Distance Controlled Rescue and Security

Mobile Robot
Golap Kanti Dey, Raqibul Hossen, Md.ShaIayet Noor, Kazi Tanvir Ahmmed
Department oI Applied Physics, Electronics and Communication Engineering,
University oI Chittagong, Chittagong-4331, Bangladesh
d.k.golapgmail.com, raqibsaikatyahoo.com, noorshaIayetyahoo.com, tanvircu.ac.bd

AbstractThe intention of designing a robot is to facilitate the
human beings through giving security and working as a helping
hand through reprieving. The technology used in this rescue and
security robot has a number of important features such as
robotic car control by cell phone, automatically avoiding
obstacles in its way. It can sense gas, smoke and provide an alert
through text messaging. The robot can detect bombs, pick and
place objects and also do distance measurements. A high quality
wireless video camera equipped with a stepper motor for the
omni-directional view is used for the spying purpose which is
mounted on the robo car to send real video images and audio
signals. These audio and video stream received by the receiver
unit can be used to take proper steps according to the received
signals. This robot can also be used to reach places where
humans cannot reach like hidden places, small tunnels. The
ultimate focus of this system is to offer far possible security for
the human being. In this paper, we have illustrated our work by
using the entire sub modules.
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I. INTRODUCTION
Robot is an electromechanical, reprogrammable,
multiIunctional device which is capable oI acting in the highly
varied environment, and takes autonomous actions. The word
'Robot was Iirst used in a 1921 play titled R.U.R. Rossum`s
Universal Robots, by Czechoslovakian writer Karel Capek.
Now a day's every system is automated in order to Iace new
challenges. In the present days automated systems have less
manual operations, Ilexibility, reliability and accuracy. Due to
this demand every Iield preIers automated control systems.
Especially in the Iield oI electronics automated systems are
giving good perIormance.
In the present scenario oI war like situations, unmanned
systems plays very important role to minimize human losses.
So this kind oI robot is very useIul to do operations like
detecting leakage oI gases, obstacle, and object pick up and
place at the time oI emergency as well as security purpose |1|
providing human-robot interaction in rescue robotics.
Wireless robotics is one oI the evolving Iields oI
application, where diIIerent technology is used. It is an
application where the concept oI embedded processor to
wireless communication is being used Ior a practical
application. Guangming Song |2| developed surveillance robot
with hopping capabilities which was adopted with the Zigbee
technology Ior wireless communication. Guangming`s
powerIul home security robot could leap over particles more
than 4 times its own size. ReIerence |3| worked on the Dual
Iunctional reconIigurable mobile robot. They Iocused on
designing Ilexible mobile robot & various issues related to
interIacing various modules with CPLD (Complex
Programmable Logic Devices). I. B Celik |4| worked on
development oI a robotic arm controller by using hand gesture
recognition. Sourangu Banerji |5| developed an unmanned
vehicle using a GSM network with microcontroller. ReIerence
|6| gave us an idea about real time human tracking using
sensor Ior home security robot. They combined the data Ior
both vision and depth sensor. The combat robot |7| which was
radio operated had all the controls like normal car. Through a
wireless camera this combat robot gave all the inIormation
about the enemy. These types oI applications are very much
useIul Ior the industries and places where the access oI human
being is diIIicult, speciIically, iI the path oI the robot is quite
complicated and not suitable Ior laying cables. The only
solution exists is Wireless communication between the robot
and the base station.
In our work we are controlling a robot through wireless
communication system, which is known as DTMF system.
Microcontroller is used to control all operations. According to
the motor operations the robot will operate in speciIied
directions. II any obstacle is observed by the robot it will
change its direction or it will stop. Our system is equipped
with smoke sensor, gas sensor, object pick up and place
module Ior the security purpose oI the human being. The
main aim oI using these sensors is to monitor the smoke
through smoke sensor, leakage oI gas using gas sensor in any
industry or home. II input voltages oI these sensors exceed the
threshold level, an alert is given through a text message. Here
we also used an Object pick and place module Ior the
surveillance system.
II. FRAMEWORK OF THE SYSTEM
The heart oI our rescue and security robot is a
Microcontroller, which is conIigured by programming in the
Micro C Pro, an advanced C compiler Ior the PIC
Microcontroller Unit. Various sensory unit inputs, DTMF
decoder input are given to the microcontroller unit. AIter
applying the power supply |8|, microcontroller takes action
through pre-deIined instructions. Using the entire sensory unit
like gas sensor, ultrasonic sensor Ior the obstacle detection,
978-1-4799-0400-6/13/$31.00 2013 IEEE
smoke sensor and giving an alert through SMS interIacing
module we have oIIered a total package oI security in the robo
car. Metal detector unit is also used Ior strengthen the security.
Total conIiguration oI the rescue and security is given in
Figure 1.
Now a days in modern world the best technology Ior
communication system, known as the wireless communication
|9| is used here through DTMF sub module and wireless video
transmission unit. Wireless video camera is used Ior spying
purpose to reach place where it is diIIicult by a human being.
Objects pick and place module is used as the helping hand Ior
the rescue purpose, controlled through a mobile phone Irom
remote place.


Figure 1. Block diagram oI the rescue and security mobile Robot

III. CONSTITUENT SUB MODULES
A. Obfect Pick and Place Module
Objects pick and place sub module is one oI the major
parts oI this rescue robot. For the up and down oI the robotic
arm a servo motor with 18 degree step resolution is used. For
griping the object we used another servo motor. Maximum
opening oI the grip is 6 cm and minimum is 0.5 cm. A 6V DC
servo motor is used Ior this purpose. Servo motors operate
diIIerently Irom DC brush motors, which rotate when voltage
is applied to their terminals.



Figure 2. Servo motor driving circuit Ior object pick-up and
pick oII
H-bridge module
& speed control
Smoke sensor unit
SMS interIacing
unit




MICRO-
CONTROLLER
Obstacle detection and distance
measurement unit
Metal detector
Gas sensor unit
Object pick up and place unit
DTMF decoder
unit
Mobile phone
Wireless video
transmission unit
Wireless video
signal receiver
Video camera unit
Display unit
Power supply unit
Stepper
motor
According to the generated DTMF Irequencies by pressing
the keypad on the mobile phone we can control the motors
behavior. When key '7 is pressed, the servo motor rotate to
upward position, when '9 is pressed the servo motor rotate to
downward position, key '1 is used Ior griping the object and
key '3 is used to release the object.

B. Robotic Car Movement
The main platIorm oI our rescue and security robot is the
robotic car, which is controlled by a mobile using DTMF
circuitry. First oI all a mobile phone kept on the desirable car,
receives call Irom the calling subscriber. II the DTMF decoder
is activated, the H-Bridge module begins Iunctioning.
According to the generated DTMF Irequencies Irom the
subscriber cell phone we can control the robot movement.

Figure 4. Implemented DTMF circuit with power supply unit
H-bridge IC L298 is designed to control two gear DC
motors which take command as input Irom the DTMF decoder
through a Microcontroller. There are 2 Input and 2 output pins
Ior each motor. Two gear dc motor are connected to the H-
Bridge output pin. In order to activate the motor 1, the Enable
A line must be HIGH.


Figure 5. Robot movement controlling circuit using L298 H-bridge
IC

Start
DTMF signal
Micro-controller
Object
pick-up
and
place
Object
pick
up
Rotate
servo
motor
upward
Rotate
servo
motor
down-
ward
Rotate grip
motor inward
Rotate
servo
motor
upwar
d
Object
pick-
oII
Rotate
servo
motor
downward

Rotate grip
motor outward
Figure 3. Flow chart Ior object pick-up and place
The motor as well as its direction can be controlled by
applying a LOW or HIGH signal |3| to the Input1 and Input2
lines, as shown in Table I.
TABLE I. Motor behavior Ior diIIerent input
Input 1 Input 2 Motor Behavior
LOW LOW Break and stop
HIGH LOW Turns Iorward
LOW HIGH Turns backward
HIGH HIGH Break and stop

When key '2 is pressed in the mobile phone, the
corresponding signal is detected by the decoder IC and both
gear dc motors rotate in the Iorward direction i.e. the robot
moves Iorward. When key '4 is pressed the leIt gear dc
motor moves Iorward while the right motor remains idle, i.e.
the robotic car moves to the leItward direction. When '6 is
pressed the right gear dc motor, moves Iorward while the leIt
motor remains idle i.e. the robot car moves to the rightward
direction.
When key '8 is pressed both the motors move to the
backward direction. When key '5 is pressed both oI the
motors are turned oII which means that the robot car is now in
the breaking position and stop.


Figure 6. Object pick and place module on the robotic car
C. Metal Detector Unit
Metal detector |10| works on the principle oI transmitting
a magnetic Iield and analyzing a return signal Irom the target
and environment. For the purpose oI detecting metal , an
oscillator producing an alternating current that passes through
a coil. Here we used the CS209A proximity sensor IC, which
is the main component oI our metal detection cicuit.
While power supply is on metal detector start its query
Ior metallic object. II it can detect any metallic object it sends
a signal to the microcontroller which is connected with a sms
interIacing unit. Due to this signal Irom the metal detector
unit, microcontroller sends a sms to a pre-deIined cellphone
number. Meanwhile microcontroller keeps sms interIacing
unit inactive until the metal detectors output stage changes.
While that output goes low again metal detector starts
detecting.II no metal is detected is keep its query unless its
power shuts down.

Figure 7. Metal detecting circuit
D. Gas Sensor
Gas sensor module is used Ior detecting the leakage oI
LiqueIied Petroleum Gas (LPG). When gas sensor senses gas
that is, when the sensor exceeds a level called threshold level
the output oI the sensor is activated and it alerts through the
message by the sms interIacing unit to the subscriber. AIter
sensing the gas the sensor is kept inactive Ior 10 minutes.

Figure 8. Flow chart oI the gas sensor
E. Smoke Sensor
Apart Irom the gas sensor we have also used a smoke
sensor. So here we are monitoring the gas and smoke also.
When smoke sensor senses smoke, that is, when the sensors
smoke sensing branch voltage exceeds the reIerence level
called threshold level the output oI the sensor is activated and
the microcontroller receives the sensor output. This sensory
element is very much compatiable with microcontroller and
having good sensitivity and rapid response time. LPG gas may
be harmIul Ior the human being, so through the above process
we can use it Ior security purpose oI the mankind. Smoke
sensing circuit actually warns anyone against Iire accidents.
Alert is given to the subscriber through the message by the
sms interIacing unit. AIter sensing the smoke the sensor is
kept inactive Ior 5 minutes. AIter that it again starts sensing
the smoke. We can use it Ior both home and industrial security
purpose.
Figure 9. Smoke sensing circuit
F. Ultrasonic Sensor
The ultrasonic sensor used here Ior the obstacle
detection and through proper programming and interIacing
module we had measured the distance oI the obstacle. The
measurement distance oI this module is within 0.03-3m. It
transIorms the data into impulse with diIIerent width. The
advantage |11| oI ultrasonic sensors is long-range detection,
the drawback oI that is the unstable system and slow reaction
rate. The circuit connection Ior this unit is simple. Just have to
Ied the output (pin 2) oI the sensor to a pin oI microcontroller
and connect the other two pins with the power rail
respectively.
G. Wireless Jideo Transmission Unit
Wireless video camera mounted on the robotic car is used
Ior the surveillance and spying purpose. We can make a large
number oI areas automated by controlling the direction oI the
camera by generating the DTMF Irequencies. For this total
action just install the wireless camera on the robotic car and
set the wireless receiver to a TV or monitor to watch the
action and take the necessary steps through recorded video
Iootage.
A TV capture card is a computer component that allows
television signals to be received by a computer. It is a kind oI
television tuner. Most TV tuners also Iunction as video
capture cards, allowing them to record television programs
onto a hard disk. The card contains a tuner and an analog-to-
digital converter along with demodulation and interIace logic.
IV. CONCLUSION
The distance controlled rescue and security mobile robot
is successIully designed and assembled. It is based on
microcontroller which is the brain oI the complete system.
DTMF decoder decodes the received tone and gives binary
equivalent oI it to the microcontroller. The controller is
programmed such that appropriate output is given to motor IC
L298 which will drive two DC motor connected with it. As
rescue and security Ieatures are the most important Iactors oI
this mobile robot - object pick and place module, gas sensor,
metal detector, smoke sensor, distance measurement unit plays
vital role to integrate these two aspects. In our work we have
deptict the modern application oI cell phone. In the era oI the
industrial revolution, people tends to bulid big industries and
high rise apartments to make proIits. But many oI them are
very much unconscious about the secutiry oI industry and high
rise building as well as the human being who are working or
living their. AIter the disaster like earthquakes many people
are embracing death due to the procrastination oI the
deliverance. Considering all the situations, the robot
integrated with diIIerent sub modules can be used Ior
redemption and security purpose.
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