advanced multi level hand gesture controlled shooter robot

Advanced Multi level hand gesture controlled Shooter Robot

ABSTRACT

This Project discusses a military/ rescue purposeshooter robot that’s 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 Microchip’s microcontroller IC named Peripheral Interface

Controller (PIC) and Microchip’s ‘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 (I²C™) 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 (I²C™) 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 scale’s enabling technology for

acceleration and pressure sensors. MEMSbasedsensor products provide an

interfacethat can sense, process and/or control the surrounding environment. Free

scale’s 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 sensorThe 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 125°C 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.

PIC 16F873A

Microcontroller

ZigBee Module

MEMS Sensor

Accelerometer

Flex sensors

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 sensor’s and Zigbee module.

Block Diagram

Shooting Robot

Figure 1

Multi level hand gesture capturing system

Figure 2

PIC 16F877AuC

ZigBee Module

Drive

Mechanism

Laser pointed

Firing mechanism

360° Rotating Gun point with

tilt control

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 let’s 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

U 6

P I C 1 6 F 8 7 3 / S O

M C L R / V P P / TH V1

R A 0 / A N 02

R A 1 / A N 13

R A 2 / A N 2 / V R E F -4

R A 3 / A N 3 / V R E F +5

R A 4 / T0 C K I6

R A 5 / S S / A N 47

GN

D8

O S C 1 / C L K I N9

O S C 2 / C L K O U T1 0

R C 0 / T1 O S O / T1 C K I1 1

R C 1 / T1 O S I / C C P 21 2

R C 2 / C C P 11 3

R C 3 / S C K / S C L1 4

R C 4 / S D I / S D A1 5

R C 5 / S D O1 6

R C 6 / TX/ C K1 7

R C 7 / R X/ D T1 8

GN

D19

VDD

20

R B 0 / I N T2 1R B 12 2R B 22 3R B 3 / P G M2 4R B 42 5R B 52 6R B 6 / P G C2 7R B 7 / P G D2 8

C 1 1

2 2 p F

C 1 2

2 2 p F

Y 22 0 M H z

R 1 2

1 k

D 2

L E D

U 5L M 3 1 7

V I N3

ADJ

1

V O U T2

J 8

Battery

1 2

R 1 4

1 k

R 1 3

1 0 k

C 50 . 1 u F

+ C 61 u F

V C C

V C C

R 1 5R

V C C

V C CV C C

J 1 4

ZigBee Module

1

23

4

5

6789 10

2 01 91 81 71 61 51 41 31 21 1

R 1 61 0 k

FLEX SensorJ 1 0

C O N 212

FLEX SensorJ 1 1

C O N 212

FLEX SensorJ 1 2

C O N 212

FLEX SensorJ 1 3

C O N 212

V C C

J 9

M M A 7 6 6 0

12345 6

7891 0C 8

0 . 1 u F+

C 7

1 0 u F

C 1 0

0 . 1 u F+

C 9

1 0 u F

V C CV C C

S D AS C L

S D AS C L

FIGURE: 2.CIRCUIT DIAGRAM OF HAND PART

J 2

S TE P P E R

12345

J 3

S TE P P E R

12345

V C C _ 1 2

V C C _ 1 2

I N 4

L A S E R

I N 3I N 2I N 1

J 5

M O TO R 1

12

R 1

1 k

J 6

M O TO R 2

12

D 1

L E D

C 3

2 2 p F

C 4

2 2 p F

Y 12 0 M H z

R 4 4 . 7 k

V C C

U 3

P I C 1 6 F 8 7 7 A

R A 0 / A N 02

R A 1 / A N 13

R A 2 / A N 2 / V R E F -/ C V R E F4

R A 3 / A N 3 / V R E F +5

R A 4 / T0 C K I / C 1 O U T6

R A 5 / A N 4 / S S / H L V D I N / C 2 O U T7

R A 6 / O S C 2 / C L K O1 4

R A 7 / O S C 1 / C L K I1 3

R B 0 / I N T0 / F L T0 / A N 1 23 3

R B 1 / I N T1 / A N 1 03 4

R B 2 / I N T2 / A N 83 5

R B 3 / A N 9 / C C P 23 6

R B 4 / K B I 0 / A N 1 13 7

R B 5 / K B I 1 / P G M3 8

R B 6 / K B I 2 / P G C3 9

R B 7 / K B I 3 / P G D4 0

R E 0 / R D / A N 58

R E 1 / W R / A N 69

R E 2 / C S / A N 71 0

R E 3 / M C L R / V P P1

VS

S12

VS

S31

R C 0 / T1 O S O / T1 3 C K I1 5

R C 1 / T1 O S I / C C P 21 6

R C 2 / C C P 1 / P 1 A1 7

R C 3 / S C K / S C L1 8

R C 4 / S D I / S D A2 3

R C 5 / S D O2 4

R C 6 / TX/ C K2 5

R C 7 / R X/ D T2 6

R D 0 / P S P 01 9

R D 1 / P S P 12 0

R D 2 / P S P 22 1

R D 3 / P S P 32 2

R D 4 / P S P 42 7

R D 5 / P S P 5 / P 1 B2 8

R D 6 / P S P 6 / P 1 C2 9

R D 7 / P S P 7 / P 1 D3 0

VD

D11

VD

D32

R 6

1 0 k

V C C V C C

J 4

ZigBee Module

1

23

4

5

6789 10

2 01 91 81 71 61 51 41 31 21 1

R 51 0 k

R 7

1 0 k

R 8

1 0 k

R 9

1 0 k

V C C

IN1

IN2

IN3

IN4

U 1L M 3 1 7

V I N3

AD

J1

V O U T2

J 1

Battery

1 2

V C C _ 1 2

R 3

1 k

R 2

1 0 k

C 10 . 1 u F

+ C 21 u F

V C C

U 4

L 2 9 3 D

I N 12

I N 27

I N 31 0

I N 41 5

E N 11

E N 29

O U T13

O U T26

O U T31 1

O U T41 4

GN

D4

GN

D5

GN

D13

GN

D12

V S S1 6

V S8

V C C

V C C _ 1 2

U 2

U L N 2 8 0 3

C O M1 0

GN

D9

I N 11

I N 22

I N 33

I N 44

I N 55

I N 66

I N 77

I N 88

O U T11 8

O U T21 7

O U T31 6

O U T41 5

O U T51 4

O U T61 3

O U T71 2

O U T81 1

V C C _ 1 2

S TE P 1 2S TE P 1 1


S TE P 2 3S TE P 2 2S TE P 2 1

S TE P 2 4




S TE P 2 4

S TE P 2 1

Q 1B C 1 0 7

3

2

1

R 1 1

1 K

R 1 01 0 K

V C C

L A S E R

J 7

L A S E R

12

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.