Project proposal for Texas Instruments Innovation Challenge India Design Contest 2015
Project Domain – Wireless, Automation, Assistive Technologies
Smartcopter
College Name
Name / College ID/Roll No. / UG/PG / Course/Branch / SemesterPushkaraksha
K M / 1JB11EC077 / UG / Electronics & Communication / 7th
Rohan Y D / 1JB11EC085 / UG / Electronics & Communication / 7th
Shivakumara G / 1JB11EC094 / UG / Electronics & Communication / 7th
Suhas.H / 1JB11EC107 / UG / Electronics & Communication / 7th
Mentored by
Latha S
Lecturer
Electronics and communication department
SJB Institute of Tecnology
67, BGS Health & Education City,, Uttarahalli Main Road, Kengeri, Bangalore, Karnataka 560060, India
Abstract
The main aim of the project is to build a unmanned aerial vehicle with a robotic arm which is controlled using aTM4C123GH6PM, microcontroller to bring the query object with the help of a wireless camera. The camera is interfaced to a computer processor which guides the copter using image processing to move towards the object using a Bluetooth module and gps system .The .The robotic arm picks up the object and carries it towards the specified destination. This project finds its applications in military, search and rescue and in helping physically handicapped people.
Market Analysis
The main concern to be addressed is the intelligent search of a object and carrying it using an unmanned aerial vehicle .Many drones have been built to carry and bring the specified objects .The drones are usually controlled using networks, RF transmission remote like IROS 2013 and PHANTOM. Our project is quadcopter equipped with image processing and a robotic arm capabilities ,although all of these used individually to solve the problem they can be synchronized to achieve higher efficiency and low cost compared to other drones will not only benefit people in rescues involving natural disasters, in which the quad copter’s various features allow it to avoid obstacles and easily deliver loads to locations coordinated by the GPS equipped on the copter, but also to be helpful in other situations such as construction and prospecting where mostly it’s more suitable for quad copter to deliver necessary goods and equipment. As a result, the government would like to keep a certain amount of devices for emergency use, as well as ua
Project Description
· The project aims to synchronize various blocks used in search & rescue, military applications like image processing, robotic arm and unmanned aerial vehicle to achieve the purpose of finding the object and carrying it.
· The project has 3 main blocks
1)Quadcopter
Block diagram and explanation
· The quadcopter consists of a TIVA C series launch pad with sensors like accelerometer which controls the orientation of the quadcopter and gyroscope which controls the pitch, yaw and roll of the quadcopter.These are interfaced with the microcontroller TM4C123GH6PM and form a closed loop system by continuously sending and receiving data to the microcontroller
· The gsm module gives info on the location of the quadrotor when it is in hovering mode, which helps in its maneuvering.
· 2 of the motors rotate clockwise and other 2 anticlockwise and the motors are brushless and are controlled by the microcontroller TM4C123GH6PM.
MOTOR
MOTOR
MOTOR
MOTOR
2) Robotic Arm
Astepper motor(orstep motor) is abrushless DC electric motorthat divides a full rotation into a number of equal steps. The motor's position can then be commanded to move and hold at one of these steps without any feedback sensor (anopen-loop controller), as long as the motor is carefully sized to the application.
Switched reluctance motorsare very large stepping motors with a reduced pole count, and generally are closed-loop In a typical DC motor, there are permanent magnetson the outside and a spinning armatureon the inside. The permanent magnets are stationary, so they are called thestator. The armature rotates, so it is called therotor.
The armature contains anelectromagnet. When you run electricity into this electromagnet, it creates a magnetic field in the armature that attracts and repels the magnets in the stator. So the armature spins through 180 degrees. To keep it spinning, you have to change the poles of the electromagnet. The brushes handle this change in polarity. They make contact with two spinning electrodes attached to the armature and flip the magnetic polarity of the electromagnet as it spins.
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MOTOR DRIVER L293D
L293D is a dualh-bridgemotor 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 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.
MSP430G2x53, MSP430G2x13 Mixed Signal Microcontroller
The Texas Instruments MSP430 family of ultra-low-power microcontrollers consists of several devices featuring different sets of peripherals targeted for various applications. The architecture, combined with five low-power modes, is optimized to achieve extended battery life in portable measurement applications. The device features a powerful 16-bit RISC CPU, 16-bit registers, and constant generators that contribute to maximum code efficiency. The digitally controlled oscillator (DCO) allows wake-up from low-power modes to active mode in less than 1 µs.
The MSP430G2x13 and MSP430G2x53 series are ultra-low-power mixed signal microcontrollers with built-in 16-bit timers, up to 24 I/O capacitive-touch enabled pins, a versatile analog comparator, and built-in communication capability using the universal serial communication interface. In addition the MSP430G2x53 family members have a 10-bit analog-to-digital (A/D) converter. For configuration details see .
Typical applications include low-cost sensor systems that capture analog signals, convert them to digital values, and then process the data for display or for transmission to a host system.
3)Image Pocessing
Bluetooth Controller
CC2564
The cc256x device is a completeBluetooth HCI solution that reduces design effort and enables fast time to market. Based on seventh-generationBluetoothcore, the CC256x device provides a product-proven solution that supports 4.0 dual-mode protocols. When coupled with a microcontroller unit (MCU), the HCI device provides best-in-class RF performance.
TI’s power-management hardware and software algorithms provide significant power savings in all commonly usedBluetoothBR/EDR/LE modes of operation.
WIRELESS CAMERA :- It is used to send the images of the query object to the computer processor which processes it and sends the info to Bluetooth module which inturn sends the info to microcontroller
TI Content
List all the TI Parts to be used in the various subsystems of the proposed solution
TI Part(link all the parts to their respective product page on the TI website) / Usage/Advantage
L293D / To drive the motors controlling the robotic arm
BOOSTXL-SENSHUB
/ Sensors to control the quadcopterTiva C Series TM4C123G LaunchPad / Contains peripherals to interface gsm , bluetooth and
Senshub i.e 2 usb ports
TM4C123GH6PM. / Microcontroller to be used in the launch pad
MSP430G2553 / Industrial microcontroller for efficient driving of motors
TPS61282 / GSM module for controlling the maneuver of the quadcopter
CC2564
/ Bluetooth module which sends image data to microcontrollerMSP430
Bill of Materials
Part / Function / Estimated Quantity / Estimated costL293D / To drive the motors controlling the robotic arm / 10 / Rs.1500
BOOSTXL-SENSHUB
/ Sensors to control the quadcopter / 1 / Rs. 3150Tiva C Series TM4C123G LaunchPad / Contains peripherals to interface gsm , bluetooth and
Senshub i.e 2 usb ports / 1 / Rs.819
TM4C123GH6PM. / Microcontroller to be used in the launch pad / 1 / Rs.1400
MSP430G2553 / microcontroller launchpad for efficient driving of motors / 2 / Rs.1400
CC2564
/ Bluetooth module which sends image data to microcontroller / 1 / Rs.600MSP430
/ Microcontroller for driving motors / 2 / Rs.100Conclusion
This project realizes the construction of the quadcopter with a robotic arm which is efficiently controlled using image processing and wireless solutions like Bluetooth and gsm.
List of References
Quadcopter flight control by Peter O Basta
Building a robotic arm using researchgate