This document describes an autonomous pick and place rover that uses ultrasonic sensors for long distance surveillance. The rover can detect obstacles and estimate temperature and humidity using sensors. It communicates with a PC using Zigbee and RF protocols. The rover is capable of picking and placing objects using grippers and is controlled reliably using an LPC2148 processor. It uses ultrasonic, temperature, and humidity sensors to measure various parameters at distances up to 100 meters without human intervention in hostile environments.

1. Autonomous pick and place rover for long distance
surveillance using ultrasonic sensors
V.Sampath kumar1
, Amarendra Jadda2
1
PG Student, Department of Electronics & Communication Engineering, ASCET, Gudur, A.P, India.
2
Assoc. Professor, Department of Electronics & Communication Engineering, ASCET, Gudur, A.P, India
1
verappa1989@gmail.com
2
amarendra.jadda@gmail.com
Abstract:
The technology advancements takes place in
the field of robotics. This paper presents the
autonomous rover where it can be used for long
distance surveillance. It is based on the ultrasonic
sensors,Temperature sensors and humidity sensors
meant for to detect the obstacles as well as to estimate
the parameters such as temperature, humidity
respectively. The wireless communication protocols
used in between PC and Robo are zigbee and RF
protocols.This robo is capable of pick and place of
objects using the special type of grippers. In this
paper, the usage of LPC2148 is another added
advantage which makes the robotic system highly
Reliable.
Index Index Terms---- Autonomous Robot, Sensors,
RF protocol, Zigbee protocol, DC motor, Camera,
Pick and place robot
I.Introduction:
Robots play a vital role because they will
work under any conditions without the tiredness.
They are used in Industries, IC manufacturing,
Pharmaceutical etc.,. for different purposes. They
may be static or dynamic robots operates by the
commands given manually or simply by automated
instructions. This robos can perform multiple tasks
by attaching devices like sensors, cameras inorder
to calculate the various parameters based on the
application required. These robos can be controlled
by either the microcontrollers or processors which
are dependent on the protocols used such as zigbee
and RF protocals. The dynamic robos are taking
directions under the guidelines of the operator.
II. Related Work:
This paper focuses on the dynamic
approach of calculating various parameters based
on the sensors used along with the pick and place
mechanism. In this approach the camera and sensor
modules are used which are communicating with
the PC based on the RF, Zigbee protocols
respectively. LPC 2148 is used for controlling of
the robo by giving the instructions. The various
types of sensors are used such as temperature
sensor, humidity sensor and ultrasonic sensor.
A.Pick and Place module:
The name itself indicates that the objects
are to be picked from one place and placed on
another place. The prime objective is to pick the
objects based on the environment which can
handles any shape of the object. The picking arm
can rotate upto 360 degrees by making the base of
the robot fixed.
B.Sensor module:
I. Temperature Sensor:
In General temperature sensors are used to
sense the temperature and thereby transducers are
converting these sensed temperature values to the
electrical values. Here the temperature sensor used
is LM35 which is analog in nature and its
functional range lies in between 0 degree Celsius to
100 degree Celsius. It has a sensitivity of 10mV per
degree Celsius.
Fig 1. Pin diagram of LM35
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2. II. Humidity Sensor:
Ìt is used to measure the moisture content
in the environment, designed to give the enhanced
parameters of sensitivity and response time.
Humidity sensor is highly stable and reliable. These
sensors are constructed by a planar capacitor and
another polymer layer to protect against the
environmental effects that may be hazards.
C. Ultrasonic Sensor:
These sensors are used to find the
obstacles if any that found in front of robot.
Ultrasonic sensors are based on the principal of the
Radar or Sonarwhere it gets the echo signal. It will
act as a transceiver in which it generates the high
frequency signal and analyse the reflected back
echo signal. It measures the distances up to 2.5
meters at an accuracy of 1 centi- meter.
Fig2. Block Diagram of Ultrasonic Sensor
III. Communication Protocols:
The different type of protocols are used
here in order to communicate between the PC and
the Robot. The protocols that are used are Zigbee
protocol and RF protocol respectively.
A. Zigbee protocol:
It’s a wireless protocol based on the IEEE
802.15 standard that suits for low power devices
communication. Generally it is intended for short
distance communication but we may extend to long
distance using intermediate devices.
Fig 3. Zigbee Module
It provides low latency and duty cycle that
supports for multiple network topologies such as
static, mesh and star topologies. It will support upto
65,000 nodes on a network. It avoids the collision
of packets and provides the acknowledgment
status.
IV. Hardware Module:
It consists of the components such as DC
motor, LPC 2148, and an LC293D. DC motor is the
one which converts electrical energy into
mechanical energy used for various industrial
applications. The driver circuit is used for driving
these motors where in which here LC293D is used
as a driver circuit. The brief content of the these
modules as follows:
A. DC motors:
There are many types of DC motors are
available in which most of the cases two types of
motors most commonly used such as brushed and
brushless types. Here in this paper mainly focusing
on the brushed DC motor which will operate at
12V DC and 0.6A. The speed of the DC motor is
controlled by either changing the voltage applied to
armature or by varying the field current. Most of
the DC motors are driven by the Driver ICs at
present.
B. LC293D:
This IC acts as driver circuit in which it is
available in the 16-bit DIP. It will control the two
small motors simultaneously in either forward or
reverse direction, in which 4 pins is sufficient in
order to perform this tasks.
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3. Fig4. DC Motor
There exists certain features and
drawbacks of this IC that is used such as output
current capability is limited to 600mA per channel
in the sense this IC cannot drive the bigger motors.
Most probably this would be fit for the small
motors which suits for the Robot arm movements.
If the output current exceed the 1.2 A repeatedly
then the IC will be destroyed.
The supply voltage will maintain up to
36V maximum. If the output current exceed beyond
the 1.2A then the IC gets destroyed so here in order
to protect the IC from over temperature an internal
sensor will be used for sensing the temperature. If
the temperature will exceeds beyond the set point
then automatically this sensor will send an alert and
stops the motors. The additional feature of this IC
is using clamp diode which protects the IC from the
voltage spikes.
In this IC if the voltage exceeds 1.5v then
only the pin will gets enabled that makes suitable
for high frequency applications like switching
applications. Other than driving the motors it also
be used to drive the solenoids, stepper motors etc.,
This is mainly based on the concept of H-bridge in
which the voltage will be flow in either of the
directions. By changing the voltage it will make the
Robot to rotate in clockwise or anticlockwise
direction. In this LC293D two H-bridge circuits are
present inside the IC which will be able to rotate
two dc motors independently.
Here two pins are used namely pin 1 and
pin9 respectively. For driving the motor with left
H-bridge we enable the pin 1 whereas driving right
H-bridge we make the pin 9 to be enable. If both
the pins are disable then the motor used will be
suspended in which it acts like switch.
Fig 5. IC L293D
C. Camera Module:
In this paper camera used is wireless
camera used for both the transmitter and receiver
section. Its range lies in between 100 and 150
metres based on the principal of the RF protocol.
The camera used here operates at the range of 1.2
GHZ. The transmitter and receiver section uses the
power supply voltage of 9v battery.
Fig 6. Wireless Camera
D. LPC 2148 Processor:
ARM is a family of instruction set
architectures based on RISC architecture developed
by ARM Holdings. This ARM holdings had
reported that shipments was around 6100 million
ARM-based processors to manufacturers of chips
based on ARM architectures where the maximum
percentile usage of smart phones and the remaining
of 35 per cent of digital TVs and set-top boxes. As
of 2014, ARM is the usage of 32-bit instructions is
the maximum for major number of applications.
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4. Fig 7. H-Bridge
V. Experimental Results:
The robot used here is used to
pick the objects and is rotated in 360 degrees
rotation. The In this project is to implement a 32-bit
low-power ARM processor into the development of
a Mobile Robot using ARM Processor for Line
Following Application mobile robot equipped with
IR sensor capabilities. The scope of the project is
LPC2148 Arm Processor DC brushless motor 100
RPM Motor is used. At the end of this project, the
ARM processor has successfully for motor control
and respond to the digital input from the interface
of IR sensor to the Microcontroller.
snapshots of the robot used in various views such
as front view, side view and top view respectively.
Fig 8. Top View of Robot
Fig 9. Side View of Robot
The Robot thus shows in various
directions of different views where we used the
sensors and camera based modules for surveillance.
Fig 10. Front View of Robot
VI. Conclusion:
The Robot in this paper used various
sensors which senses the temperature and humidity
respectively. The camera is used to estimate the
position and orientation of robot. This will be used
to work at hostile environments where not possible
for the humans to do that. In this paper this Robot
will handles over the distance of 100 metres
maximum. We may expect that this coverage of
surveillance can be increased to a long distances
where a major number of applications comes
without the human intervention.
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Amarendra Jadda is working as
Assiciate Professor in ECE Dept,
ASCET, GUDUR. He has been
guiding UG & PG students since
three years in this institution. He
pursued his M.Tech From JNTUH,
Kukatpally Hyderabad. He
presented papers in four
international journals & four international conferences. His
intresting fields are Communications &Signal Processing,
Embedded Systems.
Sampath kumar veerappa did his
B.Tech in Electronics and
communication engineering from
Prathyusha Engineering College,
Chennai. He is currently pursuing
his M.Tech degree in Embedded
systems from audisankara college
of engineering, Gudur.
Proceedings of International Conference on Developments in Engineering Research
ISBN NO : 378 - 26 - 13840 - 9
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