23-07-2012, 01:12 PM
VIDEO SURVEILLANCE ROBOT
[attachment=28480]
Introdction
Video surveillance can be defined as observation or analysis of a particular site for safety and business purposes. Video surveillance cameras have turned popular owing to the easiness that they up offer when it comes to security surveillance. Also for the aging population, surveillance in household environments has become more and more important. In this project, we present a surveillance robot that can detect abnormal events by utilizing video and audio information
The technical objective is to use camera to provide continuous coverage of area where the robot moves. This machine is a unique blend of software and hardware. It’s a mobile platform that user can control through his computer with a proper feedback through wired webcam. The GUI is made through MATLAB software which gives an opportunity to user to understand basic MATLAB and its toolboxes. It also helps to understand serial interfacing of devices through MATLAB. This project can be extended by user for developing applications such as Football playing robot etc.
Block Diagram
Video surveillance robot uses MATLAB software for operating the robot moves. A camera placed at the robot body is connected to personal computer through serial cable. The PC should have installed MATLAB software, which is used to send signals to kick start board and also configuring camera to see the video of the area where robot moves. The GUI (Graphical User Interface) is made through MATLAB software to make the robot operation easier for user to understand.
These signals reached at kick start board which is assembled with microcontroller8051 & many other circuitries to process the signal and operate the motor. As the microcontroller’s PORTs are not enough to drive motors directly so we need some kind of drivers. That’s why motor driver module is used which takes the input from the microcontroller and operates motors according to it.
Main Components Used
Kick start board
Fig shows the circuit of kick start board. The 1st circuit is +5V power supply section. This circuit will provide a regulated voltage to microcontroller. The circuit comprises of mainly 7805 voltage regulator IC (IC4). +12V supply given as input to 7805IC through dc jack. The capacitor C10 must have high voltage rating to safely handle the input voltage feed to circuit. +5V output of 7805IC results the red LED to glow which refers as a Power ON Indication.
MAX232 IC (IC3) is used as logic convertor to make the serial communication signal; received through db9 connector; compatible with microcontroller. Its pin no 13 & 14 is connected to the pin 3 & 2 of db9 connector respectively to receive the signal. Similarly its pin no 11 & 12 are connected to 11 & 12 of microcontroller to transmit the converted signal. It requires 4 capacitors i.e. C4, C6, C7 & C8 of 10uf.
The heart of the kick start board is microcontroller P89V51RD2. it is a 40 pin 8051-based microcontroller with 64K+8K kB Flash and 1024 bytes of data RAM32 I/O lines, 3 Timers/Counters, 9 Interrupts/4 priority levels, SPI, Dual Data Pointers, WDT, 5-channel PCA. 4 jumpers of 10 pins JP1 to JP4 are used to connect the ports of microcontroller and remaining two pins of jumpers are assigned as +5V and gnd. Resistor array is used at port 0. The reset circuit connected at pin9 and crystal oscillator at pin18 & 19. +12V supply is given to the Push-to-on switch JP7 to start the board
Introduction Microcontroller
Introduction to Intel 8051 Microcontroller
The Intel 8051 is an 8-bit microcontroller which means that most available operations are limited to 8 bits. There are 3 basic "sizes" of the 8051: Short, Standard, and Extended. The Short and Standard chips are often available in DIP (dual in-line package) form, but the Extended 8051 models often have a different form factor, and are not "drop-in compatible". All these things are called 8051 because they can all be programmed using 8051 assembly language, and they all share certain features (although the different models all have their own special features).
8o51 Microcontroller
Some of the features that have made the 8051 popular are:
4 KB on chip program memory.
128 bytes on chip data memory (RAM).
4 reg banks.
128 user defined software flags.
8-bit data bus
16-bit address bus
32 general purpose registers each of 8 bits
16 bit timers (usually 2, but may have more, or less).
3 internal and 2 external interrupts.
Bit as well as byte addressable RAM area of 16 bytes.
Four 8-bit ports, (short models have two 8-bit ports).
16-bit program counter and data pointer.
1 Microsecond instruction cycle with 12 MHz Crystal.
Microcontroller 8051
A microcontroller basically contains one or more following components:
Central processing unit(CPU)
Random Access Memory)(RAM)
Read Only Memory(ROM)
Input/output ports
Timers and Counters
Interrupt Controls
Analog to digital converters
Digital analog converters
Serial interfacing ports
Oscillatory circuits
CPU
CPU is the brain of a microcontroller .CPU is responsible for fetching the instruction, decodes it, and then finally executed. CPU connects every part of a microcontroller into a single system. The primary function of CPU is fetching and decoding instructions. Instruction fetched from program memory must be decoded by the CPU.
Memory
The function of memory in a microcontroller is same as microprocessor. It is used to store data and program. A microcontroller usually has a certain amount of RAM and ROM (EEPROM, EPROM, etc) or flash memories for storing program source codes.
Parallel input/output ports
Parallel input/output ports are mainly used to drive/interface various devices such as LCD’S, LED’S, printers, memories, etc to a microcontroller.
Serial ports
Serial ports provide various serial interfaces between microcontroller and other peripherals like parallel ports.
Timers/counters
This is the one of the useful function of a microcontroller. A microcontroller may have more than one timer and counters. The timers and counters provide all timing and counting functions inside the microcontroller. The major operations of this section are perform clock functions, modulations, pulse generations, frequency measuring, making oscillations, etc. This also can be used for counting external pulses.
Analog to Digital Converter (ADC)
ADC converters are used for converting the analog signal to digital form. The input signal in this converter should be in analog form (e.g. sensor output) and the output from this unit is in digital form. The digital output can be use for various digital applications (e.g. measurement devices).
Digital to Analog Converter (DAC)
DAC perform reversal operation of ADC conversion.DAC convert the digital signal into analog format. It usually used for controlling analog devices like DC motors, various drives, etc.
Interrupt control
The interrupt control used for providing interrupt (delay) for a working program .The interrupt may be external (activated by using interrupt pin) or internal (by using interrupt instruction during programming).
Special functioning block
Some microcontrollers used only for some special applications (e.g. space systems and robotics) these controllers containing additional ports to perform such special operations. This considered as special functioning block.
Motor Driver module
Motor driver module mainly comprising of L293D (IC3); a motor driver IC; 10k ohm resistors and ceramic capacitors. The output of microcontroller is given to the pin2, 7, 10 and 15 of L293D IC. This IC is responsible in controlling the motors. Its output is given to the 4-pin connector for delivering it to the motor.
There are one reverse and one forward biased LED for both right and left part of the motor. They blink according to the input and indicate the operation performed by the motor. A 10k ohm resistor in series with another LED shows the power ON/OFF of motor driver module. The motor runs and perform operations according to the input. 0.1uf multilayer capacitors (C3, C4, C5, C6, C7, C8, C9 and C10) are used at the terminals of input and output of IC for proper signals due to the property of charging and discharging. The chip inhibit pins 1 and 9 of IC are connected to +5v supply. +5v supply is provided by adaptor
Motor Diver IC (L293D)
L293D is a dual H-bridge motor driver integrated circuit (IC). Motor drivers act as current amplifiers since they take a low-current control signal and provide a higher-current signal. This higher current signal is used to drive the motors.
L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two DC motors can be driven simultaneously, both in forward and reverse direction. The motor operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in clockwise and anticlockwise directions, respectively.
Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to start operating. When an enable input is high, the associated driver gets enabled. As a result, the outputs become active and work in phase with their inputs. Similarly, when the enable input is low, that driver is disabled, and their outputs are off and in the high-impedance state.
[attachment=28480]
Introdction
Video surveillance can be defined as observation or analysis of a particular site for safety and business purposes. Video surveillance cameras have turned popular owing to the easiness that they up offer when it comes to security surveillance. Also for the aging population, surveillance in household environments has become more and more important. In this project, we present a surveillance robot that can detect abnormal events by utilizing video and audio information
The technical objective is to use camera to provide continuous coverage of area where the robot moves. This machine is a unique blend of software and hardware. It’s a mobile platform that user can control through his computer with a proper feedback through wired webcam. The GUI is made through MATLAB software which gives an opportunity to user to understand basic MATLAB and its toolboxes. It also helps to understand serial interfacing of devices through MATLAB. This project can be extended by user for developing applications such as Football playing robot etc.
Block Diagram
Video surveillance robot uses MATLAB software for operating the robot moves. A camera placed at the robot body is connected to personal computer through serial cable. The PC should have installed MATLAB software, which is used to send signals to kick start board and also configuring camera to see the video of the area where robot moves. The GUI (Graphical User Interface) is made through MATLAB software to make the robot operation easier for user to understand.
These signals reached at kick start board which is assembled with microcontroller8051 & many other circuitries to process the signal and operate the motor. As the microcontroller’s PORTs are not enough to drive motors directly so we need some kind of drivers. That’s why motor driver module is used which takes the input from the microcontroller and operates motors according to it.
Main Components Used
Kick start board
Fig shows the circuit of kick start board. The 1st circuit is +5V power supply section. This circuit will provide a regulated voltage to microcontroller. The circuit comprises of mainly 7805 voltage regulator IC (IC4). +12V supply given as input to 7805IC through dc jack. The capacitor C10 must have high voltage rating to safely handle the input voltage feed to circuit. +5V output of 7805IC results the red LED to glow which refers as a Power ON Indication.
MAX232 IC (IC3) is used as logic convertor to make the serial communication signal; received through db9 connector; compatible with microcontroller. Its pin no 13 & 14 is connected to the pin 3 & 2 of db9 connector respectively to receive the signal. Similarly its pin no 11 & 12 are connected to 11 & 12 of microcontroller to transmit the converted signal. It requires 4 capacitors i.e. C4, C6, C7 & C8 of 10uf.
The heart of the kick start board is microcontroller P89V51RD2. it is a 40 pin 8051-based microcontroller with 64K+8K kB Flash and 1024 bytes of data RAM32 I/O lines, 3 Timers/Counters, 9 Interrupts/4 priority levels, SPI, Dual Data Pointers, WDT, 5-channel PCA. 4 jumpers of 10 pins JP1 to JP4 are used to connect the ports of microcontroller and remaining two pins of jumpers are assigned as +5V and gnd. Resistor array is used at port 0. The reset circuit connected at pin9 and crystal oscillator at pin18 & 19. +12V supply is given to the Push-to-on switch JP7 to start the board
Introduction Microcontroller
Introduction to Intel 8051 Microcontroller
The Intel 8051 is an 8-bit microcontroller which means that most available operations are limited to 8 bits. There are 3 basic "sizes" of the 8051: Short, Standard, and Extended. The Short and Standard chips are often available in DIP (dual in-line package) form, but the Extended 8051 models often have a different form factor, and are not "drop-in compatible". All these things are called 8051 because they can all be programmed using 8051 assembly language, and they all share certain features (although the different models all have their own special features).
8o51 Microcontroller
Some of the features that have made the 8051 popular are:
4 KB on chip program memory.
128 bytes on chip data memory (RAM).
4 reg banks.
128 user defined software flags.
8-bit data bus
16-bit address bus
32 general purpose registers each of 8 bits
16 bit timers (usually 2, but may have more, or less).
3 internal and 2 external interrupts.
Bit as well as byte addressable RAM area of 16 bytes.
Four 8-bit ports, (short models have two 8-bit ports).
16-bit program counter and data pointer.
1 Microsecond instruction cycle with 12 MHz Crystal.
Microcontroller 8051
A microcontroller basically contains one or more following components:
Central processing unit(CPU)
Random Access Memory)(RAM)
Read Only Memory(ROM)
Input/output ports
Timers and Counters
Interrupt Controls
Analog to digital converters
Digital analog converters
Serial interfacing ports
Oscillatory circuits
CPU
CPU is the brain of a microcontroller .CPU is responsible for fetching the instruction, decodes it, and then finally executed. CPU connects every part of a microcontroller into a single system. The primary function of CPU is fetching and decoding instructions. Instruction fetched from program memory must be decoded by the CPU.
Memory
The function of memory in a microcontroller is same as microprocessor. It is used to store data and program. A microcontroller usually has a certain amount of RAM and ROM (EEPROM, EPROM, etc) or flash memories for storing program source codes.
Parallel input/output ports
Parallel input/output ports are mainly used to drive/interface various devices such as LCD’S, LED’S, printers, memories, etc to a microcontroller.
Serial ports
Serial ports provide various serial interfaces between microcontroller and other peripherals like parallel ports.
Timers/counters
This is the one of the useful function of a microcontroller. A microcontroller may have more than one timer and counters. The timers and counters provide all timing and counting functions inside the microcontroller. The major operations of this section are perform clock functions, modulations, pulse generations, frequency measuring, making oscillations, etc. This also can be used for counting external pulses.
Analog to Digital Converter (ADC)
ADC converters are used for converting the analog signal to digital form. The input signal in this converter should be in analog form (e.g. sensor output) and the output from this unit is in digital form. The digital output can be use for various digital applications (e.g. measurement devices).
Digital to Analog Converter (DAC)
DAC perform reversal operation of ADC conversion.DAC convert the digital signal into analog format. It usually used for controlling analog devices like DC motors, various drives, etc.
Interrupt control
The interrupt control used for providing interrupt (delay) for a working program .The interrupt may be external (activated by using interrupt pin) or internal (by using interrupt instruction during programming).
Special functioning block
Some microcontrollers used only for some special applications (e.g. space systems and robotics) these controllers containing additional ports to perform such special operations. This considered as special functioning block.
Motor Driver module
Motor driver module mainly comprising of L293D (IC3); a motor driver IC; 10k ohm resistors and ceramic capacitors. The output of microcontroller is given to the pin2, 7, 10 and 15 of L293D IC. This IC is responsible in controlling the motors. Its output is given to the 4-pin connector for delivering it to the motor.
There are one reverse and one forward biased LED for both right and left part of the motor. They blink according to the input and indicate the operation performed by the motor. A 10k ohm resistor in series with another LED shows the power ON/OFF of motor driver module. The motor runs and perform operations according to the input. 0.1uf multilayer capacitors (C3, C4, C5, C6, C7, C8, C9 and C10) are used at the terminals of input and output of IC for proper signals due to the property of charging and discharging. The chip inhibit pins 1 and 9 of IC are connected to +5v supply. +5v supply is provided by adaptor
Motor Diver IC (L293D)
L293D is a dual H-bridge motor driver integrated circuit (IC). Motor drivers act as current amplifiers since they take a low-current control signal and provide a higher-current signal. This higher current signal is used to drive the motors.
L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two DC motors can be driven simultaneously, both in forward and reverse direction. The motor operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in clockwise and anticlockwise directions, respectively.
Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to start operating. When an enable input is high, the associated driver gets enabled. As a result, the outputs become active and work in phase with their inputs. Similarly, when the enable input is low, that driver is disabled, and their outputs are off and in the high-impedance state.