VIETNAM NATIONAL UNIVERSITY, HANOI INTERNATIONAL SCHOOL GRADUATION PROJECT PROJECT NAME: Mini robot design for supporting reconnaissance Student’s name: Hoang Gia Phi Hanoi - Year 2024 1 VIETNAM NATIONAL UNIVERSITY, HANOI INTERNATIONAL SCHOOL GRADUATION PROJECT PROJECT NAME: Mini robot design for supporting reconnaissance SUPERVISOR: Dr. Pham Thi Viet Huong STUDENT: Hoang Gia Phi STUDENT ID: 19071622 MAJOR: Informatics and Computer Engineering Hanoi - Year 2024 2 LETTER OF DECLARATION I confirm that the graduate project titled " Mini robot design for supporting reconnaissance " is the result of my own research and has not been previously published. All conclusions in the project are derived from my independent research and surveys, and proper citations have been provided for all references. I assume complete responsibility for the graduating project's correctness, including any data, figures, and other written materials.
HaNoi, 8th June 2024 Student HOANG GIA PHI Hanoi - Year 2024 3 ACKNOWLEDGEMENT To begin with, I would like to thank Dr. Pham Thi Viet Huong for her mentorship and advice during the creation of my final project. She gave me the essential tools, direction, and support I needed to do my job quickly. Furthermore, he offered perceptive viewpoints that were helpful.
Still, given my little experience, I realize that mistakes can happen. As a result, I am excited to hear from the academics on how to improve the project and provide a solid knowledge base that will support our future growth. I would want to thank all of my instructors, friends, and family once more for their constant support, which has been essential to my personal development. 4 Contents LETTER OF DECLARATION.
7 TABLE OF FIGURE. Target of the topic. Structure of thesis. Module control motor L298N.
Motor servo SG90S. Calculate and design system. Design block diagram system. Calculation and circuit design.
Schematic diagram of the entire circuit. Function of system. Control motor, servo and flash through webserver. Read DHT11 value.
Algorithm SSD - SINGLE SHOT DETECTOR in Object Detection. 42 5 CHAPTER 4: PRODUCT AND TESTCASE. RESULTS AND DEVELOPMENT DIRECTION. 63 6 ABSTRACT In today's life, integrating technology into work to enhance quality, productivity, and efficiency is becoming increasingly prevalent.
The focus of this project, titled " Mini robot design for supporting reconnaissance " delves deep into developing an intelligence system for reconnaissance using smart technologies to support current exploration methods. The main goal of this project is to design and deploy a reconnaissance system integrating sensors, IoT (Internet of Things), and AI object recognition. Through this, I aim to address the challenges that may arise when exploring narrow, confined areas, paving the way for a more effective approach based on existing technologies. Throughout the entire process, various components of the system are carefully considered.
7 TABLE OF FIGURE Figure 2.2: The AI-Thinker component of ESP32-CAM …………………………….3 AI-Thinker ESP32-CAM pinout ………………………………………….4 Built-in RED LED position ……………………………………………….5 GPIO layout ……………………………………………………………… 18 Figure 2.6 FLASH light position …………………………………………………….7 ESP32-CAM pinout ………………………………………………………19 Figure 2.8 ESP32-CAM feature………………………………………………………20 Figure 2.9: EPS32-CAM latency chart ……………………………………………….12 L298N circuit diagram ……………………………………………………24 Figure 2.16 Pin cell 18650 2600mAh 5C…………………………………………….17 Lithium pin in life …………………………………………………….1 Block diagram of system………………………………………………….7 Configure schematic ………………………………………………………34 8 Figure 3.10 Flow chart of servo motor control algorithm …………………………….11 Flow chart of DC motor control algorithm ……………………………….12 Read sensor value function ……………………………………………….13 Object detective function …………………………………………….14 Simulation of SSD algorithm …………………………………….16 Image of bounding box ……………………………………….17 Object detective flow chart ………………………………….3 Object detective program display ……………………………. Background Technology progress has fostered the connection between the physical world, the digital realm, and the organic world, resulting in the creation of production tools that bridge the gap between the tangible and the virtual. Typical components of Industry 4.0 include the emergence of the Internet of Things (IoT), smart cities, artificial intelligence, autonomous vehicles, robots, 3D printing, new materials, nano-technology, and breakthroughs in biological sensing. Speaking of IoT, which stands for "Internet of Things," it can be easy to translated as "Connecting Everything to the Internet." It is a system where every device is interconnected, and all things are linked through a common protocol, typically the communication network or the Internet.
Simply put, all you need is a network-connected device, and you can control it from wherever you are. Controlling devices remotely with IoT has become straightforward nowadays; all you need is to connect the device to the internet, isn't it? For wireless remote control systems, the limitation in terms of distance is a weakness of this technique. On the contrary, with the Internet extending globally, the distance limitation is no longer a factor, opening up a new avenue in the field of automatic control. Currently, as the demand for information exchange among people increases and the widespread use of internet-connected devices becomes more prevalent, using the internet to transmit control signals is the most convenient method.
It saves time for tasks, ensures safety features for household electrical devices, and is cost-effective, ensuring both network and asset security for every individual. Motivation Based on practical IoT applications’s requirements, a robot which has the ability to support reconnaissance is necessary. The designed robot should have remote control 10 capabilities, camera streaming, environmental temperature readings to support rescue missions, firefighting assistance, or remote monitoring. Additionally, integrating machine learning for object recognition, this model could play a crucial role in various diverse activities.
Research methods The content of the research "Mini robot design for supporting reconnaissance" will be divided into the following main parts: 1. Collecting data on the process of designing a robot control system support reconnaissance 2. Design solutions for a robot control system, including a model with live stream functionality. Writing code and designing the control system.
Evaluating the implementation results. Target of the topic After all researches,I decide to create project with following main objectives: - Design a complete product consisting of a remotely controlled robot, live streaming of images through a web server, pushing environmental temperature and humidity data to the web server using ESP32 and ESP32 Cam, using WiFi. -Write control programs for ESP32 and ESP kits, set up a web server, and implement data transmission. - Build a system for object detection from streaming images intergrated ESP32-CAM.
Limitation • The robot is connected via WiFi, so the control range is limited. • Issues arise in the case of an unstable network connection (<3Mbps). • The continuous operating time of the robot is relatively short. • The quality of the live video stream is clear only in well-lit environments.
Structure of thesis The layout of the report is divided into six main chapters as follows: • Chapter 1: Introduction • Chapter 2: Hardware • Chapter 3: Design system • Chapter 4: Product and test case • Chapter 5: Results and development direction 12 CHAPTER 2. HARDWARE Following the above research, to create the robot, the following components are chosen: • Esp 32-CAM: clever modules that are commonly utilized in the Internet of Things, suitable for any student project • L298n: Common module for wheel control • Motor servo SG90S • DC motor: Low price, ease of use and superior properties, it is widely used. • DHT11: To detect temperature and humidity • 18650 battery: Can provide suitable voltage for the system 2. Esp32 Camera Figure 2.1 ESP32-CAM 13 In this system, the ESP32-CAM is used to provide live images from the robot to the server, allowing users to monitor the live feed directly on their computers.
ESP32 chips are among the clever modules that are commonly utilized in the Internet of Things. Espressif introduced the ESP32-CAM AI-Thinker, an enhanced model that has more advantages over the ESP8266-01. This very small and power-efficient module features a 7-layer printed circuit board and two powerful LX6 32-bit CPUs. The OV2640 or OV7670 camera may be utilized with the Wi-Fi and Bluetooth- integrated ESP32-CAM.
High-resolution communication data protocols including ADC, SPI, I2C, and UART are supported by the ESP32 integrated circuit. The peripheral RTC module has a maximum clock frequency of 160 MHz for processing power up to 600 DMPIS, and it can function in many modes. Moreover, it is strong and incredibly dependable when linked to the internet. This board is a 27x40.5 DIP-style printed circuit board.
The module is show in figure below: Figure 2.2 The AI-Thinker component of ESP32-CAM ESP32-S Microcontroller: Using a 7-layer PCB layout, the primary chip of this module houses two powerful 32-bit LX6 CPUs that are used for all processing operations. IPEX Output Block: To broadcast signals, the IPEX is attached to a GSM antenna. 14 Tantalum Capacitor: Tantalum capacitors are primarily used in compact modules. They offer reliable signal output through power filtering and durability.
Reset Button: Pressing this button will cause the module's code to run again. Voltage Regulation Chip: In spite of variations in the input power supply, the module's voltage regulation chip keeps the output voltage steady. It controls the voltage to 3. PSRAM: The module incorporates a low-power, 4-MB "pseudo" random-access memory to facilitate quick processing speed and seamless camera operation.
TF Card Slot: A micro-SD card slot is available for data storage on the ESP32 series. Communication using serial peripheral interfaces is used for all data transfer activities. FPC connector: The ESP32 module contains a flexible flat cable (FPC) connection that is used to attach the camera. The signal's dependability is correlated with the height of the connection.
Flashlight: The flashlight generates electrical pulses, serving as a flash for the camera to capture sharp images. The AI-Thinker ESP32-CAM module's pinout is shown in the following diagram: Figure 2.3 AI-Thinker ESP32-CAM pinout 15 This module's pinout diagram is explained in this section. Out of the 34 pins on the ESP32-S chip, only 16 are exposed to the header. Power Pins: The module contains two pins for the power supply, 3.3V and 5V, and three ground pins.
The ESP32-CAM module from AI-Thinker is powered by these pins.3V pin to power the entire board is not recommended since it gives the board inconsistent power.4 Built-in RED LED position Power Output Pins: In the pinout diagram above, the ESP32-CAM also has a power output pin, which is indicated in yellow. This pin, known as VCC, has a 5V or 3.3V output of the VCC pin on the ESP32-CAM is dependent upon the Jumper connection. 16 GPIO33 – Integrated red LEDs: An inbuilt red LED is another characteristic of the AI-Thinker board. This LED is located adjacent to the reset button.
This intergrated red LED is in a low logic state and is wire to GPIO 33. This indicates that we must push GPIO 33 to a low logic state in order to activate the LED. Similarly, we push GPIO 33 to a high logic level to turn off the LED. UART Pins Nearly every GPIO pin on the ESP32-CAM has many uses.
For the UART interface, GPIO1 and GPIO3 in particular have different ways of sending and receiving serial data. Since the AI-Thinker board lacks a programmer, programming and code uploading via PC connection are done via these UART ports. The UART pins on the ESP32-CAM may be used to flash code using an FTDI connection. For information on converting a USB to serial using an FTDI cable, see this article: GPIO0 Pin - Select flash mode You may choose between the standard and flash modes using this pin.
GPIO0 is pushed down to low logic level, or linked to ground, while the device is in flash mode. The ESP32-CAM will go into flash mode in this stage, where we may configure it to light an LED. To enable the module to operate in normal mode, we need to unplug GPIO0 from ground after programming and flashing the board's LED. SD card pin The ES32-CAM board features an inbuilt SD card connection that may be used to attach an SD card, as was covered in the preceding section.