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Presented by * (-

J.Venkatesan (80707122520)
I.Sunil Prakash(80707122040)
Mohammed Humayun Waseem (80707122022)
Ravi Vijayaraghavan (80707122030)
 .
 
Heavy explosive removing robot is an unmanned equipment to dispose dangerous
explosives. It is quite a useful project because there are many explosives that
threaten the security of the world. This project introduces the research work of a
heavy explosive removing robot. In this project, the heavy explosives and
suspicious objects gets captured through CCTV mechanism which is in the robot.
The communication medium between the control and robot section is the Zigbee
Communication. The keypad which is interfaced with the microcontroller unit is
used to control the robot. The input data from the keypad is transferred to the robot
unit through zigbee transceiver unit. Mine detection sensor used in the robot unit
detects any landmine and informs it to the control unit through LCD indication and
buzzer which is connected in control unit. The motors used in the robot are
controlled by using the relays. Relays are the electromagnetic switch which
activates the motors according to the given input.

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à ?xplosives are a serious threat to humankind.

à This robot can move, has grasp function, lift and place at
a safer location.
à The robot weighs around 2 Kgs and can lift a weight of
250-300gms.
à Monitored from a remote location.

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1
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à 8051 Microcontroller
à Landmine Sensor
à CCTV and Display Monitor
à Keypad
à Zigbee Transceiver
à Relays
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à Keil C Compiler.

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à Transmitter Station

POWER SUPPLY

ZIGBEE TRANSCEIVER
8051
MICRO
CONTROLLER

KEYPAD LCD

BUZZER

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à Receiver Station

POWER SUPPLY

ZIGBEE TRANSCEIVER

R
MINE DETECTION RELAY O
SENSOR 8051 DRIVER B
(IR, ULTRASONIC) MICRO O
CONTROLLER T

RELAY
SIGNAL CONDITIONING DRIVER

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à Heart of the robot.

à Atmel AT89S52 microcontroller is used.

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à Keypad is used to enter input.

à We use a 4x3 matrix keypad.

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à Low cost wireless technology.

à Requires lower power.
à Range of 60ft.

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à 8 data lines for I/O.

à RS: Register Select
RS = 0 -> Command Register is selected.
RS = 1 -> Data Register is selected.
à R/W: Read or Write
0 -> Write, 1 -> Read
à ?: ?nable (Latch data)
A high-to-low edge is needed to latch the data.

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à 4 DC motors of 30R/12V specifications are used

à 2 motors are used to control the wheel movement, one for
arm movement, one for hand
à Forward/backward movement is achieved with supply
drawn to both the wheels.
à Left/Right movement is achieved with change in input
supply.

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à Dimensions.
Length, breadth, height, diameter of robot.
à Movement of the robot.
Forward, Reverse, Angular movement.
à Keypad details.
Directional switches.

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The heavy explosive robot is made for the safety of the
people from harmful explosives that tend to end the lives
of millions. The robot can thus tend to help in this noble
cause. The searching and picking up of the explosive and
transporting it to a safer place where the human race is
less populated is attained through this project. With the
use of zigbee communication protocol we have an added
advantage. With obstacle in front of the robot, it can still
carry out the whole process of searching, picking and
placing without the need of people interfering it. Thus,
this robot is of extensive use in the military field where
explosive removing is quite often.

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 & 
 
à M1] Ward, C.C.; Iagnemma, K.;´ A Dynamic-Model-Based
Wheel Slip Detector for Mobile Robots on Outdoor
Terrain´. Robotics, I??? Transactions on Volume 24,
Issue 4, Aug. 2008 Page(s):821 ± 831

à M2] Antonelli, G.; Chiaverini, S. ³Kinematic Control of

Flatoons of Autonomous Vehicles´ Robotics, I???
Transactions on , Volume 22, Issue 6, Dec. 2006
Page(s):1285 ± 1292.

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