NET OPERATED LAND ROVER

Hemant C, Ajay V, Shyamal L, Mayuri K

[email protected]
[email protected]

Abstract-- Internet robotic systems have a different role in the use and development of robots. In ground robotic vehicles, Internet is useful for remote operation or to make remote development. In this paper we have tried to depict the modern & global application of INTERNET. The objective of our project is to control the robot by INTRENET. It describes the conceptual and implementation aspects of Internet-based software architecture for the NOLR project, showing its use in the different project phases. A land rover that can be controlled from any PC in the world which has net connectivity. It has a live-feed network camera so that it can be driven without line of sight and a horn so that you can honk at people. Internet for robotic control provides the advantage of robust control, working range as large as the coverage area of the service provider, no interference with other controllers. This project is very useful on the Military usage of remotely controlled military vehicles. Keywords Net Operated Land Rover (NOLR), Global Positioning System (GPS), 3G module, live streaming, CMOS camera, Java Script.

I. INTRODUCTION Robots are intelligent machines that can be controlled according to need. If a multimedia interface is provided, it further aids in navigation of the robot. Making the robot wireless increases the effective area of operation, thereby making it possible to control the robot from a remote location. Conventionally, wireless-controlled robots use RF circuits, which have the drawbacks of limited working range, limited frequency range and limited control. Use of a internet for robotic control can overcome these limitations. It provides the advantages of robust control, working range as large as the coverage area of the service provider, no interference with other controllers and many

controls. The control of robot involves three distinct phases: reception, processing and action. Generally, the preceptors are sensors mounted on the robot, processing is done by the onboard microcontroller or processor, and the task (action) is performed using motors or with some other actuators. So the motive is that to increase the range of remote controlled products. Keeping all the above factors in mind, a robot capable of being remotely controlled through the Internet and possessing a multimedia interface so as to globalize the project & no limitation of range, was conceived and developed. The NOLR is multi functional mobile device which can be controlled in real time through the Internet. The movement of the NOLR is controlled by pressing appropriate buttons on its website. A unidirectional video link and audio link aid the user in navigation. These also provide a stronger and more user friendly means of communication with the environment of the robot. An ARM7 core controls the movement of two D.C. Motors.An 3G module, GPS module and an audio video transmitter circuit comprise the wireless link between the PC and the robot. A 12V, 1A battery is used to power the robot and a distributed power supply is used to step down voltages to appropriate levels, as required by the various modules. Plug and Play concept has been practiced throughout the design and construction phases of the robot. All sub modules of the robot can be replaced / repaired in case of malfunction without having to alter other modules of the robot.

II. OBJECTIVES The objective of the project is to control the robot by INTRENET. In this project, the robot is controlled by the internet that communicates with the robot. The guiding commands are sent to the robot via JAVA script web page to

the robot and hence controller unit performs action accordingly. There will be a camera attached to the robot which will send the live videos to the remote controlling PC via net wirelessly. There is a GPS module on robot which continuously sends the location co-ordinates of the robot to controlling PC. There is Obstacle Avoidance unit to prevent the rover from any damage. The microcontroller is preprogrammed to take a decision for any given input and outputs its decision to motor drivers in order to drive the motors for forward or backward motion or a turn. The PC that communicates to the server on robot acts as a remote. 3G bandwidth is used for the live streaming of the video and for getting location co-ordinates a GPS module is used. The programming of controller (ARM7) will be done using RTOS (ucos-II). III. LITERATURE SURVEY Net Operated Land Rover is very useful product for the Army. This kind of technology is already in use. The robotic point man is one of the first of these applications and has already begun saving soldiers lives. The Massachusetts-based i-Robot offers a variant named PackBot Scout that is designed specially to help soldiers as they carry out Military operation in Urban Terrain. Concepts for the Armys Future Combat System(FCS), which are now being evaluated, include unmanned systems, both ground & air, and thus will be required for fielding with other elements of the FCS as early as 2010. The Army UGV technology development program includes unmanned ground vehicles; however, it is unclear whether UGV technologies. VI. BLOCK DIAGRAM AND HARDWARE DISCRIPTION Hardware and working of NOLR is divided in two units: 1) Control side and 2) Robot side. All electronics modules are supplied power by a distributed power supply which steps down voltages to levels required by various electronics modules. Its detail block diagram description is as follows: A. CONTROL SIDE

we can control the robot and watch the live videos from the camera interfaced to the microcontroller in robot side. Through the application in the PC we can send the keywords to control the robot. Through internet this send to the robot side and the GPS module interfaced to the microcontroller will receive the data and pass to the microcontroller. The microcontroller will process the data and according to the data microcontroller will control the robot movements. B. ROBOT SIDE The robot side consists of Image capturing assembly, GPS module, Obstacle avoidance assembly, Debug display, Motion assembly, Transceiver, Control unit and Power supply unit.

Fig.2 Robot side block diagram a) IMAGE CAPTURING ASSEMBLY

Since we want to transmit images at a faster rate we go for CMOS camera as its output is digital in nature. The camera is established with unidirectional video link which effectively increases the precision with which the navigation of the robot in its environment can be performed. This also enables a means of communication between the robots environment and the clients environment. M64282FP camera sensor is used for this image capturing purpose. b) GPS MODULE

Fig.1 Control side(PC) block diagram In the control side there will be a PC which is having an internet connection and a simple application through which

A GPS receiver calculates its position by precisely timing the signals sent by GPS satellites high above the Earth. After connecting the PC to the internet, we can get the location and the current surrounding of the robot via GPS co-ordinates. The SR-87 GPS engine module incorporates high sensitivity, high performance SiRF Star chipset solution in a compact

design. The module tracks up to 20 satellites at a time while offering fast time-to-first-fix and 1Hz navigation update. The unit is very suitable for broad applications such as Handheld, PDA, PPC or other battery operated navigation system.

the motor requires 12V for its operation and another 5V supply is given to the all other remaining assembly of the robot. IV. SOFTWARE DISCRIPTION

c)

OBSTACLE AVOIDANCE ASSEMBLY

To protect our Land Rover robot from any harms, we are implementing Obstacle avoidance assembly, using IR sensors. d) DEBUG DISPLAY The 2X16 Parallel LCD is an 8 bit or 4 bit parallel interfaced LCD. This unit allows the user to display text, numerical data and custom created characters. The LCD used on robot side is used to show and debug the commands given from PC. e) MOTION ASSEMBLY

In robot side there will be microcontroller which will control all the operations. In our project we are using an ARM 7 core. There will be DC motors for the movements of the robot and those DC motors are controlled by the microcontroller using a motor driver circuitry. There will be an LCD interfaced to the microcontroller which will monitor every actions by the robot. 3G module is interfaced to microcontroller for communicating with other side. A camera

Four D.C motors are used for the horizontal motion of the robot. These tasks were accomplished by using a single circuit employing a L293 to drive the D.C motors. L293 is a quadruple half-H bridge IC primarily meant for motor driving applications with a high current handling capacity of up to two amperes peak current as required.

f)

TRANSCEIVER

The 3G bandwidth is used for the uploading the live streaming videos as well as it gets the control instructions which will be given by the control unit. The SIM5218 series is Tri band/ single band HSPA/WCDMA and Quad-Band GSM/GPRS/EDGE module solution which supports up to 7.2Mbps downlink speed and 5.76Mbps uplink speed services

Fig.3 Flowchart of system

g) CONTROL UNIT It is the heart of this robot. The ARM7 microcontroller controls two D.C motors used for the driving the robot. In addition it controls a Stepper motor used for tilting the camera up/down. ARM core is a RISC processor and Harvard architecture. LPC2148 microcontroller is used for the controlling device in the Robot assembly. The Power supply unit provides two D.C.voltage levels of 5V and 12V. 12V is supplied to the motion assembly unit, as

is interfaced to the microcontroller which will capture video continuously. In the PC side there will be a PC which is having an internet connection and a simple application through which we can control the robot and watch the live video from the camera interfaced to the microcontroller on robot. Through the application running on PC on the control end we can send the controlling commands to robot via internet. This command will be received by 3G module on robot and then be send to and executed by the control unit on robot. The camera on robot will capture images at 27 frames/sec and send it to control unit, the raw image data will be further send to 3G module to be uploaded on server. The user can see the live video from the control side PC.

V. RESULT The camera have been tested and is successfully giving images at the rate of 28 frames/sec.GSM BW is not sufficient for live streaming of video.ARM 7 core has sufficient on chip ram for storing and sending the images at the desired rate. VI. CONCLUSION The objective of the work reported is to design a surveillance robot with net controlled functions that is intended for typical surveillance and exploration on unknown territory. The contribution made is that the robot patrol operation is triggered through a remotely transmitted notification is achieved using internet alternatives to conventional approaches of using CCTV cameras and the services of a security company for monitoring. Currents experiments confirm that the design is feasible for domestic deployment. As future work, use of different methods of intruder detection will increase the potential of the robot further.

ACKNOWLEDGMENT The author gratefully acknowledges the BICARD for their technical support. The author would like to acknowledge Mrs.A.M.Patki mam for her valuable guidance.

REFERENCES
[1]. Hitex- Philips insider guide for LPC2148 [2]. ARM-Architecture Reference Manual from ARM corp. [3]. RTOS-ucosII, Jean Ieprasse,2nd editon [4]. Andrew S. Tannenbaum, Computr Networks, Pearson Education, 4th Edition,2003. [5]. Gonzalez and Woods, Digital Image Processing, Pearson Education. [6].Theodore S. Rappaport, Wireless Communication Principles and practice, 2nd edition,Pearson Education.