XBee Based Robotic ARM Control for Bomb Diffuser

Transcription

1 XBee Based Robotic ARM Control for Bomb Diffuser Introduction: Bomb-disposal, or explosive ordnance disposal (EOD), robots are one of the many tools a technician might use to disarm dangerous weapons. Besides the human cost of losing a bomb technician in the field, training a bomb-disposal officer is significantly more expensive than buying an EOD robot. As a result, maintaining a safe distance from a potential bomb is of paramount importance and only in extreme situations will the technician enter the blast range and put their hands on the device themselves. One of the most widely used bomb-disposal robots today is the Cobham teodor (pictured). The base robot is a twin-track vehicle with a host of military applications, but the standard teodor is the bomb-disposal specialist. It s equipped with an arm-like manipulator, sensors and a camera on a boom for enabling the operator to remotely disarm ordnance and improvised explosive devices (IEDs). In most cases, the technician working with the robot will sit at a safe distance with the control station. This is a laptop-like device which consists of a monitor showing the robot s point of view as well as its surroundings, plus a joystick and control panel to manipulate the arm and manoeuvre the tracks

2 Block Diagram: Transmitter: KEY INPUTS FOR ROBOTIC ARM CONTROL XBEE TX ARM PROCESSOR LCD DISPLAY +12 Volts +5 Volts 230 V, AC GND TRANSFORMER RECTIFIER FILTER REGULATOR HARDWARE REQUIREMENTS: SOFTWARE REQUIREMENTS: ARM 7 / Cortex M3, LCD, Relay Driver, Relays, Resistors, Capacitors, LEDs, Crystal, Diodes, Transformer, Voltage Regulator, Push Button. Keil compiler uvision 4, Language: Embedded C or Assembly, WLPRO Programmer

3 Receiver: BUFFER DRIVER RELAY XBEE RX ARM PROCESSOR LCD DISPLAY

4 Block Diagram Explanation: Power supply unit This section needs two voltages viz., +12 V & +5 V, as working voltages. Hence specially designed power supply is constructed to get regulated power supplies. Switches: In electrical engineering, a switch is an electrical component that can break an electrical circuit, interrupting the current or diverting it from one conductor to another. A switch may be directly manipulated by a human as a control signal to a system. Automatically operated switches can be used to control the motions of machines. ARM processor ARM is a computer processor based RISC architecture. A RISC-based computer design approach means ARM processors require significantly fewer transistors than typical processors in average computers. This approach reduces costs, heat and power use. The low power consumption of ARM processors has made them very popular: The ARM architecture (32-bit) is the most widely used architecture in mobile devices, and most popular 32-bit one in embedded systems. XBee Technology XBee is a specification for a suite of high level communication protocols used to create personal area networks built from small, low-power digital radios. XBee is based on an IEEE standard. Though lowpowered, XBee devices can transmit data over long distances by passing data through intermediate devices to reach more distant ones, creating a mesh network. Buffers Buffers do not affect the logical state of a digital signal (i.e. a logic 1 input results in a logic 1 output whereas logic 0 input results in a logic 0 output). Buffers are normally used to provide extra current drive at the output but can also be used to regularize the logic present at an interface.

5 Drivers This section is used to drive the relay where the output is complement of input which is applied to the drive but current will be amplified Relays It is a electromagnetic device which is used to drive the load connected across the relay and the o/p of relay can be connected to controller or load for further processing. Robot: A robot is usually an electro-mechanical machine that can perform tasks automatically. Robots can be autonomous, semi-autonomous or remotely controlled. Robots have evolved so much and are capable of mimicking humans that they seem to have a mind of their own. An automatic industrial machine replacing the human in hazardous work. An automatic mobile sweeper machine at a modern home. An automatic toy car for a child to play with. A machine removing mines in a war field all by itself and many more Methodology: This project is developed to minimize the human cost of losing a bomb technician in the field, and training a bomb-disposal officer is significantly more expensive than buying an EOD robot. The main modules in this project are Key inputs, ARM controller unit and LCD display, XBee and Robot. The transmitter will be there at the Technician and the receiver will be there in the Robot. The transmitter module has Key inputs, ARM controller and XBee as a communication media. The receiver has XBee, ARM controller and Robot. If a Operator Presses a Switch to make the Robot to move, that information will be given to ARM controller, then the ARM controller analyses the signal and sends information to receiver which is present in the Robot via XBee. At the receiver the XBee receives a signal which was transmitted from the transmitter and sends that to the ARM controller. After receiving the signal the ARM controller will activate the Robot to move in a proper direction based on key pressed to diffuse the Bomb.

6 Advantages: 1. Performs different tasks faster 2. Makes an activity safer and easier 3. Time saving 4. Safety and life Saving Disadvantages: 1. Requires Expertise 2. It s not self-sufficient 3. A robot is a big investment. Applications: 1. Military reconnaissance mission 2. Wireless security and surveillance in hot spots 3. Search and rescue operation 4. Maneuvering in hazardous environment