HOME AUTOMATION CONTROL SYSTEM USING TELEPHONELINE

ACCELEROMETER BASED GESTURE CONTROL ROBOT

1. INTRODUCTION:-

1.1 INTRODUCTION:-

We generally find people working in chemical industries under different hazardous condition. These people suffer with many dangerous diseases like skin cancer, lungs problem and many more. So we finally thought of designing a robot that can copy that instant action of human being under various conditions and situations.

In market many types of robot are available that are controlled by remote or cellphone or by direct wired connection. But limitations of this robot are that they can only perform those activities which are present in their program. They dont have ability to sense the situation and react as per that and more over their cost are high even for low application activities. So we decided to design a robot that doesnt require any type of remote or any communication module. It should be self-activated robot which will be driving itself according to position of user which stands in front of it. It does what user desires to do. It makes copy of its all movement of the user standing in front of it. Hardware required is very small, and hence low cost and small in size

2.BLOCK DIAGRAM:-

2.1 BLOCK DIAGRAM:-

2.1.1 TRANSMITER:-

Power SupplyAccelerometerLM 324HT12ERF Transmitter TX antenna

2.1.2 RECEIVER:-

2.2 BRIEF WORKING:-

2.2.1 TRANSMITER:-

In this Tx-section, it contains mainly 5 blocks.

And they are as follows

1) Power supply 2) Accelerometer 3) Comparator 4) Encoder 5) Transmiter Module

The power supply is used to give a dc supply to all the circuits of transmitter.

Accelerometer is generating the 0 to 5v givinging to the comparator.by moving of x and y direction.

For the purpose to change the analog voltage into digital we use comparator which compare that analog voltage to a reference voltage and give a particular high or low voltage.

The encoder is encoding the signal for the purpose of transmiting the same signal.

Tx-module is using for transmitting modulated signal through antenna.

2.2.2 RECEIVER:-In this Rx-section, it contains mainly 5 blocks.

And they are as follows

1) Power supply 2) Receiver module 3) Decoder 4) Microcontroller 5) Motor draiver

The power supply is used to give a dc supply to all the circuits of transmitter

The RF receiver module will receive the data which is transfered by the gesture device. It is also working as similar to the transmitter module

- In a very simple way we can say that an HT12D converts that serial data into parallel which is received by the rf receiver module.The input data is decoded when no error or unmatched codes are found. A valid transmission in indicated by a high signal at VT pin that is pin no 17.

The processing is the most important part of the robot. Till now we get the data from the decoder now based on that data we have to make some decision so here the role of microcontroller is coming up. We use an 8051 microcontroller for our circuit to give them a decision capability. Our microcontroller is made up by nxp the product name is P89V51RD2

The Actuator's are those devices which actually gives the movement or to do a task like motor's. In the real world their are various types of motor's available which works on different voltages. So we need motor driver for running them through the controller. To get interface between motor and microcontroller . We use L293D motor driver IC in our circuit.

3. Transmitter Section

Ciruit Diagram

c

Fig 4.1 Transmitter

Fig 3.2 Layout of Transmitter

4.1 OPERATION OF THE MODULE

This transmitter consists of mainly five parts. First is sensor (accelerometer), which works as vision of robot. We have used accelerometer that act as sensor for our transmitter. The transmitting device included a comparator IC for analog to digital conversion and an encoder IC(HT12E) which is use to encode the four bit data and then it will transmit by an RF Transmitter module. As user makes movements of his hand in front of it, it senses and according to that it sends the signal for decision. Output of the accelerometer is giving to the comparator which is for the purpose to change the analog voltage into digital we use comparator which compare that analog voltage to a reference voltage and give a particular high or low voltage.

MAIN PARTS OF THE SYSTEM:-

TRANSMITTER:-

1.Accelerometer 2.Comparator 3.Encoder(HT12E)4.RF Transmitter

4.2 ACCELEROMETER:-

Accelerometer ADXL335

Small, Low Power, 3-Axis 3 g Accelerometer What is an accelerometer? An accelerometer is an electromechanical device that will measure acceleration forces. These forces may be static, like the constant force of gravity pulling at your feet, or they could be dynamic - caused by moving or vibrating the accelerometer.

What are accelerometers useful for?

By measuring the amount of static acceleration due to gravity, you can find out the angle the device is tilted at with respect to the earth. By sensing the amount of dynamic acceleration, you can analyze the way the device is moving. At first, measuring tilt and acceleration doesn't seem all that exciting. However, engineers have come up with many ways to make really useful products with them. An accelerometer can help your project understand its surroundings better. Is it driving uphill? Is it going to fall over when it takes another step? Is it flying horizontally or is it dive bombing your professor? A good programmer can write code to answer all of these questions using the data provided by an accelerometer.

How do accelerometers work? There are many different ways to make an accelerometer! Some accelerometers use the piezoelectric effect - they contain microscopic crystal structures that get stressed by accelerative forces, which cause a voltage to be generated. Another way to do it is by sensing changes in capacitance. If you have two microstructures next to each other, they have a certain capacitance between them. If an accelerative force moves one of the structures, then the capacitance will change. Add some circuitry to convert from capacitance to voltage, and you will get an accelerometer. There are even more methods, including use of the piezoresistive effect, hot air bubbles, and light.

Types of Accelerometer:-

There are several different principles upon which an analog accelerometer can be built. Two very common types utilize capacitive sensing and the piezoelectric effect to sense the displacement of the proof mass proportional to the applied acceleration. Capacitive Accelerometers that implement capacitive sensing output a voltage dependent on the distance between two planar surfaces. One or both of these plates are charged with an electrical current. Changing the gap between the plates changes the electrical capacity of the system, which can be measured as a voltage output. This method of sensing is known for its high accuracy and stability. Capacitive accelerometers are also less prone to noise and variation with temperature, typically dissipates less power, and can have larger bandwidths due to internal feedback circuitry. (Elwenspoek 1993)

Piezoelectric:-

Piezoelectric sensing of acceleration is natural, as acceleration is directly proportional to force. When certain types of crystal are compressed, charges of opposite polarity accumulate on opposite sides of the crystal. This is known as the piezoelectric effect. In a piezoelectric accelerometer, charge accumulates on the crystal and is translated and amplified into either an output current or voltage. Piezoelectric accelerometers only respond to AC phenomenon such as vibration or shock. They have a wide dynamic range, but can be expensive depending on their quality (Doscher 2005) Piezo-film based accelerometers are best used to measure AC phenomenon such as vibration or shock, rather than DC phenomenon such as the acceleration of gravity. They are inexpensive, and respond to other phenomenon such as temperature, sound, and pressure (Doscher 2005)

Other:- There are many other types of accelerometer that are less important to musical applications, including:

a. Piezoresistiveb. Thermal c. Null-balance d. Servo force balance e. Strain gauge f. Resonance g. Magnetic inductionh. Optical i. Surface acoustic wave (SAW)j. Specifications

A typical accelerometer has the following basic specifications: a. Analog/digital b. Number of axesc. Output range (maximum swing)d. Sensitivity (voltage output per g)e. Bandwidthf. Amplitude stability The user selects the bandwidth of the accelerometer using the C X, CY, and CZ capacitors at the XOUT, YOUT, and ZOUT pins. Bandwidths can be selected to suit the application, with a range of 0.5 Hz to 1600 Hz for the X and Y axes, and a range of 0.5 Hz to 550 Hz for the Z axis.

GENERAL DESCRIPTION:-

The ADXL335 is a small, thin, low power, complete 3-axis accelerometer with signal conditioned voltage outputs. The product measures acceleration with a minimum full-scale range of 3 g. It can measure the static acceleration of gravity in tilt-sensing applications, as well as dynamic Acceleration resulting from motion, shock, or vibration. One of the most common inertial sensors is the accelerometer, a dynamic sensor capable of a vast range of sensing. Accelerometers are available that can measure acceleration in one, two, or three orthogonal axes. They are typically used in one of three modes: As an intertial measurement of velocity and position; As a sensor of inclination, tilt, or orientation in 2 or 3 dimensions, as referenced from the acceleration of gravity (1 g = 9.8m/s2); As a vibration or impact (shock) sensor. There are considerable advantages to using an analog accelerometer as opposed to an inclinometer such as a liquid tilt sensor inclinometers tend to output binary information (indicating a state of on or off), thus it is only possible to detect when the tilt has exceeded some thresholding angle. Most accelerometers are Micro-Electro-Mechanical Sensors (MEMS). The basic principle of operation behind the MEMS accelerometer is the displacement of a small proof mass etched into the silicon surface of the integrated circuit and suspended by small beams. Consistent with Newton's second law of motion (F = ma), as an acceleration is applied to the device, a force develops which displaces the mass. The support beams act as a spring, and the fluid (usually air) trapped inside the IC acts as a damper, resulting in a second order lumped physical system. This is the source of the limited operational bandwidth and non-uniform frequency response of accelerometers. For more information, see reference to Elwenspoek, 1993.

FUNCTIONAL BLOCK DIAGRAM:-

ADXL335 An Accelerometer is a kind of sensor which gives an analog data while moving in X,Y,Z direction or may be X,Y direction only depend's on the type of the sensor.Here is a small image of an Accelerometer shown. We can see in the image that their are some arrow showing if we tilt these sensor's in that direction then the data at that corresponding pin will change in the analog form.

The Accelerometer having 6 pin- 1- VDD- We will give the +5volt to this pin 2- GND- We simply connects this pin to the ground for biasing. 3- X- On this pin we will receive the analog data for x direction movement. 4- Y- On this pin we will receive the analog data for y direction movement. 5- Z- On this pin we will receive the analog data for z direction movement. 6- ST- this pin is use to set the sensitivity of the accelerometer 1.5g/2g/3g/4g.THEORY OF OPERATION

The ADXL335 is a complete 3-axis acceleration measurement system. The ADXL335 has a measurement range of 3 g minimum. It containsa polysilicon surface-micromachined sensor and signal conditioning circuitry to implement an open-loop acceleration measurement architecture. The output signals are analog Voltages that are proportional to acceleration. The accelerometer can measure the static acceleration of gravity in tilt-sensing applications as well as dynamic acceleration resulting From motion, shock, or vibration.The sensor is a polysilicon surface-micromachined structure built on top of a silicon wafer. Polysilicon springs suspend the structure over the surface of the wafer and provide a resistance against acceleration forces. Deflection of the structure is measured using a differential capacitor that consists of independent fixed plates and plates attached to the moving mass.If you have two microstructures next to each other, they have a certain capacitance between them. If an accelerative force moves one of the structures, then the capacitance will change. Add some circuitry to convert from capacitance to voltage, and you will get an accelerometer. There are even more methods, including use of the piezoresistive effect, hot air bubbles, and light.

FEATURES:3 axis sensing small, low profile package4mm x 4mm x 1.45mm LFCSP low power: 350uA (typical) Single operation: 1.8v to 3.6v 10,000g shock survival Excellent temperature stability BW adjustment with a single capacitor per axisRoHS/WEEE lead-free complement

ACCELEROMETER ADXL 335

Pin Function Descriptions

Comprator (LM324)

LM324 is a14 pin IC consisting of four independent operational amplifiers (op-amps) compensatedin asingle package.Op-amps arehigh gain electronic voltage amplifier with diferential input and, usualy, a single-ended output.The output voltage is many times higher than the voltage diference between input terminal so fan op-amp.

These op-amps are operated by a single power supply LM324 and need for a dualsupply is eliminated.They can be used as amplifiers, comparators, oscilators, rectifiers etc.The conventional op-amp applications can be more easily implemented with LM324.Pin diagram:

Pin description:

Encoder (HT12E)

HT12E is encoder integrated circuits of 2 series of encoders.They are 12 paired with 2 series of decoders for use in remote control system applications. It is mainly used in interfacing RF and infrared circuits.The chosen pair of encoder/decoder should have same number of addresses and data format.

Simply put, HT12E converts the parallel inputs into serial output. It encodes the 12 bit parallel data into serial for transmission through an RF transmiter. These 12 bits are divided into 8 address bits and 4 databits.

HT12E has a transmission enable pin which is active low.When a trigger signal is received on TE pin, the programmed addresses/data are transmited together with the header bits via an RF oran infrared transmission medium. HT12E begins a4-word transmission cycle upon receipt to transmission enable. This cycle is repeated as long as TE is kept low. As soon as TE returns to high ,the encoder output completes its final cycle and then stops

Pin diagram:

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4. Receiver Section

4.1 Circuit Diagram

Fig. 4.1 Receiver Diagram

RECEIVER:-In this Rx-section, it contains mainly 5 blocks.

And they are as follows

1) Power supply 2) Receiver module 3) Decoder 4) Microcontroller 5) Motor draiver

1.power suppy:

Power SupplyAccelerometerLM 324HT12ERF Transmitter TX antenna

2.Receiver module:

The 433 MHz RF Receiver is ideal for short-range remote control applications where cost is a primary concern. The receiver module requires no external RF components except for the antenna. It generates virtually no emissions, making FCC and ETSI approvals easy. The super-regenerative design exhibits exceptional sensitivity at a very low cost. The manufacturing-friendly SIP style package and low-cost make the 433 Receiver suitable for high volume applications.

Features Low Cost 5V operation 3.5mA current drain No External Parts are required Receiver Frequency: 433.92 MHZ Typical sensitivity: -105dBm IF Frequency: 1MHz

Applications Car security system Sensor reporting Automation system Remote Keyless Entry (RKE) Remote Lighting Controls On-Site Paging

3.decoder:

General Description

The 212 decoders are a series of CMOS LSIs for remotecontrol system applications. They are paired withHoltek_s 212 series of encoders (refer to the encoder/decodercross reference table). For proper operation, apair of encoder/decoder with the same number of addressesand data format should be chosen.The decoders receive serial addresses and data from aprogrammed 212 series of encoders that are transmittedby a carrier using an RF or an IR transmission medium.They compare the serial input data three times continuouslywith their local addresses. If no error or unmatchedcodes are found, the input data codes aredecoded and then transferred to the output pins. The VTpin also goes high to indicate a valid transmission.The 212 series of decoders are capable of decodinginformations that consist of N bits of address and 12_Nbits of data. Of this series, the HT12D is arranged to provide8 address bits and 4 data bits, and HT12F is used todecode 12 bits of address information.

Applications

_ Burglar alarm system_ Smoke and fire alarm system_ Garage door controllers_ Car door controllers_ Car alarm system_ Security system_ Cordless telephones_ Other remote control systems

4.microcontroller:

DescriptionThe AT89S52 is a low-power, high-performance CMOS 8-bit microcontroller with 8Kbytes of in-system programmable Flash memory. The device is manufactured usingAtmels high-density nonvolatile memory technology and is compatible with the industry-standard 80C51 instruction set and pinout. The on-chip Flash allows the programmemory to be reprogrammed in-system or by a conventional nonvolatile memory programmer.By combining a versatile 8-bit CPU with in-system programmable Flash ona monolithic chip, the Atmel AT89S52 is a powerful microcontroller which provides ahighly-flexible and cost-effective solution to many embedded control applications.The AT89S52 provides the following standard features: 8K bytes of Flash, 256 bytesof RAM, 32 I/O lines, Watchdog timer, two data pointers, three 16-bit timer/counters, asix-vector two-level interrupt architecture, a full duplex serial port, on-chip oscillator,and clock circuitry. In addition, the AT89S52 is designed with static logic for operationdown to zero frequency and supports two software selectable power saving modes.The Idle Mode stops the CPU while allowing the RAM, timer/counters, serial port, andinterrupt system to continue functioning. The Power-down mode saves the RAM contentsbut freezes the oscillator, disabling all other chip functions until the next interruptor hardware reset.

Pin daigaram:

Features Compatible with MCS-51 Products 8K Bytes of In-System Programmable (ISP) Flash Memory Endurance: 1000 Write/Erase Cycles 4.0V to 5.5V Operating Range Fully Static Operation: 0 Hz to 33 MHz Three-level Program Memory Lock 256 x 8-bit Internal RAM 32 Programmable I/O Lines Three 16-bit Timer/Counters Eight Interrupt Sources Full Duplex UART Serial Channel Low-power Idle and Power-down Modes Interrupt Recovery from Power-down Mode Watchdog Timer Dual Data Pointer Power-off Flag

5.motor draiever:

Description:

The L293 and L293D are quadruple high-currenthalf-H drivers. The L293 is designed to providebidirectional drive currents of up to 1 A at voltagesfrom 4.5 V to 36 V. The L293D is designed toprovide bidirectional drive currents of up to600-mA at voltages from 4.5 V to 36 V. Bothdevices are designed to drive inductive loads suchas relays, solenoids, dc and bipolar steppingmotors, as well as other high-current/high-voltageloads in positive-supply applications.All inputs are TTL compatible. Each output is acomplete totem-pole drive circuit, with aDarlington transistor sink and a pseudo-Darlington source. Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4enabled by 3,4EN. When an enable input is high, the associated drivers are enabled, and their outputs are activeand in phase with their inputs. When the enable input is low, those drivers are disabled, and their outputs areoff and in the high-impedance state. With the proper data inputs, each pair of drivers forms a full-H (or bridge)reversible drive suitable for solenoid or motor applications.

Block diagram :

Pin diagram:

Feature:_ Wide Supply-Voltage Range: 4.5 V to 36 V_ Separate Input-Logic Supply_ Internal ESD Protection_ Thermal Shutdown_ High-Noise-Immunity Inputs_ Functionally Similar to SGS L293 andSGS L293D_ Output Current 1 A Per Channel(600 mA for L293D)_ Peak Output Current 2 A Per Channel(1.2 A for L293D)_ Output Clamp Diodes for InductiveTransient Suppression (L293D

5. APPLICATION

APPLICATIONS:-

1. We generally find people working in chemical industries under different hazardous condition.These people suffers with many dangerous diseases like skin cancer,lungs problem and many more. So we finally thought of designing a robot that can copy that instant action of human being under various conditions and situations.So in that place of industry it can be used. 2. Most of the computer games are now using motion detecting remot technology.3. It is also used in mine

6. FUTURE SCOPE

FUTURE SCOPE:-

In future we can design a wireless robot which can sense hand gesture by using wireless technologies.It can be used in military applications as a robotic vehicle which can be handled by a soldier to avoid casualties.Our system has shown the possibility that interaction with machines through gestures is a feasible task and the set of detected gestures could be enhanced to more commands by implementing a more complex model of a advanced vehicle for not only in limited space while also in broader area as in the roads too . In the future, service robot executing many different tasks from private movement to a fully- fledged advanced automotive that can make disabled to able in all sense.

CONCLUSION:-

In our project we have added special features by which our robot can overcome so many problems in industry. If it is further developed then it can be used for military application. An Accelerometer is a kind of sensor which gives an analog data while moving in X,Y,Z direction or may be X,Y direction only depend's on the type of the sensor.Here is a small image of an Accelerometer shown. We can see in the image that their are some arrow showing if we tilt these sensor's in that direction then the data at that corresponding pin will change in the analog form. A Gesture Controlled robot is a kind of robot which can be controlled by your hand gestures not by old buttons.You just need to wear a small transmitting device in your hand which included an acceleration meter.This will transmit an appropriate command to the robot so that it can do whatever we want. The transmitting device included a comparator IC for analog to digital conversion and an encoder which is use to encode the four bit data and then it will transmit by an RF Transmitter module. At the receiving end an RF Receiver module receive's the encoded data and decode it by an decoder

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