IMPLEMENTATION OF SOLAR BASED WIRELESS

SURVEILLANCE ROBOT FOR SECURITY APPLICATIONS

Tuesday, November 17, 2015

CONTENT

BACKGROUND OF THE WORK

EXISTING SYSTEM(REMOTE SURVEILLANCE SYSTEM)
LITERATURE SURVEY
PROBLEM IDENTIFICATION
OBJECTIVE
PROPOSED SYSTEM (SOLAR DUAL TRACKING)
BLOCK DIAGRAM
COMPARISON
HARDWARE REQUIREMENT
SOFTWARE REQUIREMENT
SUMMARY
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INTRODUCTION

Source:http://spark.ieee.org/files/2014/08/bigstock-Objective-Remove-Robin Hegg ,Vehicle-Explore Robotics with Competitions and Camps September 2014
Tuesday, November 17, 2015

EXISTING SYSTEM(Battery Operated Surveillance System)

source: Prasenjit Chanak,Indrajit Banerjee, Jin Wang, and R. Simon Sherratt, Obstacle Avoidance Routing Scheme Through Optimal Sink Movement for Home Monitoring and
Mobile Robotic Consumer Devices IEEE Transactions on Consumer Electronics, Vol. 60, No. 4, November 2014 pp.596-604
Tuesday, November 17, 2015

EXISTING SYSTEM
(Existing paths between data collection points)

source: Prasenjit Chanak,Indrajit Banerjee, Jin Wang, and R. Simon Sherratt, Obstacle Avoidance Routing Scheme Through Optimal Sink Movement for Home Monitoring and Mobile
Robotic Consumer Devices IEEE Transactions on Consumer Electronics, Vol. 60, No. 4, November 2014 pp.596-604
Tuesday, November 17, 2015

TOTAL TOUR LENGTH VERSUS TOTAL NUMBER OF

PRESENT OBSTACLES(LITERATURE SURVEY)

Source :Prasenjit Chanak, Student Member, IEEE, Indrajit Banerjee, Member, IEEE, Jin Wang, Member, IEEE, and R. Simon Sherratt, Fellow, IEEE Obstacle Avoidance Routing Scheme
Through Optimal Sink Movement for Home Monitoring and Mobile Robotic Consumer Devices IEEE Transactions on Consumer Electronics, Vol. 60, No. 4, November 2014
Tuesday, November 17, 2015

TOTAL ENERGY LOSS COMPARISON AND NETWORK

Lifetime comparison

Source :Prasenjit Chanak, Student Member, IEEE, Indrajit Banerjee, Member, IEEE, Jin Wang, Member, IEEE, and R. Simon Sherratt, Fellow, IEEE

Obstacle Avoidance Routing Scheme

Through Optimal Sink Movement for Home Monitoring and Mobile Robotic Consumer Devices IEEE Transactions on Consumer Electronics, Vol. 60, No. 4, November 2014
Tuesday, November 17, 2015

LITERATURE SURVEY (cont..)

S.No

Parameters

Paper I
Prasenjit Chanak, Indrajit
Banerjee,Jin Wang,R. Simon
Sherratt,

Obstacle Avoidance
Routing Scheme Through Optimal
Sink Movement for Home
Monitoring and Mobile Robotic
Consumer Devices ,IEEE

Transactions on Consumer
Electronics, Vol. 60, No. 4,
November 2014.

Paper II

Paper III

Paper IV

Paper V

Tomas de J. Mateo
Sanguino and Justo E.
Gonzalez Ramos, Smart
Host Microcontroller for
Optimal Battery Charging in
a Solar Powered Robotic
Vehicle , IEEE/asme
transactions on
mechatronics, vol. 18, no. 3,
june 2013

Chih-Yung Chang, JangPing Sheu, Senior Member,

IEEE, Yu-Chieh Chen, and
Sheng-Wen Chang, An
Obstacle-Free and PowerEfficient Deployment
Algorithm for Wireless
Sensor Networks , IEEE

Dongsheng Guo, and

Yunong Zhang,
Acceleration-Level
Inequality-Based MAN
Scheme
for Obstacle Avoidance of
Redundant
Robot Manipulators, IEEE
transactions on industrial
electronics, vol. 61, no. 12,
December 2014

Mummadi veerachary
tomonobu senjyu
Katsumiuezato,
Feedforward Maximum
Power Point Tracking of PV
Systems Using Fuzzy
Controller ,IEEE
transactions on aerospace
and electronic systems vol.
38, no. 3 july 2002

Wireless sensor
network

Acceleration-level
inequality-based MAN
scheme

Maximum power point

tracking

Technology

Mobile sink based data

collection

Maximum power point

tracking

Energy
consumption
and power
achived

(8Hours-40wats)

23C with solar irradiance

of 940 W/m2 4000(mw)

3.

Distance
covered(m)

4.

Speed

5.

Voltage
variation with
solar panel

15 rounds 120(m)length

0.6 m/s
-

Solar radiation 14.8(v)

transactions on systems, man,

and cyberneticspart a: systems
and humans, vol. 39, no. 4, july
2009

Communication range
20(m)

Minimum link-obstacle
distance dm 8time(s)
0.2(m)

10 m/s

0.8 m/s
-

Maximum power 24w

Solar insolation
20(%),voltage 12(v)
8

PROBLEM IDENTIFICATION

The battery life cycle is not optimized, when the

increase of the tour length and number of
obstacles.
In existing conventional methods, The
optimization of tour length was not done. So, the
assigned task is not completed in time because of
battery life and tour length.
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OBJECTIVE
The optimization of tour length achieved by using shortest
path algorithm and surveillance camera. The battery life
cycle is optimized by using solar power tracking system.

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10

PROPOSED SYSTEM
robot setup

Input unit

Output unit
Wireless remote control

camera
Video
Wireless communication(video )
11
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SOLAR BASED WIRELESS SURVEILLANCE ROBOT

Solar tracking system

POWER
SUPPLY
SYSTEM

SOLAR PANEL

DC MOTOR

module3

Wireless video transmission

MOTOR DRIVER

module1
sensor unit
LDR1 &LDR2

OBSACLE
DETECTOR

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M
I
C
R
O
C
O
N
T
R
O
L
L
E
R

SERVO
MOTOR

VIDEO
CAMERA

VIDEO CAMERA
TRANSMITTER

Robot movement control

RS-232
DC GEAR
MOTOR
DRIVER

ZIGBEE
DC
MOTOR
1&2

module2

Solar tracking

SOLAR BASED
WIRELESS
SURVEILLANCE
ROBOT

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13

(SOLAR DUAL TRACKING) SOURCE CODE

start
Header file
Variable
declaration
assign input
&output pins
Read LDR adc
value
Check if , else
condition
Output port, motor connected(rotate
clockwise , anticlockwise,stop
stop
Tuesday, November 17, 2015

#include<pic.h>
#include"adc.h"
unsigned int z1,z2;
TRISA=0xFF;
TRISD=0x00;
TRISE=0x00;
ADCON1=0x82;

z1=Read_adc(0);
z2=Read_adc(1);
if(z1!=z2)
{
if(z1<z2)
{
PORTD=0X01;
}
else
{
PORTD=0X02;
}}
else
{
PORTD=0X00;
}

PORTD=0X01; PORTD=0X02;
PORTD=0X00;

14

(SOLAR DUAL TRACKING) SOLAR BASED WIRELESS

SURVEILLANCE ROBOT
THYRISTOR:PORTD(19,20):
LDR1 value is low (D1 &D4) thyristor ON, MOTOR rotate clockwise direction
LDR1 value is high (D2,D3) thyristor ON,MOTOR rotate anti clockwise direction
LDR1,LDR2 value is same (D1,D2,D3,D4) thyristor OFF,MOTOR STOP

LDR1&LDR2 value compare : PORTA(2,3):

If(LDR1!=LDR2),(LDR1<LDR2)=Rotate motor clockwise
else(LDR1>LDR2)=Rotate motor anti clockwise
else (LDR1=LDR2)=motor stop
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15

ULTRA SONIC SENSOR WORKING PRINCIPAL

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16

Obstacle detection

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17

OBSTACLE DETECTION SOLAR BASED WIRELESS

SURVEILLANCE ROBOT
Simulation output

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18

OBSTACLE DETECTION (DISTANCE CALCULATION)SOLAR

BASED WIRELESS SURVEILLANCE ROBOT
We know that speed = distance traveled / time required to travel the distance.
So
distance = speed x time (simple maths!) Eq. 1
And since actual distance to obstacle is only half of the distance traveled by sound
Distance to obstacle = (speed x time)/2 Eq. 2
Speed of sound in air is
34359cm/sec = 0.034359cm/uS
substituting this value in equation 2 we get
Distance to obstacle = (0.034359 x time) /2
or
Distance to obstacle = (0.01718 x time)
So whenever we require the distance, we multiply time as returned by Get
PulseWidth() function by0.01718

Source code:obstacle detection c code

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(REMOTE CONTROL ROBOT) SOLAR BASED WIRELESS

SURVEILLANCE ROBOT

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20

Robot movement

Start
Input
L,R,F,B
RX input
zigbee
Controller
Initialize the
motor driver

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Control the movement

(M1&M2)

21

(REMOTE CONTROL ROBOT) SOLAR BASED WIRELESS

SURVEILLANCE ROBOT

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22
22

(ROBOT CONTROL TRANSMISSION ) SOURCE CODE

#include<pic.h>

start
Header file
Variable
declaration
assign input
&output pins
Initialize TXSTA,
RCSTA
Check if , else
condition
Transmit A,B,C,D,E and delay function
stop
Tuesday, November 17, 2015
Tuesday, November 17, 2015

#define FOSC
8000 //10Mhz==>10000Khz
#define BAUD_RATE 9.6 //9600 Baudrate
#define BAUD_VAL ((char)(FOSC/ (16 * BAUD_RATE )) 1)
unsigned char ReceiveChar;
TRISD=0XFF;
TXSTA=0x24;
RCSTA=0x90;
if(RD0==1)
{
ReceiveChar='A';
if(TXIF==1)
TXREG=ReceiveChar;
else if(RD1==1)
{
ReceiveChar='B';
if(TXIF==1)
TXREG=ReceiveChar;

delay()
{
for(i=0;i<=1000;i++);

23

(ROBOT CONTROL RECEIVER ) SOURCE CODE

#include<pic.h>

start
Header file

#define FOSC
8000 //10Mhz==>10000Khz
#define BAUD_RATE 9.6 //9600 Baudrate
#define BAUD_VAL ((char)(FOSC/ (16 * BAUD_RATE )) 1)
unsigned char ReceiveChar;
TRISC=0xc0;
TRISC=0xc0;

Variable
declaration
assign input
&output pins
Initialize TXSTA,
RCSTA
Check if , else
condition

TXSTA=0x24;
RCSTA=0x90;
if(RCIF==1)
{ ReceiveChar=RCREG;
if(ReceiveChar=='A')
{ RB0=1;
RB1=0;
RB2=1;
RB3=0;
if(ReceiveChar=='B')
{
RB0=0;
RB1=1;
RB2=0;
RB3=1;

Recive A,B,C,D,E and delay function

RB2=0;
}

stop
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delay()
{
for(i=0;i<=1000;i++);

24

(CAMERA MOVEMENT CONTROL) SOLAR BASED WIRELESS

SURVEILLANCE ROBOT

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25

(CAMERA MOVEMENT CONTROL) PROTEUS DESIGN

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26

PROJECT TIMELINE
Percentage Completion
Implementation

Feb 20- Apr 20

Performance improvements

Jan 15- Feb 20

Jan 5-Jan 15

Testing the performance

Dec 15-Jan 5

Hardware-software integration

Nov 20-Dec 15

hardware implementation

Oct 31-Nov 20

video monitoring

Oct 15Oct 31

obstacle detection simulation

Sept 30-Oct 15

solar tracking simulation

Sept 10-Sept 30

pcb designing

Today-Sept 10

Component selec
0

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10

20

30

40

50

60

70

80

90

27

100

REFERENCE
1.Prasenjit Chanak , Student Member, IEEE, Indrajit Banerjee, Member, IEEE, Jin Wang, Member, IEEE, and R. Simon Sherratt, Fellow, IEEE
Obstacle Avoidance Routing Scheme Through Optimal Sink Movement for Home Monitoring and Mobile Robotic Consumer Devices IEEE
Transactions on Consumer Electronics, Vol. 60, No. 4, November 2014

2. Tomas de J. Mateo Sanguino and Justo E. Gonzalez Ramos, Smart Host Microcontroller for Optimal Battery Charging in a Solar-Powered
Robotic Vehicle IEEE /asme transactions on mechatronics, vol. 18, no. 3, june 2013

3. Chih-Yung Chang, Jang-Ping Sheu , Senior Member, IEEE, Yu-Chieh Chen, and Sheng-Wen Chang, An Obstacle-Free and Power-Efficient
Deployment Algorithm for Wireless Sensor Networks IEEE transactions on systems, man, and cyberneticspart a: systems and humans, vol. 39,
no. 4, july 2009

4.Guangming Song, Member, IEEE, Hui Wang, Jun Zhang, and Tianhua Meng Automatic Docking System for Recharging Home Surveillance
Robots IEEE Transactions on Consumer Electronics, Vol. 57, No. 2, May 2011.

5.S. Ozcelika*, H. Prakashb , R. Challooc a* Two-Axis Solar Tracker Analysis and Control for Maximum Power Generation 2011 Published by
Elsevier B.V. Open access under CC BY-NC-ND license.

6. Dongsheng Guo, and Yunong Zhang, Acceleration-Level Inequality-Based MAN Scheme for Obstacle Avoidance of Redundant Robot
Manipulators, IEEE transactions on industrial electronics, vol. 61, no. 12, December 2014.
Tuesday, November 17, 2015

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