uses to bring onwards high frequence ( above 20 KHz ) sound wave pulsations and detects an bearing by construing the reverberations signal from its sound woful cover pulsation. The sound travel ridge pulsations are going in one way, when it detects an aim, the echoed signal will be reflected back to the transducer of the supersonic detector. The sc ope from detector to object is able to find by ciphering the duration of cartridge between the minute the sound wave pulse detects the object and clip for the echoed signal to return back to detector. When detector detects an object, it will trip a signal and sends it to PIC.Supersonic detector is good in observing liquids, seeable objects and irregularly form objects. Therefore, it has been chosen to move as an obstruction sensor of this undertaking instead than other detectors. Besides that, supersonic detector has a higher espial scope and the reflected signal does non affected by the surface and touch of objects. The supersonic detector SRF08 2 is a high public presentation supersonic scope finder with a scope from 3cm to 6m. The communicating between SRF08 with microcontroller is via I2C coach. The I2C coach consists of 2 progressive wires and a land. Bi-directional SDA and SCL are the active coachs. SDA is Serial entropy line and SCL is straightforward Clock line, bo th of them wee a pull-up resistance to +5v someplace on I2C coach. SRF08 is ever a slave neer a coach maestro.For the wireless frequence remote control, the wireless wave signal can go through somewhat or through the object, such as wood, glass, walls and other stuffs. The advantages of utilizing wireless frequence remote control are, signal transmits range farther than infrared distant control and signal does non necessitate to be transmitted in line to receiver. The disadvantage of utilizing wireless moving ridges to convey signal is, signal will be affected by the heading electromagnetic intervention in the environment. A RF faculty 3 ( TWS-434 and RWS-434 ) has sender frequence 433.92 MHz when it end convergence is 8mW with a scope of about cc ft for indoors and 400 pes for out-of-doorss. It is ability to accept both digital and additive inputs. Operating electromotive tug is 1.5 to 12 volts-DC. For the RWS-434 receiving system, it is besides operates at the akin frequ ence which is 433.92 MHz and a sensitiveness of 3uV. The receiving system has both additive and digital end produces and plumping electromotive puff from 4.5 to 5.5 volts-DC supply.Two DC cogwheel repulses are installed on the automaton platform as the motor thrusts ( wheels of automaton ) . The electromyogram30 4 motor is a DC motor with encoder. Encoder is used to tracking the figure of revolutions and the place of motor. The rated electromotive force of this motor is 12v. These are the characteristics of EMG30 DC motorO No heart velocity 216 revolutions per minuteO No load genuine 150 maO Rated torsion 1.5 kg/cmO Rated current 530 maO Rated velocity 170 revolutions per minuteO Rated end product 4.22 WThe motor shaft can be revolve in two waies that clockwise or counter-clockwise way. Therefore, the automaton moves frontward or rearward merely inversing the shared opposition of the force-out supply of the DC motor. The turning operation makes by holding two wheels turn ing in different waies at the same time. This motor has Hall detectors 5 every bit good. A hall detector varies its end product electromotive force in response to alterations in magnetic field, it used for placement and velocity sensing applications of this undertaking.An H-bridge is a four shift elements device which enables a electromotive force to be applied crossways the motor or burden in merely one way. It is utilizing to move as a motor control duty tour that allow DC motor to stockpile forwards and backwards by providing the electromotive force to different switches. An H-bridge is built with four switches. When the switches S1 and S4 are closed, S2 and S3 are unfastened a supreme electromotive force will be applied across the motor. The electromotive force will be in the reversed way by opening S1 and S4 switches, shuting S2 and S3 switches. The H-bridge is by and large used to change by reversal the mutual opposition of the motor, but it can be besides used to halt t he motor or to allow the motor run freely. Switches S1 and S2 or S3 and S4 should non be closed at the same clip as it will do a short tour of duty on the input electromotive force. L298 6 is a high electromotive force and high current double full-bridge driver. The chief intent of L298 is to move as a motor accountant to command the rotate way of DC motor harmonizing to the end product electromotive force from PIC.It is taken from mention of H-bridges Theory and class period , acquirable from hypertext manoeuver communications communications communications protocol //www.mcmanis.com/ grub/robotics/tutorial/h-bridge/S1S2S3S4Motions of the motor1001Motor moves right0110Motor moves left0000Motor free tallies0101Motor brakes1010Motor brakesWORK DONEIn the former(prenominal) few hebdomads, a mickle of consideration and research undertakings have been done. For illustration, the file name extension rule of wireless frequence, and besides the operative rule of H-bridge motor control and PWM. around tutorials that helpful and related to the PIC scheduling have been read as good. On the other manus, all the constituents of this undertaking have been headstrong after reading the datasheets of each constituent. At the same clip, automaton platform has been knowing and sent to the mechanical s workshop in order to shave metal home base into the designed form. Furthermore, the pin connexions between the PIC, detectors and motors have been decided after reading datasheets of constituents and PIC. So far, the cash advance of this undertaking is on the measure of circumference conventional designing and larning the package scheduling of PIC undertakings.Pin 1 Seriess machine-accessible with a 10kI resistance to +5v DC supply.Pins 2 & A 3 eat up product ports for LEDs.Pins 5 & A 7 to move as inputs from shaft encodes of motor.Pin 8 Connect to land.Pin 9 & A 10 Connect to a parallel crystal 4 MHz and two series 33 pF capacitances with land.Pins 12 & A 13 PWM outputs link to the H-bridge.Pins 14 & A 15 I/O ports of I2C lines conjoin to the supersonic detectors.Pin 18 End product port for doorbell.Pins 25 & A 26 End product signals connect to H-bridge.Pins 21, 22, 23 and 24 Act as input ports from RF receiving system.Advancement AND PlanNow, it is on the measure of larning package scheduling and roach conventional designing undertakings, but it is a small spot delayed receivable to the clip spending on the undertaking less than undertaking program for past few hebdomads, since I was busy in making other faculty s assignments and could non make up ones mind the constituents on clip.On the following semester, the clip disbursement on this undertaking will be more than the novice program in order to catch up the proficiency that has been planned as undertaking program. These are the major undertakings that will transport out consequently on the undermentioned semester1. RF faculty proving.2. Supersonic faculty testing.3. DC m otor testing.4. PCB circuit design.5. PCB etching and join of constituents.6. Prototype theoretical account building.7. endeavor and seek run the automaton system to modify the scheduling of PIC.8. Troubleshooting and debugging.9. Test boilers suit functionality.On the undermentioned semester, the clip disbursement on making this undertaking will be 18 hours per hebdomad.The item agenda of this undertaking has been shown on the Gantt chart.List OF REFERENCE scriptDEVENDRA K. MISRA, Radio-Frequency and Microwave Communication Circuits , Printed in the unite States of America, By John Wiley & A Sons, Inc, 2001. nitrogen C. Braga, Roboticss, Mechatronics, and Artificial Intelligence, Experimental Circuit Blocks for Designers , Printed in the United States of America, By parvenuenes Boston Oxford Auckland Johannesburg Melbourne New Delhi, 2002.InternetRichard J. Valentine, Motor Control Electronics Handbook , Printed in the United States of America, The McGraw-Hill Companies , Inc. , accessed by 30th October 2009, E-book, available fromhypertext transfer protocol //books.google.com/books? id=kLZL5hTsVIYC & A printsec=frontcover & A source=gbs_navlinks_s v=onepage & A q= & A f=falseJim Brown, Brief H-BRIDGE possible action OF OPERATION , Written at April 1998, accessed by maiden November 2009, available from hypertext transfer protocol //www.dprg.org/tutorials/1998-04a/Chuck McManis, H-bridges Theory and Practice , accessed by 1st November 2009, available from hypertext transfer protocol //www.mcmanis.com/chuck/robotics/tutorial/h-bridge/Milan Verle, PIC Microcontrollers , mikroElektronika 1st edition, Written at 2008, accessed by twenty-fifth November 2009, available from hypertext transfer protocol //www.mikroe.com/en/books/picmcubook/ch5/Nebojsa Matic, Programing PIC Microcontroller in underlying , mikroElektronika, Chapter 6 PWM Module, accessed by 1st declination 2009, available from hypertext transfer protocol //www.mikroe.com/en/ books/picbasicbook/06.htm 6.5Chuck McManis, H-bridges Theory and Practice , accessed by 1st November 2009, available from hypertext transfer protocol //www.mcmanis.com/chuck/robotics/tutorial/h-bridge/Bibliography 1 PIC16F7X data Sheet28/40-Pin, 8-bit CMOS FLASH Microcontroller, By Microchip Technology, Inc. , 2002.hypertext transfer protocol //ww1.microchip.com/downloads/en/DeviceDoc/30325b.pdf 2 SRF08 High Performance inaudible Range Finder, By Acroname, Inc. , 1994-2009.hypertext transfer protocol //www.acroname.com/robotics/parts/R145-SRF08.htmlhypertext transfer protocol //www.robot-electronics.co.uk/htm/srf08tech.shtml 3 Radio Frequency Module ( TWS-434 and RWS-434 ) Data Sheet, By Rentron Electronic.hypertext transfer protocol //www.rentron.com/Files/rf.pdf 4 DC Gear motor ( EMG 30 ) Data Sheet, By technonots.co.uk.hypertext transfer protocol //www.technobots.co.uk/acatalog/info_1453_005.html 5 Hall sensing element Principles, By Honeywell.com.hypertext transfer pr otocol //content.honeywell.com/sensing/prodinfo/solidstate/technical/chapter2.pdf 6 L298 H-Bridge Data Sheet, By STMicroelectronics.hypertext transfer protocol //www.st.com/stonline/products/literature/ds/1773.pdf