Internet Controlled Bot

[cambot]

I would like to build a "sentry" bot than can be controled over the internet. For a vehicle I will either use a large RC controlled tank or a kids car. I intend to put a wireless network camera on it and control the vehicle over the internet, from 1,000 miles away. I'm in SC and the property I want to patrol is near Canada.

I'm looking for advice on the controls. I can think of a couple ways to do this.

a) Connect a plc to the router at the remote site and have the plc control the RC. If I do this, any advice on an inexpensive plc that can be controled over the internet? Would a CUBLOC work?

b) Put the plc on the vehicle with camera, and make the wireless link through the camera's speaker. Input tones to the plc. Use the plc to control the veichle motors.

I've already got Axis network cameras working at the remote site, connected to a Linksys router. At this point I'm mostly trying to figure out how to control some type of logic device with inputs and outputs, over the internet.

Thanks,

dwight

[JonHylands]

Google: internet controlled robot

http://www.linuxdevices.com/news/NS3130287333.html
http://www.araa.asn.au/acra/acra2002/Papers/Potgieter-Bright-Diegel-Tlale.pdf
http://gdansk.bradley.edu/olekmali/projects/telebot/
http://www.atrox.at/robots/inet-turtle/index.html
http://www.awe.com/mark/fave-inter.html

- Jon

[cambot]

Thanks Jon. Looks like it is do-able.

Does anyone have more specific information or experience on the actual controller to use. After doing more research I'm starting to think the cubloc contoller with a maxport interface to a wireless router would do the trick. In other words, have the cubloc connected to a wirelss router on the bot, which would be bridged to another wireless router connected to a cable modem. Like a repeater set up.

[wrighthobbies]

Hi Dwight,

One of the most common ways to use IP to control a robot is a serial to IP converter. You can use just about any microcontroller on the bot as long as it has the capability of serial communications.

Sounds like you'll want to view the output of the camera and control the robot. You can do this 2 ways; one is to use a self-contained web server on a board. Check out http://members.home.nl/bzijlstra/index.htm for some examples.

The other way is to have a web server that both you and the robot talk to. The camera could stream it's video to the server and the server could take commands from you and relay it back to the robot.

I think everything you need exists and is affordable. The hard part is remotely charging the battery of your bot :)

[JonHylands]

Thanks Jon. Looks like it is do-able.

Does anyone have more specific information or experience on the actual controller to use. After doing more research I'm starting to think the cubloc contoller with a maxport interface to a wireless router would do the trick. In other words, have the cubloc connected to a wirelss router on the bot, which would be bridged to another wireless router connected to a cable modem. Like a repeater set up.

You can use any micro-controller you like.

Just get one of these:

http://www.sparkfun.com/commerce/product_info.php?products_id=665

It provides a serial interface (TTL level) that you can talk to with just about anything.

You don't need a wireless router on the robot - just as long as you have one in your house.

If you get Robot Magazine, the very first issue had an example of what you're trying to do...

- Jon

[cambot]

John and Eddy,

Thanks for quick input.

Hope I haven't given the impression that I'm trying to build something practical. I'll be using this project for relaxation. Will be spending a week at the inlaws for XMAS and I wanted to have a controller in hand before then so I would have something to keep me occupied.

You could probably tell I had my eye on cubloc. You commentted that any controller with a serial port would work. So I got one with two serial ports :mrgreen: I wanted to go with something a little higher level than a basic stamp or micro controller since I don't have a great deal of time. I'm familiar with plc's, ladder logic and the such. I added a Maxport which has a built in webserver.

I already have network cameras with built in webservers. The one at the address below is overlooking my "play field" for the robot. It's attached to a 3,000 squarefoot shed, that also has the wireless router. I'll build a docking/charging space in the shed. My dad lives near the site and I suspect I'll be making a few calls to rescue the robot.

I've got until August to build this thing. First I'll work on the controller, then I'll make it wireless, then I'll put it on a vehicle.

camera: http://65.110.158.158:9060/view/index.shtml

Will be in touch,

Dwight

[hgordon]

A Lantronix WiPort will do most of what you want. It's a WiFi web server module with some digital i/o and reasonable serial speed (rated at 921kbps, though we could only get 460kbps), so you could interface that to an Axis camera through the serial port.

[cambot]

Things are progressing much better than I had anticipated. Keep in mind I've given myself an 8 month schedule to build a robot I can control over the internet. I intend to mount a camera to a kids electric car and drive it around, from 1,000 miles away.

I purchased a cubloc micro computer/PLC from:
http://www.comfiletech.com/index.asp

I also purchased a "Maxport" which is really an Xport from:
http://www.lantronix.com/ that MAx has loaded with new firmware. This modual has a built in server and converts the ethernet conection to an RS232 that plugs into the controller.

I then purchased a $49 Linksys WRT54G router from Best Buy and flashed new DD-WRT firmware into the router. This is open source firmware that teaches the router new tricks, like bridging and significantly increasing the power. What a hassle though. It turns out the new routers have less memory than the old ones and several steps are required. The risk is turning your new router into a "brick". At any rate it worked. Here are the instructions:
http://www.dd-wrt.com/wiki/index.php/Wireless_Bridge#Example

With my newly burned router I created a "bridge" to my home network. I then plugged my micro controller into the bridged router through the Maxport. My micro controler is now wireless and connected to the internet. There are a lot of demo VB programs that come with the cubloc. I modified one to simply turn switches on and off over the internet.

I port forwarded my home router to the Maxport, drove over to Paneras Bread shop and used my laptop to turn a light on and off at home. It Worked!!!!

I feel like I've worked our the hardest part of this project and I still have 7 months to go.

[TheDuck]

Holy cow, cambot, this sounds like fun!! Sincere thanks for keeping us posted on your progress. I'm looking forward to this Ghost In The Machine going mobile!!

[cambot]

Thanks Duck. I see you are from Ontario/NY. I plan to launch this robot in Morristown, NY, in the Thousand Islands.

Brockvillve can be seen across the river from my webcam at:

http://65.110.158.158:9060/view/index.shtml

[cambot]

This is way too easy. I went to Wal-Mart and picked up a $20 RC car to use as my first test version. I figure it's 1/4 scale of my planned kids car. I can now control this RC car from the internet through a wireless connection. However, I'm still tethered to the power supplies for the Cubloc and Linksys routers. Next weekend, I go totally wireless.

The test model can be seen at:

http://www.shelato.com/SecurityRobot/

Anyone have ideas on converting the router and cubloc to battery power? My car has a 9V battery. The Linksys router is 12VDC and the Cubloc is 24VDC. Is there a way for me to increase the 9VDC to 24VDC without adding a bunch of batteries?

Thanks,

cambot

[JonHylands]

Check this out:

http://www.dimensionengineering.com/AnyVolt.htm

- Jon

[TheDuck]

Thanks Duck. I see you are from Ontario/NY. I plan to launch this robot in Morristown, NY, in the Thousand Islands.

Brockvillve can be seen across the river from my webcam at:

http://65.110.158.158:9060/view/index.shtml
Hey! That's just north east of where I cross the border when I drive home! Next time I go by I'll wave. :D

[cambot]

I've added a video of the test vehicle in action alond with most of the programming code.

http://www.shelato.com/SecurityRobot/index.html