INTERNATIONAL JOURNAL

OF PROFESSIONAL ENGINEERING STUDIES Volume II/Issue 1/JAN2014

PC Regimented Defense Android using

ZIGBEE
Dandu Gowthami 1, V.V.G.S.Rajendra Prasad 2
1
M.Tech Student, Dept of ECE, Nova College of Engineering & Technology for Women, Jupudi
village, Ibrahimpatnam mandal, Krishna Dist, A.P, India
2
Professor and Head of the department of ECE, Nova College of Engineering & Technology for
Women, Jupudi village, Ibrahimpatnam mandal, Krishna Dist, A.P, India.
Abstract- This paper focuses on the design and vehicle under such circumstance, but most of existing
implementation of a supervision robot, the search robots are unsuitable because of their huge
supervision system is indispensible to the robot, size.
which is in charge of controlling the robot and
provides interface to the operator. The last II. The Hardware System Of The Robot
decades witness that several correlative robots
have been developed successfully with different Micro controller: This section forms the control unit
aims. The robot has a small and solid structure of the whole project. This section basically consists
with tracks. Here the system consists of ZIGBEE of a Microcontroller with its associated circuitry like
wireless network to transmit the data to the robot; Crystal with capacitors, Reset circuitry, Pull up
we can control the directions of the robot by using resistors (if needed) and so on. The Microcontroller
keys in PC. In robot section we have a wireless forms the heart of the project because it controls the
camera attached to the robot; this camera will devices being interfaced and communicates with the
take the videos of the surroundings of the robot in devices according to the program being written.
its direction. These videos can be monitored in PC ZIGBEE wireless technology: ZIGBEE is a
by transmitting with camera transmitter and wireless networking technology. ZIGBEE
received by camera receiver attached to the PC. In Technology is a low data rate, low power
order to utilize the hardware of the robot, a consumption, low cost; wireless networking protocol
modular, simple yet robust supervision system has targeted towards automation and remote control
been developed for the robot, and real-time and applications. ZIGBEE Technology is ideal for harsh
reliable video transmission architecture has been radio environments in isolated locations.
built to facilitate the Tele operation of the robot. L293D driver motor: The L293 is an integrated
Experimental results both in the building and field circuit motor driver that can be used for
show that the robot could achieve the design goal. simultaneous, bi-directional control of two small
motors. The L293 is limited to 600 mA, but in reality
Key Terms—search robot, robot design, robot can only handle much small currents unless you have
implementation, Supervision system, video done some serious heat sinking to keep the case
transmission architecture temperature down. Unsure about whether the L293
will work with your motor? Hook up the circuit and
I. Introduction run your motor while keeping your finger on the
chip. If it gets too hot to touch, you can't use it with
Using robots in hazardous or dangerous situations your motor.
can significantly reduce the risk of humans who need Liquid-crystal display (LCD) is a flat panel display,
to work in such circumstances. The last decades electronic visual display that uses the light
witness that several correlative robots have been modulation properties of liquid crystals. Liquid
developed successfully with different aims. crystals do not emit light directly. LCDs are available
Unfortunately, most robots of this kind are too huge to display arbitrary images or fixed images which can
and heavy to carry out search tasks in some narrow be displayed or hidden, such as preset words, digits,
areas of city such as narrow aisles of buildings or and 7-segment displays as in a digital clock. They use
pipelines of factories. On the other hand, currently in the same basic technology, except that arbitrary
tasks of counterterrorism in city, it is also in urgent images are made up of a large number of small
desire to search the chassis of vehicle where it is a pixels, while other displays have larger elements.
good place to hide dangerous materials, like bomb, Design of Proposed Hardware System:
and the risk is quite high for inspector to search the

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central control module through the USB interface.

The embedded motion control module connects to the
embedded central control module through the
RS232C serial port. It receives motion control
commands from the embedded central control
module, and then drives the motors in accordance
with the commands. The embedded central control
module is the core of the whole system. It is a high
performance embedded computer system, which
collects the data packages from the other modules,
Fig.1.Control section controls the motions of the robot. At the same time, it
communicates with the human operator system
through wireless network module which could
transmit about 100m without obstacles based on
wireless Ethernet, send back the state information of
the robot and receive the control orders from the
operator. These two modules are connected by the
USB interface to ensure a fast and stable data
transfer. Considering the weight of the robot, about
6.1Kg, and its size, two 2-watt DC motors are used to
drive the robot with the differential control mode.
The power of the robot is completely from the Ni-
MH batteries of 24V which stay on the front of the
robot and directly drive the motors. The additional
Fig.2.Receiver section power of 12V and 5V are given through DC-DC for
the other devices of the robot.
1. In the following design we have a ZIGBEE
wireless technology to transmit and receive the III. Board Hardware Resources Features:
data form transmitter section to receiver section.
2. Here we have two sections, control and robot ZIGBEE Technology
sections. In control section we have PC and ZIGBEE is a low-cost, low-power, wireless mesh
ZIGBEE transmitter. In control section we can network standard. The low cost allows the
press the keys in PC to control the directions of technology to be widely deployed in wireless control
robot. and monitoring applications. Low power-usage
3. The information about the direction is allows longer life with smaller batteries. Mesh
transmitted from control section to robot section networking provides high reliability and more
using ZIGBEE technology and controller. extensive range. The technology is intended to be
4. In robot section we have ZIGBEE receiver and simpler and less expensive than other WPANs such
L293D motor drivers. These motor drives are as Bluetooth. ZIGBEE chip vendors typically sell
used to move the robot in different directions. integrated radios and microcontrollers with between
5. From keypad we can give directions like front, 60 KB and 256 KB flash memory. ZIGBEE operates
back, left, right and stop. The direction of the in the industrial, scientific and medical (ISM) radio
robot is displayed on LCD. bands; 868 MHz in Europe, 915 MHz in the USA and
6. In robot section we have a web camera attached Australia, and 2.4 GHz in most jurisdictions
to the robot; this camera will take the videos of worldwide. Data transmission rates vary from 20 to
the surroundings of the robot in its direction. 250 kilobits/second. The ZIGBEE network layer
These videos can be monitored in PC by natively supports both star and tree typical networks,
transmitting with camera transmitter and and generic mesh networks. Every network must
received by camera receiver attached to the PC. have one coordinator device, tasked with its creation,
the control of its parameters and basic maintenance.
The electronic system of the Mini-Hunter is modular, Within star networks, the coordinator must be the
including embedded central control module, central node. Both trees and meshes allow the use of
embedded vision module, embedded motion control ZIGBEE routers to extend communication at the
module and wireless network module, which is network level.
shown in Fig.4. The embedded vision module is a
digital camera which connects to the embedded

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parity checking is automatically taken care of by the

X-Bee’s UART. Just in case you are producing data
faster than the X-Bee can process and transmit it,
both X-Bee modules incorporate a clear-to-send
(CTS) function to throttle the data being presented to
the X-Bee module’s DIN pin. You can eliminate the
need for the CTS signal by sending small data
packets at slower data rates.
Motor Driver (L293D)
A motor driver circuit is designed to drive an
electromagnetic load, such as a brushed or brushless
motor, stepper motor or a solenoid or relay. Motors
typically require voltages and/or currents that exceed
what can be provided by the analog or digital signal
processing circuitry that controls them. The motor
driver provides the interface between the signal
processing circuitry and the motor itself. It is
essentially the “amplifier” for the motor. Motor
Fig.3.ZIGBEE protocol stack drivers can be constructed from discrete components,
completely integrated inside an IC, or may employ
ZIGBEE builds upon the physical layer and medium both discrete and integrated components. When
access control defined in IEEE standard current and voltage levels allow, integration of the
802.15.4 (2003 version) for low-rate WPAN's. The entire motor driver inside a single IC generally
specification goes on to complete the standard by provides the highest level of functionality and
adding four main components: network layer, performance at the smallest physical size.
application layer, ZIGBEE device objects (ZDO's) In addition to providing high-voltage and high-
and manufacturer-defined application objects which current drive, motor drivers also often integrate
allow for customization and favor total integration. control circuitry, such as current regulation or digital
Besides adding two high-level network layers to the state machines to operate the motor. Integrated motor
underlying structure, the most significant drivers from TI also include robust protection
improvement is the introduction of ZDO's. These are schemes, including short-circuit, over current, over
responsible for a number of tasks, which include temperature, shoot-through and under-voltage
keeping of device roles, management of requests to protection, to prevent system failures in the event of
join a network, device discovery and security. electrical or mechanical faults.
Wireless camera

Fig.5. Wireless cam

Fig.4.Pin diagram of X-Bee Transceiver Tiny size for discreet observation and portability
Built-in microphone for audio monitoring 4 channels
Data is presented to the X-Bee module through its optional to avoid possible interference camera
DIN pin, and it must be in the asynchronous serial (Effective range:3m) Up to 100m (330ft.)
format, which consists of a start bit, 8 data bits, and a transmission range in open space.
stop bit. Because the input data goes directly into the
input of a UART within the X-Bee module, no bit IV. Conclusion
inversions are necessary within the asynchronous
serial data stream. All of the required timing and

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OF PROFESSIONAL ENGINEERING STUDIES Volume II/Issue 1/JAN2014

This paper represents a design and implementation of Conference on Robotics and Automation Raleign,
a mini-size search robot, which is mainly used to North Carolina 1987, pp. 264-271.
search the chassis of vehicle and some narrow areas [10] D. M. W. a. K. K. R.T.Pack, ”A Software
of city for detection of dangerous materials are the Architecture for Integrated Service Robot
mobile platform of the robot. The Mini-Hunter Development ” in Proceedings of the IEEE
Searches the Chassis of Vehicle has been introduced International Conference on Systems. Man and
and analyzed, and the structure of the electronic Cybernetics, Orlando, 1997,pp.3774-3779.
system of the robot has been given. A friendly and
practical human-robot interface has been developed.
In order to make the robot system achieve its DANDU GOWTHAMI, pursuing her M.tech in
functionality, a modular, simple yet robust Embedded Systems from Nova College of
supervision system has been designed. To address the Engineering & Technology for Women, Jupudi
challenge of transmitting video via wireless network village, Ibrahimpatnam mandal, Krishna Dist, A.P,
with limited bandwidth and unstable condition, real- India. Affiliated to Jawaharlal Nehru Technological
time and reliable video transmission architecture of University, Kakinada, and is approved by AICTE
the supervision system has been introduced in detail. Delhi.
Finally, two sets of experiments demonstrate that the
design and implementation of the robot is reasonable
and efficient. V.V.G.S.RAJENDRA PRASAD, his Qualification is
M.tech, currently working as Professor and Head of
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