Wireless Control Robot Using Xbee Module with

Multiple Sensor Acknowledgment on HMI

Muhammad Umer Shahzad,Abdul Qayyum Khan SM.Rameez Bukhari,Aqil Aslam,M.Orang Zaib
Department of Electrical Engineering Department of Electrical Engineering
Pakistan Institute of Engineering and Applied Sciences UET
Islamabad, Pakistan Lahore, Pakistan
[email protected]

Abstract—In this paper “Wireless Control Robot Using Xbee it is better than IEEE 802.11 protocol [5]. It is more reliable
Module With Multiple Sensor Acknowledgment on HMI” is protocol and gives timely packet transmission while
presented. The purpose of this research is to make such robot maintaining its stability [6] [7]. This protocol is improving day
which can be controlled easily by every person. For this purpose by day to increase its efficiency by using different
an HMI is developed on LabVIEW, in this HMI a person can
methodologies [8]. Hardware implementation of this protocol
control the robot such as their movements using keyboard keys
and can see the results of various environmental factors such as illustrates that it can be used for wireless control of any of the
temperature measurement, toxic gases presence, detection of the home appliances and robots and for monitoring purposes [9].
presence of human existence and can also transmit live video It is also useful for wireless network of industrial sensors [10].
streaming of that particular place wirelessly. So this robot can be Xbee is configured by using X-CTU software of digi-
used as a spy robot for the detection of terrorist in any place and company. Xbee Pro is used in our robot whose range is about
also can detect dangerous gases in mines. All the measurements 1500m i.e. it can transmit and receive data within this range.
and detections transmitted wirelessly using Xbee Module and When the data is transmitted in form of integer through
displayed on HMI of LabVIEW. The algorithms of coding and Xbee using RS-232 protocol and received by another xbee
their interfacing with microcontroller are briefly described in
which is connected with microcontroller then it is seen that the
this paper
data is received in form of ASCII codes, but in order to use
Keywords—Wireless control; HMI ; MQ-2; PIR ; Robot such data, it must be converted from ASCII codes to integer
form which is a little bit complicated. So, in order to avoid
I. INTRODUCTION complicated algorithm, integer is first converted into string i.e.
float to string conversion function is used and then this data in
Now a days, the most active and rapidly growing field of string form is transmitted using RS-232 through Xbee. In this
research is robotics as it can done many task efficiently which way, data is received efficiently in form of strings. After data
would be dangerous for human. Robots can do many task such reception in form of strings, these strings are converted into
as autonomous navigation in which robot can navigate itself
float form again and required action is performed based on the
autonomously and can read the map of any unknown
conditions, Fig.1 illustrates the algorithm which is adopted to
environment [1], for the loading and unloading of good or bad
things in the industry autonomously and accurately [2], interface Xbee Module with microcontroller.
recognition of traffic signals for the autonomous driving using
neural network [3],wireless control robot using GPRS [4] and
many other applications like monitoring of different places
secretly, for detection of human existence and toxic gases
presence.
In this paper the author first discuss the xbee module
coding algorithm and its implementation and then sensors
interfacing with their working principles and their HMI on
LabVIEW.

II. WIRELESS TX/RX USING XBEE MODULE

Xbee Module is used for the transmission and reception of
data and instructions from the robot at remote location and
from remote location to robot. Xbee uses IEEE 802.15.4
protocol at frequency of ISM (Industrial Scientific and
Medical) band of 2.4 GHz which is new standard for the low
cost, highly efficient and low power wireless transmission and Figure 1. Coding Algorithm of Xbee Module

978-1-5386-2234-6/17/$31.00 ©2017 IEEE

 III. SENSORS
When the robotic vehicle reaches the desired location, it
starts detecting if any human or toxic gas is present there. It
also provides the temperature of that place and then transmits
all of the information about that remote location wirelessly
through Xbee modules
A. PIR Detector
HC-SR501 PIR Detector is used in this robot. It is Pyro-
electric Infrared i.e. it converts heat into electricity as every
object in this world that has temperature above absolute zero
(0K) emits heat in form of radiation. The PIR Detector
Module is tuned to detect wavelength of 9-10μm, which is the
wavelength of heat emitted by humans and animals. As this
sensor just senses the radiation and does not have its own
infrared source, it is also known as Passive Infrared Detector.
The Fresnel lens is used to increase its detection zone and
filter unwanted radiations from the visible spectrum of light.
When radiations fall on Passive IR sensor, it converts them
into current which is fed to BISS0001 PIR IC that provides Figure 3. Coding Algorithm of PIR Detector
Retrigger-able or Non-Retrigger-able mode. Fig.2
B. Toxic Gas Sensor
demonstrates its working principle as well as its module
MQ-2 Gas Sensor Module is used for gas detection. This
configuration and coding algorithm is shown in in Fig.3
sensor is suitable for detection of LPG, methane gas and
smoke. In this sensor, Tin Dioxide (SnO2) is used as a gas
sensing layer with tabular ceramic of Aluminum Oxide
(Al2O3), electrode of Gold (Aurum-Au) and heating coil
made of Ni-Cr Alloy.
When current is provided to the heating coil, the SnO2
ceramic becomes semiconductor and releases the electron.
Afterwards, when any gas like methane is inhaled and reaches
Au electrode, this gas gives out acetic acid. In this way, more
amount of current is produced as the resistance of heating coil
is decreased. The voltage produced in the result is then
compared by the voltage level that was set by potentiometer
by means of comparator and finally, the output is obtained as
voltage signal at output pins. Fig.4 demonstrates its working
principle and its coding algorithm is shown in Fig.5.

Figure 2. Working Principle of PIR Detector

The coding algorithm of PIR detector is presented in Fig.3 to
depict the proper working of this detector in our robot. When a
person comes in range of PIR detector, it will sense it and give
input to the micro-controller. If output will be high, then it
send string using RS232 protocol utilizing Xbee module
wirelessly. So we will know that some person has been
detected. Otherwise we will assume that no person is detected.

Figure 4. Working Principle of MQ-2

978-1-5386-2234-6/17/$31.00 ©2017 IEEE

 Figure 7. Robot Overview

V. HMI ON LABVIEW
The HMI of robot is developed on LabVIEW, it has many
modes of operation like keyboard control, sensor mode , live
video streaming mode and status of battery as shown in Fig.8.

Figure 5. Coding Algorithm of Gas Sensor

C. Temperature Sensor
In order to measure the temperature of surroundings, LM35
IC is used which gives analog output. It provides output
voltage correspondence with increase in temperature as each
degree rise in temperature corresponds to 0.1V increase in the
output voltage. The equation used to get the temperature in
centigrade scale from analog output voltage is

Temperature in Celsius=Voutput × 74.6481 (1)

Firstly, the output voltage from LM35 is converted into

equivalent temperature in centigrade scale. Then the resulting
value in float form is converted into string in order to transmit
the temperature information of remote location wirelessly
through Xbee module.All the algorithm is explained in Fig.6.
Figure 8. HMI of Robot

CONCLUSION
In this paper the wireless control spy robot is presented which
can easily be operated by any person due to user friendly HMI
on laptop. This robot can detect human existence at any place
and can acknowledge to the user at remote location wirelessly
using XBEE module with unique PAN id which cannot be
decrypted easily. It can also sense the intensity of toxic gases,
temperature of environment, transmit live video streaming of
place as well as status of their battery.
REFERENCES
[1] Chaomin Luo ; Jiyong Gao ; Xinde Li ; Hongwei Mo “Sensor-
based autonomous robot navigation under unknown
Figure 6. Coding Algorithm for LM35
environments with grid map representation” Published in IEEE
Symposium on Swarm Intelligence (SIS), 9-12 December 2014,
IV. ROBOT OVERVIEW pp. 1-7.
[2] Md. Abdul Kadir ; Md. Belayet Chowdhury ; Jaber AL Rashid ;
The overview of robot with all assembled sensors on it shown Shifur Rahman Shakil “An autonomous industrial robot for
in Fig.7. loading and unloading goods” Published in International
Conference on Informatics, Electronics & Vision (ICIEV), 15-
18 June 2015 , pp.1-6.

978-1-5386-2234-6/17/$31.00 ©2017 IEEE

[3] Tiago Moura ; António Valente ; António Sousa ; Vítor Filipe”
Traffic Sign Recognition for Autonomous Driving Robot” [7] Bo Wu, Hai Lin , Lemmon, M. “Stability analysis for wireless
Publish in IEEE International Conference on Autonomous networked control system in unslotted IEEE 802.15.4 protocol”
Robot Systems and Competitions (ICARSC),14-15 may 2014 11th IEEE International Conference on Control & Automation
,pp.303-308. (ICCA), June 2014, pp. 1084-1089.
[4] G. S. Vasantha Kumar ; M. Meenakshi “Wireless Control of [8] Khanafer, M, Guennoun, M. ; Mouftah, H.T” A Survey of
Autonomous Wheeled Robot through GPRS -- Design and Real Beacon-Enabled IEEE 802.15.4 MAC Protocols in Wireless
Time Validation” Published in 6th International Conference on Sensor Networks” IEEE Transaction on Communications
Emerging Trends in Engineering and Technology , 16-18 Surveys & Tutorials, Vol. 16, pp. 856-876,Dec.2013.
December 2013, pp. 30-34.
[9] Watanabe, A.T.Y., Nied, A. , Leal, A.B. , de Sousa,
[5] Qicai Yu, Jianping Xing , Yan Zhou “Performance Research of A.H.”ZigBee MAC Wireless Network Implementation using a
the IEEE 802.15.4 Protocol in Wireless Sensor Networks” Remote Virtual Interface”IEEE (Revista IEEE America Latina)
Proceedings of the 2nd IEEE/ASME International Conference on Latin America Transactions, Vol.10, pp. 1511-1517 , March
on Mechatronic and Embedded Systems and Applications, Aug 2012.
2009, pp. 1-4.
[10] Toscano,E., Lo Bello, L. “Multichannel Superframe Scheduling
[6] Pangun Park, Di Marco, P. , Fischione, C. , Johansson, K.H. for IEEE 802.15.4 Industrial Wireless Sensor Networks” IEEE
“Modeling and Optimization of the IEEE 802.15.4 Protocol for Transactions on Industrial Informatics, Vol. 8 , pp.337-
Reliable and Timely Communications” IEEE Transactions on 350,Sept.2
Parallel and Distributed Systems, Vol. 24 , pp. 550-564, May
2009
[7] Bo Wu, Hai Lin , Lemmon, M. “Stability analysis for
wireless networked control system in unslotted IEEE 802.15.4
protocol” 11th IEEE International Conference on Control &
Automation (ICCA), June 2014, pp. 1084-1089.
[8] Khanafer, M, Guennoun, M. ; Mouftah, H.T” A Survey of
Beacon-Enabled IEEE 802.15.4 MAC Protocols in Wireless
Sensor Networks” IEEE Transaction on Communications
Surveys & Tutorials, Vol. 16, pp. 856-876,Dec.2013.
[9] Watanabe, A.T.Y., Nied, A. , Leal, A.B. , de Sousa,
A.H.”ZigBee MAC Wireless Network Implementation using
a Remote Virtual Interface”IEEE (Revista IEEE America
Latina) on Latin America Transactions, Vol.10, pp. 1511-
1517 , March 2012.
[10] Toscano,E., Lo Bello, L. “Multichannel Superframe
Scheduling for IEEE 802.15.4 Industrial Wireless Sensor
Networks” IEEE Transactions on Industrial Informatics, Vol.
8 , pp.337-350,Sept.2

978-1-5386-2234-6/17/$31.00 ©2017 IEEE