CHAPTER -1 INTRODUCTION

RF BASED SPY ROBOT

Introduction:
Robotics is a fascinating subject- more so, if you have to fabricate a robot yourself. The field of robotics encompasses a number of engineering disciplines such as electronics (including electrical), structural, pneumatics and mechanical. The structural part involves use of frames, beams, linkages, axles, etc. the mechanical parts/ accessories comprise various types of gears (spurs, crowns, bevels, worms and differential gear systems), pulleys and belts, drive systems(differentials, castors, wheels and steering) etc. The pneumatics plays a vital role in generating specific pushing and pulling movements such as those simulating arms or leg movement. Pneumatic grippers are also used with advantage in robotics because of their simplicity and cost effectiveness. The electrical items include DC and Stepper motors, actuators, electrical grips, clutches and their control. The electronic parts involves remote control, sensors (touch sensors, light sensor, collision sensor, etc), there interface circuitry and a microcontroller for overall control functions.

CHAPTER -2 CIRCUIT DISCRIPTION AND WORKING

Project Overview:
What we present here is an elementary robotic land rover that can be control remotely using primarily the RF mode. The RF remote control has the advantage of adequate range (up to 200m with proper antenna) besides being omni directional. On the other hand, an IR remote would function over a limited range of about 5m and the remote transmitter has to be oriented towards the receiver module quite precisely. However, the cost involve in using RF modules is much higher than that of IR components and as such, we have included the replacement alternative of RF modules with their IR counterparts for using the IR remote control. The proposed land rover can move in forward and reverse direction. You will also be able to steer it towards left and right directions. While being turn to left and right, the corresponding blinking LEDs would blink to indicate the direction of its turning. Similarly, during reverse movement, reversing LEDs would be lit. Front and rear

bumpers are provided using long operating lever of micro switches to switch off the drive motors during any collision. The decoder being used for the project has latch outputs and as such you dont have to keep the buttons on remote control pressed for more than a few milliseconds. This helps prolong the battery life for remote. The entire project is split up into sections and each section is explain in the sufficient detail to enable you not only to fabricate the present design but also exploit this principles for evolving your own design with added functions.

Forward and reverse movement:

To keep your design as simple as possible, we have coupled a 30rpm geared 6v DC motor to the left front wheel and another identical motor to the right front wheel. Both these front motors are mounted side by side by facing in opposite direction. Wheel rims (5cm diameter) along with rubber wheels are directly coupled to each of the motor shafts. This arrangement does not require separate axles. During forward (or reverse) movement of the vehicle, the two wheel shafts, as viewed from the motor ends, would move in opposite directions (one clockwise and the other anticlockwise). For

reversing the direction, you simply have to reverse the DC supply polarity of the two motors driving the respective wheels.

Steering control:
There are different methods available for steering a robotic vehicle. The commonly used ones are: 1. Front wheels are used for steering, while rear wheels are

used for driving eg. Tractors. 2. Front wheels are used for steering as well as driving eg, in

most light vehicles. In these vehicles (such as cars), the front wheels are coupled using a differential gear arrangement. It comes into play only when one wheel needs to rotate differentially with respect to their axes.

Drive circuit for the motors:

Here is a typical circuit for driving one of the motors, in forward or reverse direction, coupled to, say the left hand front wheel. Simultaneously, the right direction for the moving the vehicle in the same direction. It means that input terminals of the motor drive circuit for the right hand motor have to be fed with reverse polarity control signals

compared to those of the left hand motor drive circuit. In the H-bridge motor drive circuit when A1 input is made high and A2 is made low, transistor T1(NPN) is forward biased and driven into saturation, while transistor T2 (PnP), being reverse biased, is cut off. This extends the batterys positive rail to terminal1 of the motor. Simultaneously with input A2 at ground potential, transistor T3 (NPN) is cutoff, while T4 (PnP) is forward biased and driven into saturation. This results in ground being extended to terminal2 of the motor. Thus the motor rotates in one direction. Now, if the two inputs are logically complemented, the motor will run in the opposite direction. When both the inputs are at the same logic level (gnd or vcc), the motor is at rest. Thus WI can control the movement (forward, reverse and stop) as well as the direction of rotation of the motor with the help of logic level of the two control input signals to the motor.

Motor control logic:

As per the preceding explanation, the input logic levels required at terminals A1 and A2 of the left hand motor drive circuit and at input terminals B1 of B2 of the right hand motor drive circuit are shown

in fig. Table can be rearranged as table , which can be further simplified as table . The equivalent hex values of the binary control signals are indicated in table. It transpires that if we connect(short) input terminals A2 and B1 of the two motor control both the motors for forward, reverse left and right movement of the vehicle using the 3 bit binary number shown in table . This fact will be used while arriving at the integrated circuit for controlling the motors for appropriate movement of body.

Remote control:
For remote control we have used Holtek encoder-decoder pair of HT12E and HT12D employing these are 18 pin DIP ICs. Operation of Holtek HT12E and HT12D: These are CMOS ICs with working voltage ranging from 2.4v to 12v. Encoder HT12E has eight address and another four address/data lines. The data set on these twelve lines is serially transmitted when the transmit enable pin TE is taken low. The data output appears serially on the Dout pin. The data is transmitted four times in succession. It consists of differing length of positive going pulses for `1` and `0`, the pulse width for `0` being twice

the pulse width of `1`. The frequency of these pulses may lie between 1.5 and 7 kHz depending on the resistor value between OSC1 and OSC2 pins. The internal oscillator frequency of decoder HT12D is 50 times the oscillator frequency HT12E. The values of timing resistors connected between OSC1 and OSC2 pins of HT12E and HT12D, for given supply voltages, can be found out from the graphs given in the datasheet of the respective chips. The resistor values used in the circuits here are chosen for approximately 3 kHz frequency for encoder HT12E and 150 kHz for decoder HT12D at Vdd of 5V.

The HT12D receive the data from HT12E on its Din pin serially. If the address part of the data receive matches the level on A0 through A7 pins four times in succession, the valid transmission (Vt) pin is taken high. The data on pin AD8 through AD11 of the HT12E appears on pins D8 through D11 of the HT12D. Thus, the device acts as a receiver of four bit data (16 possible codes) with 8 bit addressing (256 possible channel). The test circuit given in fig will help you in checking the functional service ability and synchronization of the frequency of operation. Once the frequency of pair is aligned, on the pressing of push switch S1 on the encoder, LED on the decoder should glow. You can

also check the transfer of data on pin AD8 through AD11( the data pin of the encoder can be set as a high and low using switches S2 through S5), which is latched on pin D8 through D11 of the decoder once TE pin is taken low momentary using push switch S1. This completes the testing of encoder decoder pair of HT12E and HT12D.

RF transmitter and RF receiver:

The RF transmitter and receiver marketed by Aplus India, Mumbai have been employed for RF remote control. The RF transmitter TX433 is an AM/ASK transmitter. Its feature includes: 1. 2. 3. 4. 5. 6. 5V-12V single supply operation ON/OFF key(OOK)/ASK data format Up to 9.6kbps data rate +9dBm output power(about 200m range) SAW-based architecture For Antenna, 45cm wire is adequate

The output power and current range of RF transmitter for Vcc of 5V and 12V are tabulated in table. The pin configuration of the transmitter module is shown. The RF receiver RX433 is a 433 MHz module.

Remote Transmitter
The receiver address to be transmitted can be set with the help of 8way DIP switch DIP-SW2. When any switch is open the pin connected to that switch at logic 1, and when it is closed the respective pin is at logic 0. the data pin are pulled high via resistor R2 through R5. In this condition, if TE pin is taken low (by depressing stop switch), the binary data transmitted via pins AD8 through AD11 will be 1111 (decimal 15). When any other data pin marked forward, reverse left, right alone is pressed, a 0 will be sent at that position, while other

data pin will represent logic1 state. The logic circuitry at the receiver decoder end will be decoding the data appropriately for controlling the two motor of the land rover.

RF& IR TRANSMITTER IR based alternative:

The RF modulator used in the remote can be easily replaced with the IR module circuit build around IC2 and transistor T1. The RF/IR selection can be affected by moving the shorting link of Con-1 connector. Similarly, the RF receiver module in the RF receiver decoder can be replaced with the IR receiver module shown in fig. For using the IR based Encoder, the Dout signal pin 17 of HT12E is to be connected to Din pin 5 of astable oscillator IC CD4047

for modulating its output. The frequency of the astable at output pin 10 is determine by the timing component as follows Frequency=1/4.71*(R6+VR1)*C3 Hz This frequency is adjusted for 38 KHz with pin 5 held at logic 1. The modulated 38 kHz, after amplification by Darlington pair of transistor T1 and T2, drives IR LED 1 LD271 (or equivalent).

RF receiver decoder:
The complete RF receiver decoder circuit employing HT12D is shown. Assuming that identical address is selected on the encoder and decoder, when any of the switches on the transmitter (marked as forward, reverse, and right, left) is depressed, the corresponding data pin of the demodulator will go low. The data output of HT12D are fed to 8 bit priority encoder CD4532 via inverter to generate appropriate logic output in conformity with table. To control the left, right of motor for required motion of land rover is explained earlier. However, when stop button is

pressed on transmitter, all data pins (D8 through D11) on the decoder will latched to the high output state. After inversion by NAND gates N1 through N4, all the output will be low and hence EI (pin 5) of CD4532 will go low to force all its output to go low. As a result, both the motor will stop running.

RF/IR RECEIVER
You may like to verify the code generated at the output of CD4532 with the help of truth table. The following is the exact sequence of operation at the receiver and motor driver when a specific push switch momentarily pressed on the transmitter: 1. Forward: The D8 output (pin 10) of IC 3 goes low, which after

inversion by inverter N1 goes high to switch ON the front LED (LED

2 and LED3) via driver transistor T6 and take D3 input(pin 13) of IC5 high. This cause Q2, Q1 and Q0 going to logic states0,1 and 1, respectively and as a result, both the motor will run in such direction as to move the rover in the forward direction. 2. Reverse: The D9 output (pin 11) of IC3 goes low which after inversion by inverter N2 goes high to switch ON the rear LEDs(LED 4 and LED 5) via a driver transistor T7 undertake and take D4 input (pin 1) of IC 5 high. This results in Q2, Q1 and Q0 going to logic states 1,0 and 0 respectively, and as a result both the motor will run in such a direction as to move the rover in the Reverse or backward direction.

3.

Left: The D10 output (pin 12) of IC 3 goes low, which after

inversion by inverter N3 goes high to switch ON the left LED 7 after a second inversion by inverter/ driver gate N6 and make D2 input pin 12 of IC5 high. This results in Q2, Q1 and Q0 going to logic states 0,1 and 0 respectively, and as a result only the right hand side motor will run and left hand side motor will be static. This cause the rover to

perform a left turn. 4. Right: The D11 output (pin 13) of IC 3 goes low, which after

inversion by inverter N3 goes high to switch ON the right blinking LED 6 after a second inversion by inverter/ driver gate N5 and make D1 input pin 11 of IC5 high. This results in Q2, Q1 and Q0 going to logic states 0,0 and 1 respectively, and as a result only the left hand side motor will run and right hand side motor will be static. This cause the rover to perform a right turn. 5. Stop: The D8 through D11 output of IC3 goes high and, after inversion by N1 through N4 because blocking of diode D5 through D8. As a result, ground is extended to EI pin 5 through resistor R17 and all the outputs (Q2, Q1 and Q0) of CD4532 go low to stop both the motors, all the LEDs also stop glowing.

FUTURE APPLICATION:
1. This project concept is widely used in ROBOTICS 2. The installation in loading vehicles may carry the loads in industries

3. The new and widely used PLC systems are used for AUTONOMOUS TECHNOLOGY. 4. It also used as servant robot by implementing AUTOMATIC GUIDED VEHICLE (AGV) . 5. It also act as sample collector and observing the behavior of animals where human beings cannot reach. 6. By implementing NANOTECHNOLOGY in project, it also generates power for itself and project work 24 hours. 7. By using VOICE RECOGNITION SYSTEM we also control the project on commanding in our voice. 8. On implementing Microprocessor programming we also used it as automatically controlled robot or a vehicle. 9. The project also used in alma maters as a supplementary carrier during examinations. 10.On implementing camera and spy devices we also get the pictures and information during charged suspect.

REFRENCE:

Books

1.

Electronic for you.

Internet 1. 2. http:/www.google.com http:/www.ask.com