Beruflich Dokumente
Kultur Dokumente
Project Report
ON
Obstacle Avoidance
Robot
Submitted in the partial fulfillment for the award of the degree
in
Bachelor Of Technology
IN
Electronics & Communication
Engineering
Submitted To
Submitted By
Miss. Shubhi agarwal
Chandra
Ankur
Anil
kumar gangwar
Gaurav kumar
Dharmendra
kumar
B.tech
E.C. final yr.
Department Of Electronics
Engineering
Bareilly.
2014-15
TABLE OF CONTENTS
INTRODUCTION
PLATFORM USED
AIM OF THE PROJECT
BLOCK DIAGRAM
WORKING OF THE PROJECT
CIRCUIT DIAGRAM
COMPONENT LIST
CIRCUIT DESCRIPTION
PCB LAYOUT
INTRODUCTION
The natures most spectacular creation is human brain. The
main feature of the human brain is its ability to sense the
obstacles and respond according to them. The men always want
to transplant his ability to the artificial things so that they can not
only sense the problem but also respond according to that.
highways safer and easier to travel. Someday well simply tell our cars where to
take us and line following circuitry will help get us there safely and without effort.
Our project is Obstacle sensing robot, this project is microcontroller based
we are using a microcontroller Atmega16 Atmel Controller used for sensing the
signals and taking decisions according to that microcontroller is used for sensing
the distance according to value given by distance sensor.
PLATFORM USED
SOFTWARE REQUIREMENTS
1. Bascom for programming of Microcontroller
2. DIPTRACE for Circuit Designing
3. DIPTRACE for PCB designing
HARDWARE REQUIREMENTS
1.
MICROCONTROLLER Atmega16
2.
CRYSTAL OSCILLATOR
3.
RESISTORS
4.
CAPACITORS
5.
TRANSISTERS
6.
REGULATOR
7.
CONNECTORS
8.
DC MOTOR
9.
WHEELS
10.
BUZZER
11.
OBSTACLE SENSOR
12.
BATTERY
13.
REMOTE
Our aim is to design a robot that finds its way in a complex route. This Robot is
going to be React on facing the obstacle. It will move in other direction as the
obstacle comes in its way robotic system capable to be navigated within its
environment through logically acting on the sensed data to avoid such obstacles.
The robot tries to locate hindering obstacles, both stationary and moveable, plans
ways to bypass these objects and, finally, acts according to the resulted plan.
BLOCK DIAGRAM
BLOCK DIAGRAM
SUPPLY
SECTION
REMOTE
MICRO
CONTROLLER
Atmega16
(DECISION MAKING)
DIGITAL VALUE
DISTANCE
SENSOR
ROBOTIC CAR
CIRCUIT DIAGRAM
J5
J1
1
2
3
VCC
U2
LM 7805H
BATT+
1
2
3
D2
VCC
R L M T 0 3 (M )
R L M T 0 3 (M )
C 10
C EL5
1 0 M /6 3 V
C9
C EL5
1 0 M /6 3 V
C8
C C ER
104P F
+5V
C1
C EL5
1 0 M /6 3 V
C2 C CER
39P F
Y1
XTA L
C3
R1
R
1K
4
5
C C ER
39PF
12M H z
P 3 .0
P 3 .1
P 3 .7
2
3
6
7
8
9
11
U1
RST
19
18
17
16
15
14
13
12
P 1 .7
P 1 .6
P 1 .5
P 1 .4
P 1 .3
P 1 .2
P 1 .1
P 1 .0
X2
X1
J3
B A TT+
J9
D3
D2
D1
D0
1
2
3
4
3
2
1
RC2
RC1
R L M T 0 3 (M )
R L M T 0 4 (M )
R 14
R
1K
P 3 .0
P 3 .1
P 3 .2
P 3 .3
P 3 .4
P 3 .5
P 3 .7
R 15
R
1K
R 16
R
1K
R 17
R
1K
P 3 .0
R9
Q1
BD 139
Q2
BD 139
R
470E
R 10
P 3 .1
R
470E
89C 2051
VCC
VCC
R 12
R
1K
R8
R 2K2
R7
R 2K 2
C 13
C C ER
0M1
J10
VCC
RA0
RA0
VCC
R L M T 0 3 (M )
P 3 .1
1
2
3
P 3 .0
2
3
R 13
R
2K2
4
5
6
C CER
C 11
22PF
Y3
XTA L
C 12
9
10
C CER
22P F
4MH z
11
RC1
12
RC2
13
14
U4
/M C L R
RB7
R A 0 /A N 0
RB6
R A 1 /A N 1
RB5
R A 2 /A N 2
RB4
R A 3 /A N 3 /V R E F
RB3
R A 4 /T 0 C K 1
RB2
R A 5 /A N 4 /S S
OSCI
RB1
IN T /R B 0
OSCO
RC7
RC0
RC6
RC1
RC5
RC2
RC4
VCC
28
P 3 .7
27
J7
26
8
7
6
5
4
3
2
1
25
24
23
22
R2
BZ1
R
220E
BUZZER
R L M T 0 8 (M )
21
J8
18
4
3
2
1
17
16
15
D TM F_D V
VSS
GND
+5V
VCC
R L M T 0 4 (M )
VS
RC3
P IC 1 6 F 7 2
T it le
Component list
ROBRFOB
S iz e
B
D a te :
T h u rs d a y , D e c e m b e r 1 7 , 2 0 0 9
R ev
1 .1
Sheet
of
CIRCUIT DESCRIPTION :-
Consists of:
MICROCONTROLLER
SECTION:
1. +5v supply: This +5v supply is required for the controller to get start
which is provided from the power supply section. This supply is provided at
pin no. 20 of the 89c2051 controller.
PCB LAYOUT:-
Programming of
Obstacle sensing robot
#INCLUDE < P16F72.INC> ; PROCESSOR SPECIFIC VARIABLE
DEFINITIONS
MAIN
MAINLOOP
L_CJNL
DISTANCE,.22,GA1
BSF
PORTC,4
GOTO
GM1
GA1:
BCF
PORTC,4
GM1:
GOTO MAINLOOP
INTRADC:
MOVF
ADRES,W
MOVWF
DISTANCE
RETURN
INCLUDE 89c2051.mc
buzzer
EQU p3.7
main:
CLR p3.0
CLR p3.1
mainloop:
JB
CLR
CLR
CLR
JMP
p1.3,la5
p3.0
p3.1
buzzer
mainloop
la5:
JNB p1.4,la1
SETBp3.0
SETBp3.1
CLR buzzer
la1:
JNB p1.5,la2
CLR p3.0
SETBp3.1
CLR buzzer
la2:
JNB p1.6,la3
SETBp3.0
CLR p3.1
CLR buzzer
la3:
CLR p3.0
CLR p3.1
SETBbuzzer
JMP mainloop
MICROCONTROLLER UNIT
USART
COMPONENTS DESCRIPTION
Distance SENSOR:
DESCRIPTION:
The LTM-97 series are miniaturized receivers for infrared remote control systems.
It is a single unit type module which incorporates a PIN diode and a receiving
preamplifier IC. The demodulated output signal can directly be decoded by a
microprocessor. It has excellent sensitivity and reliable function even in disturbed
working environment.
Voltage Regulators
2.4.2
Features
Output Current up to 1A
Output Voltages of 5, 6, 8, 9, 10, 12, 15, 18, 24V
Thermal Overload Protection
Short Circuit Protection
Output Transistor Safe Operating Area Protection
DC MOTOR
A DC motor is an electric motor that runs on direct current (DC) electricity.
Brushed
The brushed DC motor generates torque directly from DC power supplied to the
motor by using internal commutation, stationary permanent magnets, and rotating
electrical magnets.It works on the principle of Lorentz force , which states that any
current carrying conductor placed within an external magnetic field experiences a
torque or force known as Lorentz force. Advantages of a brushed DC motor
include low initial cost, high reliability, and simple control of motor speed.
Disadvantages are high maintenance and low life-span for high intensity uses.
Maintenance involves regularly replacing the brushes and springs which carry the
electric current, as well as cleaning or replacing the commutator. These
components are necessary for transferring electrical power from outside the motor
to the spinning wire windings of the rotor inside the motor.
Synchronous
Synchronous DC motors, such as the brushless DC motor and the stepper motor,
require external commutation to generate torque. They lock up if driven directly by
DC power. However, BLDC motors are more similar to a synchronous ac motor.
Brushless
Brushless DC motors use a rotating permanent magnet in the rotor, and stationary
electrical magnets on the motor housing. A motor controller converts DC to AC.
This design is simpler than that of brushed motors because it eliminates the
complication of transferring power from outside the motor to the spinning rotor.
Advantages of brushless motors include long life span, little or no maintenance,
and high efficiency. Disadvantages include high initial cost, and more complicated
motor speed controllers.
DC MOTOR:
In
Every DC motor has six basic parts -- axle, rotor (a.k.a., armature), stator,
commutator, field magnet(s), and brushes. In most common DC motors (and all
that BEAMers will see), the external magnetic field is produced by high-strength
permanent magnets1. The stator is the stationary part of the motor -- this includes
the motor casing, as well as two or more permanent magnet pole pieces. The rotor
(together with the axle and attached commutator) rotate with respect to the stator.
The rotor consists of windings (generally on a core), the windings being
electrically connected to the commutator. The above diagram shows a common
motor layout -- with the rotor inside the stator (field) magnets.
The geometry of the brushes, commutator contacts, and rotor windings are such
that when power is applied, the polarities of the energized winding and the stator
magnet(s) are misaligned, and the rotor will rotate until it is almost aligned with the
stator's field magnets. As the rotor reaches alignment, the brushes move to the next
commutator contacts, and energize the next winding. Given our example two-pole
motor, the rotation reverses the direction of current through the rotor winding,
leading to a "flip" of the rotor's magnetic field, driving it to continue rotating.
In real life, though, DC motors will always have more than two poles (three is a
very common number). In particular, this avoids "dead spots" in the commutator.
You can imagine how with our example two-pole motor, if the rotor is exactly at the
middle of its rotation (perfectly aligned with the field magnets), it will get "stuck"
there. Meanwhile, with a two-pole motor, there is a moment where the commutator
shorts out the power supply (i.e., both brushes touch both commutator contacts
simultaneously). This would be bad for the power supply, waste energy, and
damage motor components as well. Yet another disadvantage of such a simple
motor is that it would exhibit a high amount of torque "ripple" (the amount of
torque it could produce is cyclic with the position of the rotor).
Crystal Oscillator
It is often required to produce a signal whose frequency or pulse rate is very stable
and exactly known. This is important in any application where anything to do with
time or exact measurement is crucial. It is relatively simple to make an oscillator
that produces some sort of a signal, but another matter to produce one of relatively
precise frequency and stability. AM radio stations must have a carrier frequency
accurate within 10Hz of its assigned frequency, which may be from 530 to 1710
kHz. SSB radio systems used in the HF range (2-30 MHz) must be within 50 Hz of
channel frequency for acceptable voice quality, and within 10 Hz for best results.
Some digital modes used in weak signal communication may require frequency
stability of less than 1 Hz within a period of several minutes. The carrier frequency
must be known to fractions of a hertz in some cases. An ordinary quartz watch
must have an oscillator accurate to better than a few parts per million. One part per
million will result in an error of slightly less than one half second a day, which
would be about 3 minutes a year. This might not sound like much, but an error of
10 parts per million would result in an error of about a half an hour per year. A
clock such as this would need resetting about once a month, and more often if you
are the punctual type. A programmed VCR with a clock this far off could miss the
recording of part of a TV show. Narrow band SSB communications at VHF and
UHF frequencies still need 50 Hz frequency accuracy. At 440 MHz, this is slightly
more than 0.1 part per million. Ordinary L-C oscillators using conventional
inductors and capacitors can achieve typically 0.01 to 0.1 percent frequency
stability, about 100 to 1000 Hz at 1 MHz. This is OK for AM and FM broadcast
receiver applications and in other low-end analog receivers not requiring high
tuning accuracy. By careful design and component selection, and with rugged
mechanical construction, .01 to 0.001%, or even better (.0005%) stability can be
achieved. The better figures will undoubtedly employ temperature compensation
components and regulated power supplies, together with environmental control
(good ventilation and ambient temperature regulation) and battleship mechanical
construction. This has been done in some communications receivers used by the
military and commercial HF communication receivers built in the 1950-1965 era,
before the widespread use of digital frequency synthesis. But these receivers were
extremely expensive, large, and heavy. Many modern consumer grade AM, FM,
and shortwave receivers employing crystal controlled digital frequency synthesis
will do as well or better from a frequency stability standpoint.
An oscillator is basically an amplifier and a frequency selective feedback network
(Fig 1). When, at a particular frequency, the loop gain is unity or more, and the
total phaseshift at this frequency is zero, or some multiple of 360 degrees, the
condition for oscillation is satisfied, and the circuit will produce a periodic
waveform of this frequency. This is usually a sine wave, or square wave, but
triangles, impulses, or other waveforms can be produced. In fact, several different
EXTRA KNOWLEDGE
Sensing Unit:
Sensing unit consists of RF sensors whenever this sensor receive RF signal
they pass information in the form of high or low to the controller. Whenever
a key is pressed in a distant RF transmitter that key is sensed by the sensor
and further inform controller about the key pressed and further action can be
performed.
Transmitter
Frequencies
Name
Extremel
y low
ELF
frequenc
y
330 Hz
Super
low
SLF
frequenc
y
1,000
30300 Hz
10,000 km
Ultra low
frequenc ULF
y
Very low
frequenc VLF
y
Low
frequenc LF
y
Medium
frequenc MF
y
300
3000 Hz
330 kHz
30
300 kHz
300
3000 kHz
Applications
100
1,000 km
100
1000 m
AM broadcasting,
navigational beacons,
lowFER
Navigational beacons,
AM broadcasting,
maritime and aviation
communication
High
frequenc HF
y
Shortwave, amateur
radio, citizens' band
radio, skywave
propagation
30
FM broadcasting,
110 m
frequenc
y
Ultra
high
UHF
frequenc
y
Super
high
SHF
frequenc
y
Extremel
y high
EHF
frequenc
y
amateur radio,
broadcast television,
aviation, GPR, MRI
300 MHz
300
3000 MHz
Broadcast television,
amateur radio, mobile
telephones, cordless
telephones, wireless
10100 cm
networking, remote
keyless entry for
automobiles,
microwave ovens, GPR
30
300 GHz
110 mm
FEATURES
* Wide operating voltage range (VCC=1.5~5.0V)
* Low standby current
* Auto power off function for TX2B
* Few external components are needed
Wireless networking,
satellite links,
microwave links,
satellite television, door
openers
Microwave data links,
radio astronomy,
remote sensing,
advanced weapons
systems, advanced
security scanning
CAPACITOR
A capacitor or condenser is a passive electronic component consisting of a pair of
conductors separated by a dielectric (insulator). When a potential difference
(voltage) exists across the conductors, an electric field is present in the dielectric.
This field stores energy and produces a mechanical force between the conductors.
The effect is greatest when there is a narrow separation between large areas of
conductor; hence capacitor conductors are often called plates.
An ideal capacitor is characterized by a single constant value, capacitance, which
is measured in farads. This is the ratio of the electric charge on each conductor to
the potential difference between them. In practice, the dielectric between the plates
passes a small amount of leakage current. The conductors and leads introduce an
equivalent series resistance and the dielectric has an electric field strength limit
resulting in a breakdown voltage.
Capacitors are widely used in electronic circuits to block the flow of direct current
while allowing alternating current to pass, to filter out interference, to smooth the
output of power supplies, and for many other purposes. They are used in resonant
circuits in radio frequency equipment to select particular frequencies from a signal
with many frequencies.
Theory of operation
Main article: Capacitance
contains an electric field. The capacitor is a reasonably general model for electric
fields within electric circuits.
An ideal capacitor is wholly characterized by a constant capacitance C, defined as
the ratio of charge Q on each conductor to the voltage V between them
Sometimes charge buildup affects the mechanics of the capacitor, causing the
capacitance to vary. In this case, capacitance is defined in terms of incremental
changes:
In SI units, a capacitance of one farad means that one coulomb of charge on each
conductor causes a voltage of one volt across the device.
Energy storage
Work must be done by an external influence to move charge between the
conductors in a capacitor. When the external influence is removed, the charge
separation persists and energy is stored in the electric field. If charge is later
allowed to return to its equilibrium position, the energy is released. The work done
in establishing the electric field, and hence the amount of energy stored, is given
by:
RESISTOR
Resistors are used to limit the value of current in a circuit. Resistors offer
opposition to the flow of current. They are expressed in ohms for which the symbol
is . Resistors are broadly classified as
(1)
Fixed Resistors
(2)
Variable Resistors
Fixed Resistors :
The most common of low wattage, fixed type resistors is the molded-carbon
composition resistor. The resistive material is of carbon clay composition. The
leads are made of tinned copper. Resistors of this type are readily available in value
ranging from few ohms to about 20M, having a tolerance range of 5 to 20%.
They are quite inexpensive. The relative size of all fixed resistors changes with the
wattage rating.
Another variety of carbon composition resistors is the metalized type.
It is made by deposition a homogeneous film of pure carbon over a glass, ceramic
or other insulating core. This type of film-resistor is sometimes called the precision
type, since it can be obtained with an accuracy of 1%.
Lead
Colour Coding
Fixed Resistor
Coding Of Resistor :
Some resistors are large enough in size to have their resistance printed on the
body. However there are some resistors that are too small in size to have numbers
printed on them. Therefore, a system of colour coding is used to indicate their
values. For fixed, moulded composition resistor four colour bands are printed on
one end of the outer casing. The colour bands are always read left to right from the
end that has the bands closest to it. The first and second band represents the first
and second significant digits, of the resistance value. The third band is for the
number of zeros that follow the second digit. In case the third band is gold or
silver, it represents a multiplying factor of 0.1to 0.01. The fourth band represents
the manufactures
tolerance. 0
0 black
1 brown
black
0 black
0 black
1 brown
1 brown
1 brown
2 red
2 red
3 orange
3 orange
3 orange
4 yellow
4 yellow
4 yellow
4 yellow
5 green
5 green
5 green
6 blue
6 blue
6 blue
6 blue
7 purple
7 purple
7 purple
7 purple
8 silver
8 silver
8 silver
8 silver
9 white
9 white
9 white
9 white
5 green
For example, if a resistor has a colour band sequence: yellow, violet, orange and
gold
The fourth band is used to show the tolerance (precision) of the resistor.
This resistor has red (2), violet (7), yellow (4 zeros) and gold bands.
So its value is 270000 = 270 k .
The standard colour code cannot show values of less than 10 . To show these
small values two special colours are used for the third band: gold, which means
0.1 and silver which means 0.01. The first and second bands represent the
digits as normal.
For example:
red, violet, gold bands represent 27 0.1 = 2.7
blue, green, silver bands represent 56 0.01 = 0.56
The fourth band of the colour code shows the tolerance of a resistor. Tolerance is
the precision of the resistor and it is given as a percentage. For example a 390
resistor with a tolerance of 10% will have a value within 10% of 390 , between
390 - 39 = 351 and 390 + 39 = 429 (39 is 10% of 390).
VARIABLE RESISTOR:
In electronic circuits, sometimes it becomes necessary to adjust the values of
currents and voltages. For n example it is often desired to change the volume of
sound, the brightness of a television picture etc. Such adjustments can be done by
using variable resistors.
TRANSISTORS
Transistor has two pn junctions one junction is forward biased and other is
reversed biased. The forward junction has a low resistance path whereas a reverse
biased junction has a high resistance path.
The weak signal is introduced in the low resistance circuit and output is
taken from the high resistance circuit. Therefore a transistor transfers a signal from
a low resistance to high resistance.
Transistor has three sections of doped semiconductors. The section on one
side is emitter and section on the opposite side is collector. The middle section is
base.
Emitter : The section on one side that supplies charge carriers is called emitter.
The emitter is always forward biased w.r.t. base.
Collector : The section on the other side that collects the charge is called collector.
The collector is always reversed biased.
Base : The middle section which forms two pn-junctions between the emitter and
collector is called base.
A transistor raises the strength of a weak signal and thus acts as an amplifier.
The weak signal is applied between emitter-base junction and output is taken
across the load Rc connected in the collector circuit. The collector current flowing
through a high load resistance Rc produces a large voltage across it. Thus a weak
signal applied in the input appears in the amplified form in the collector circuit.
Switch
A pressure sensor or switch measures pressure. Pressure is usually expressed in
terms of force per unit area. A pressure sensor usually acts as a transducer; it
generates a signal as a function of the pressure imposed.
employed
measurement.
sensing
technology
for
general
purpose
pressure
WHEEL
wheels to rotate, a moment needs to be applied to the wheel about its axis, either
by way of gravity, or by the application of another external force or torque.
CONNECTORS
Connectors are basically used for interface between two. Here we use
connectors for having interface between PCB and 8051 Microprocessor Kit.
There are two types of connectors they are male and female. The one, which
is with pins inside, is female and other is male.
These connectors are having bus wires with them for connection.
For high frequency operation the average circumference of a coaxial cable must be
limited to about one wavelength, in order to reduce multimodal propagation and
eliminate erratic reflection coefficients, power losses, and signal distortion. The
standardization of coaxial connectors during World War II was mandatory for
microwave operation to maintain a low reflection coefficient or a low voltage
standing wave ratio.
Seven types of microwave coaxial connectors are as follows:
1.APC-3.5
2.APC-7
3.BNC
4.SMA
5.SMC
6.TNC
7.Type N
Buzzer
work in the same manner as an alarm works. They are generally equipped with
sensors or switches connected to a control unit and the control unit illuminates a
light on the appropriate button or control panel, and sound a warning in the form of
a continuous or intermittent buzzing or beeping sound.
The word "buzzer" comes from the rasping noise that buzzers made when they
were electromechanical devices, operated from stepped-down AC line voltage at
50 or 60 cycles.
Typical uses of buzzers and beepers include alarms, timers and confirmation of
user input such as a mouse click or keystroke.
2.9.1Types of Buzzers
The different types of buzzers are electric buzzers, electronic
buzzers, mechanical buzzers, electromechanical, magnetic
buzzers, piezoelectric buzzers and piezo buzzers.
(i) Electric buzzers
A basic model of electric buzzer usually consists of simple circuit
components such as resistors, a capacitor and 555 timer IC or an
integrated circuit with a range of timer and multi-vibrator
functions. It works through small bits of electricity vibrating
together which causes sound.
(ii) Electronic buzzers
An electronic buzzer comprises an acoustic vibrator comprised of
a circular metal plate having its entire periphery rigidly secured to
a support, and a piezoelectric element adhered to one face of the
Magnetic buzzers are magnetic audible signal devices with built-in oscillating
circuits. The construction combines an oscillation circuit unit with a detection coil,
a drive coil and a magnetic transducer. Transistors, resistors, diodes and other small
devices act as circuit devices for driving sound generators. With the application of
voltage, current flows to the drive coil on primary side and to the detection coil on
the secondary side. The amplification circuit, including the transistor and the
feedback circuit, causes vibration. The oscillation current excites the coil and the
unit generates an AC magnetic field corresponding to an oscillation frequency. This
AC magnetic field magnetizes the yoke comprising the magnetic circuit. The
oscillation from the intermittent magnetization prompts the vibration diaphragm to
vibrate up and down, generating buzzer sounds through the resonator.
In this project, a magnetic buzzer has been used.
2.9.2 Circuit of buzzer
FUTURE APPLICATIONS:
Robots help automate thousands of factories around the
world.
Conclusion
In the concluding remarks we would like to say that as our Obstacle sensing robot
successfully follow the path, still it needs some modification. Some modifications
are needed to make it smarter so that it can work more efficiently. To make it fast
and furious, more sensitive sensors are needed. Also vision-based robotic system
can be developed so that it can obtain the images of obstacles and can change path.
To make it more industry oriented fast sensors are required. Control can be
improved by using stepper motors.
BIBLIOGRAPHY
www.alldatasheets.com
www.datasheetcatalog.com
www.electroniccircuitschematic.com
www.epanaroma.com
www.yahoo.com
www.google.com
www.scielectronics.com
www.parallax.com
www.parallaxinc.com