BRFY ROBOTICS

Metal Detecting Robot

BRFY ROBOTICS

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CONTENT
1. 2. 3. INTRODUCTION DESIGN PRINCIPLE CIRCUIT DESCRIPTION
A. Metal detector B. Signal conditioning C. Mother Board D. IR Transmitter E. IR Receiver F. Relay driver G. Bidirectional DC motor H. Bidirectional DC motor driver I. Buzzer Driver

4. 5. 6.

FUTURE EXPANSION CONCLUSION

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INTRODUCTION
The present scenario of technology, research and development primarily focused on the defense activity. The Anti Tank mine detector is a robotic instrument which can be used as a mine detector to protect the Tank. This is very much useful and advantageous to protect the tanks moving on the war field. The ANTI-TANK MINE DETECTOR is an automated robotic vehicle which moves on the earth surface and scans the area on which it moves. This project is designed with an intension to design a pilot robot which can guide the tank fleet. The Pilot robot is designed to find out a safe path for the tanks. This robot is known as Anti Tank Mine Detector. The Anti Tank Mine Detector move on a surface and detect obstacles and mines and finds safe path for the tank fleet. The pilot robot is a intelligent path finder which finds a safe and effective path for the tanks in the war field. This robot can be used in defense and also used as path finder for explosive detector. This is basically a robotic vehicle which has certain

inelegancy to under stand the obstacle and mine etc also this robot is having memory to remember the obstacle position so that it will not enter into a vicious loop.

The word "robot" originates from the word for forced labor, Basically a robots consists of:

A mechanical device, such as a wheeled platform, arm, or other construction, capable of interacting with its environment

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Sensors on or around the device that are able to sense the environment and give useful feedback to the device

Systems that process sensory input in the context of the device's current situation and instruct the device to perform actions in response to the situation

In the manufacturing field, robot development has focused on engineering robotic arms that perform manufacturing processes. In the space industry, robotics focuses on highly specialized, one-of-kind planetary rovers. Unlike a highly automated manufacturing plant, a planetary rover operating on the dark side of the moon -- without radio communication -- might run into unexpected situations. At a minimum, a planetary rover must have some source of sensory input, some way of interpreting that input, and a way of modifying its actions to respond to a changing world. Furthermore, the need to sense and adapt to a partially unknown environment requires intelligence (in other words, artificial intelligence).

From military technology and space exploration to the health industry and commerce, the advantages of using robots have been realized to the point that they are becoming a part of our collective experience and every day lives.

They function to relieve us from danger and tedium:

Safety: Robotics have been developed to handle nuclear and radioactive chemicals for many different uses including nuclear weapons, power plants, environmental cleanup, and the processing of certain drugs.

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Unpleasantness: Robots perform many tasks that are tedious and unpleasant, but necessary, such as welding or janitorial work.

Repetition and precision: Assembly line work has been one of the mainstays of the robotics industry. Robots are used extensively in manufacturing and, more glamorously, in space exploration, where minimum maintenance requirements are emphasized.

Robot,defined "A re-programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks."

-- From the Robot Institute of America, 1979

Robots have become important over a wide range of applications--from manufacturing, to surgery, to the handling of hazardous materials. Consequently, it's important to understand how they work, and what problems exist in designing effective robots. This project will address one of those problems: positional control.

Anti Tank Mine Detector

is an autonomous robot with certain amount of

artificial intelligence, which is one of the evolving fields of application, in the present scenario of robotics. There are different technologies used for design of this type of robots. This is an application where the concept of embedded processor to wireless communication is being used for a practical application. These types of applications are very much useful for the industries engaged in

BRFY ROBOTICS hazardous process and places where the access of human being is difficult. Specifically, the if the path of the robot is quit complicated and not suitable for laying cable then there is the only solution exists that is to provide autonomy or artificial intelligence to the robot. The Anti Tank Mine Detector is one of such application realized using embedded micro-controller. The basic advantage of embedded technology is compact size and reliable operation. The micro controller used in this project is AT89C51. The micro controller receives the signal from the sensors connected and takes the decision as per the program algorithms

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THEORY AND DESIGN PRINCIPLE

Theory:
Mechanical platforms -- the hardware base
A robot consists of two main parts: the robot body and some form of artificial intelligence or control system. Many different body parts can be called a robot. Articulated arms are used in welding and painting; gantry and conveyor systems move parts in factories; and giant robotic machines move earth deep inside mines. One of the most interesting aspects of robots in general is their behavior, which requires a form of intelligence. The simplest behavior of a robot is locomotion. Typically, wheels are used as the underlying mechanism to make a robot move from one point to the next. And some force such as electricity is required to make the wheels turn under command.

Motors

A variety of electric motors provide power to robots, allowing them to move material, parts, tools, or specialized devices with various programmed motions. The efficiency rating of a motor describes how much of the electricity consumed is converted to mechanical energy. Let's take a look at some of the mechanical devices that are currently being used in modern robotics technology.

DC motor: Permanent magnet, direct-current (PMDC) motors require only two leads, and use an arrangement of fixed- and electro-magnets (stator and rotor)

BRFY ROBOTICS and switches. These form a commutator to create motion through a spinning magnetic field.

AC motor: AC motors cycle the power at the input-leads, to continuously move the field. Given a signal, AC and DC motors perform their action to the best of their ability.

Stepper motor: Stepper motors are like a brush less DC or AC motor. They move the rotor by applying power to different magnets in the motor in sequence (stepped). Steppers are designed for fine control and will not only spin on command, but can spin at any number of steps-per-second (up to their maximum speed).

Servomotors: Servomotors are closed-loop devices. Given a signal, they adjust themselves until they match the signal. Servos are used in radio control airplanes and cars. They are simple DC motors with gearing and a feedback control system.

Driving mechanisms

Gears and chains: Gears and chains are mechanical platforms that provide a strong and accurate way to transmit rotary motion from one place to another, possibly changing it along the way. The speed change between two gears depends upon the number of teeth on each gear. When a powered gear goes through a full rotation, it pulls the chain by the number of teeth on that gear.

BRFY ROBOTICS Pulleys and belts: Pulleys and belts, two other types of mechanical platforms used in robots, work the same way as gears and chains. Pulleys are wheels with a groove around the edge, and belts are the rubber loops that fit in that groove.

Gearboxes: A gearbox operates on the same principles as the gear and chain, without the chain. Gearboxes require closer tolerances, since instead of using a large loose chain to transfer force and adjust for misalignments, the gears mesh directly with each other. Examples of gearboxes can be found on the transmission in a car, the timing mechanism in a grandfather clock, and the paper-feed of your printer.

Power supplies

Power supplies are generally provided by two sources, either from battery of from rectified and regulated power supply source. The motors and the controller can be operated from any source of power. Where as the wireless communication devices are requiring low ripple power supply. The most reliable source for this type of power is 3v and 9v batteries. While designing wire less communication devises a special care must be taken for low power consumption.

Microcontroller systems
Micro controllers (MCUs) are intelligent electronic devices used inside robots. They deliver functions similar to those performed by a microprocessor (central processing unit, or CPU) inside a personal computer. MCUs are slower and can address less memory than CPUs, but are designed for real-world control

BRFY ROBOTICS problems. One of the major differences between CPUs and MCUs is the number of external components needed to operate them. MCUs can often run with zero external parts, and typically need only an external crystal or oscillator.

There are four basic aspects of a microcontroller: speed, size, memory, and other. Speed is designated in clock cycles, and is usually measured in millions of cycles per second (Megahertz, MHz). The use of the cycles varies in different MCUs, affecting the usable speed of the processor. Size specifies the number of bits of information the MCU can process in one step -- the size of its natural cluster of information. MCUs come in 4-, 8-, 16-, and 32-bits, with 8-bit MCUs being the most common size. MCUs count most of their ROM in thousands of bytes (KB) and RAM in single bytes. Many MCUs use the Harvard architecture, in which the program is kept in one section of memory (usually the internal or external SRAM). This in turn allows the processor to access the separate memories more efficiently.

The fourth aspect of micro controllers, referred to as "other", includes features such as a dedicated input device that often (but not always) has a small LED or LCD display for output. A microcontroller also takes input from the device and controls it by sending signals to different components in the device. Also the program counter keeps track of which command is to be executed by the microcontroller.

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Design and operation principle:

Mechanical Design:

In this project there are four Wheels in of an robotic vehicles driven by four servo motors. The Microcontroller AT 89C51 is programmed to drive the servo motors in either direction to control the movement of the robotic vehicle. The program which is executing to drive the robot reserve the memory area to keep the status of movement if the last movement is found to be defective then

automatically the controller select another path to move the robot.

The obstacle detector is a photo reflective type sensor. There is a IR source and receiver .The receiver output is feed to the microcontroller to detect the obstacle. A metal detector is used for detecting the Anti Tank Mine. The out put of the metal detector is feed to the interrupt input of the micro controller for alarm and wait until get cleared.

CIRCUIT DESCRIPTION
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A. METAL DETECTOR
Metal detectors use electromagnetic induction to detect metal. Uses include demining (the detection of land mines), the detection of weapons such as knives and guns, especially at airports, geophysical prospecting, archaeology and treasure hunting. Metal detectors are also used to detect foreign bodies in food, and in the construction industry to detect steel reinforcing bars in concrete and pipes and wires buried in walls and floors.

In its simplest form, a metal detector consists of an oscillator producing an alternating current that passes through a coil producing an alternating magnetic field. If a piece of electrically conductive metal is close to the coil, eddy currents will be induced in the metal, and this produces an alternating magnetic field of its own. If another coil is used to measure the magnetic field (acting as a magnetometer), the change in the magnetic field due to the metallic object can be detected.

The metal detector circuit is consisting of basically three sections. There is a colpit oscillator with split capacitors and single inductance coil. The C1 and C2 are the capacitance of the capacitor and L is the inductance of the inductor. A Colpitts oscillator is the electrical dual of a Hartley oscillator. In the Colpitts circuit, two capacitors and one inductor determine the frequency of oscillation. The feedback needed for oscillation is taken from a voltage divider made by the two capacitors, where in the Hartley circuit the feedback is taken from a voltage

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BRFY ROBOTICS divider made by two inductors (or a tapped single inductor). (Note: the capacitor can be a variable device by using a varactor)

A simplified version of the formula is this:

In this case when metal or mine is detected then the inductance l changes so the oscillation frequency decreases. And the change of frequency is the vital concept of mine or metal detector. The Transistors T1, T2, Capacitor C1, C2, and

Inductor L form the oscillator section. The next section is a tuned oscillator which varies its gain with frequency. The transistor T3, T4, capacitor C3, C4 and Resistance R1 forms a filter network and a amplifier. The frequency signal feed to the filter and amplifier is rectified by a diode so the amplifier output is a DC. The C3 acts as a high pass capacitor so when the metal is detected the

frequency decreases and the capacitor attenuate the signal and diode and

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BRFY ROBOTICS capacitor filter the signal and convert into DC. This signal is feed to the amplifier T3. In this condition (metal or mine detected) the T3 output is high ( at the base of T4 appears with Vcc.). The transistor T4 is in ON condition so current flow in the LED and LED glows. When the coil is normal condition( no metal or mine detected) the frequency is higher the pass capacitor C3 allow signal and the output of the amplifier transistor T3 is low as the transistor T3 is ON. Which in turn Off the Transistor T4 so the LED is in OFF condition.

The next stage is a signal conditioning or high gain amplifier stage which converts the output of the amplifier into a TTL compatible signal to feed further section. The Transistors T5 and T6 are designed to operate in cutoff and saturation region. This signal is feed to the next sections for further processing.

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Vcc=+12V
1N4148 1N4148

2.7k

56k

1k
LED 10k

15k
DETECTING COIL

Vcc=+5V

BC547 BC547

BC547 BC547
10k 1.5k

1N4148 10KpF
270pF

2.2k 1.5k

0.01uF
56k 10K

1N4148

0.1uF

BC547

P3.2
BC547

220pF

5K

270pF

MINE-DETECTOR

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B. SIGNAL CONDITIONING
The output form the input signal i.e. comparator or any other external circuit must be compatible with the -controller, because the -controller can takes 5V as input voltage and gives a 5V as output voltage. That for we need a signal conditioning circuit as given in the below figure.

SIGNAL CONDITIONING
VCC= +5v VCC= +5v

INPUT

1.5k

10k

OUTPUT
BC 547

BC 547

INPUT

1.5k

10k

OUTPUT

(1:1)

(1:0)

fig..1:1 In the fig1: 1, whenever the base voltage is HIGH the transistor comes to saturation condition i.e. the collector current flows to the emitter which

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BRFY ROBOTICS gives a high voltage at the output corresponding to Vcc given at the collector. The output is taken from the emitter junction through a current limiting resistance and the output signal is given to the - controller or any other circuit which needs a compatible (5V) voltage. Similarly, whenever the base voltage is LOW the emitter current flows from the emitter junction of the transistor, which gives a low voltage at the output corresponding to GND. The output is taken from the emitter junction through a current limiting resistance and the output signal is given to the - controller or any other circuit which needs a compatible (5V) voltage. fig..1:0 In the fig1: 0, whenever the base voltage is HIGH the transistor comes to saturation condition i.e. the emitter current flows to the collector which gives a low voltage at the output corresponding to GND. The output is taken from the collector junction through a current limiting resistance and the output signal is given to the - controller or any other circuit which needs a compatible (5V/0V) voltage. Similarly, whenever the base voltage is LOW the collector current flows from the collector junction of the transistor, which gives a high voltage at the output corresponding to Vcc. The output is taken from the emitter junction through a current limiting resistance and the output signal is given to the controller or any other circuit which needs a compatible (5V/0V) voltage.

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C.

MOTHER BOARD

The motherboard of this project is designed with a MSC 51 core compatible micro controller. The motherboard is designed on a printed circuit board, compatible for the micro controller. This board is consisting of a socket for micro controller, input /output pull-up registers; oscillator section and auto reset circuit.

Micro controller core processor:

Introduction Despite its relatively old age, the 89C51 is one of the most popular Micro controller in use today. Many derivatives Micro controllers have since been developed that are based on--and compatible with--the 8051. Thus, the ability to program an 89C51 is an important skill for anyone who plans to develop products that will take advantage of Micro controller.

Many web pages, books, and tools are available for the 89C51 developer.

The 89C51 has three very general types of memory. To effectively program the8051 it is necessary to have a basic understanding of these memory types.

The memory types are illustrated in the following graphic. They are: On-Chip Memory, External Code Memory, and External RAM.

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On-Chip Memory refers to any memory (Code, RAM, or other) that physically exists on the Microcontroller itself. On-chip memory can be of several types, but we'll get into that shortly.

External Code Memory is code (or program) memory that resides off-chip. This is often in the form of an external EPROM.

External RAM is RAM memory that resides off-chip. This is often in the form of standard static RAM or flash RAM.

Code Memory

Code memory is the memory that holds the actual 8051 program that is to be run. This memory is limited to 64K and comes in many shapes and sizes: Code memory may be found on-chip, either burned into the Microcontroller as ROM or EPROM. Code may also be stored completely off-chip in an external ROM or, more commonly, an external EPROM. Flash RAM is also another popular method of storing a program. Various combinations of these memory types may

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BRFY ROBOTICS also be used--that is to say, it is possible to have 4K of code memory on-chip and 64k of code memory off-chip in an EPROM.

When the program is stored on-chip the 64K maximum is often reduced to 4k, 8k, or 16k. This varies depending on the version of the chip that is being used. Each version offers specific capabilities and one of the distinguishing factors from chip to chip is how much ROM/EPROM space the chip has.

However, code memory is most commonly implemented as off-chip EPROM. This is especially true in low-cost development systems and in systems developed by students.

Programming Tip: Since code memory is restricted to 64K, 89C51 programs are limited to 64K. Some assemblers and compilers offer ways to get around this limit when used with specially wired hardware. However, without such special compilers and hardware, programs are limited to 64K.

External RAM

As an obvious opposite of Internal RAM, the 89C51 also supports what is called External RAM.

As the name suggests, External RAM is any random access memory which is found off-chip. Since the memory is off-chip it is not as flexible in terms of accessing, and is also slower. For example, to increment an Internal RAM location by 1 requires only 1 instruction and 1 instruction cycle. To increment a 1-

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BRFY ROBOTICS byte value stored in External RAM requires 4 instructions and 7 instruction cycles. In this case, external memory is 7 times slower!

What External RAM loses in speed and flexibility it gains in quantity. While Internal RAM is limited to 128 bytes (256 bytes with an 8052), the 8051 supports External RAM up to 64K.

Programming Tip: The 8051 may only address 64k of RAM. To expand RAM beyond this limit requires programming and hardware tricks. You may have to do this "by hand" since many compilers and assemblers, while providing support for programs in excess of 64k, do not support more than 64k of RAM. This is rather strange since it has been my experience that programs can usually fit in 64k but often RAM is what is lacking. Thus if you need more than 64k of RAM, check to see if your compiler supports it-- but if it doesn't, be prepared to do it by hand.

On-Chip Memory

As mentioned at the beginning of this chapter, the 89C51 includes a certain amount of on-chip memory. On-chip memory is really one of two types: Internal RAM and Special Function Register (SFR) memory. The layout of the 89C51's internal memory is presented in the following memory map:

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As is illustrated in this map, the 8051 has a bank of 128 bytes of Internal RAM. This Internal RAM is found on-chip on the 8051 so it is the fastest RAM available, and it is also the most flexible in terms of reading, writing, and modifying its contents. Internal RAM is volatile, so when the 8051 is reset this memory is cleared.

The 128 bytes of internal ram is subdivided as shown on the memory map. The first 8 bytes (00h - 07h) are "register bank 0". By manipulating certain SFRs, a program may choose to use register banks 1, 2, or 3. These alternative register banks are located in internal RAM in addresses 08h through 1Fh. We'll discuss "register banks" more in a later chapter. For now it is sufficient to know that they "live" and are part of internal RAM.

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BRFY ROBOTICS Bit Memory also lives and is part of internal RAM. We'll talk more about bit memory very shortly, but for now just keep in mind that bit memory actually resides in internal RAM, from addresses 20h through 2Fh.

The 80 bytes remaining of Internal RAM, from addresses 30h through 7Fh, may be used by user variables that need to be accessed frequently or at high-speed. This area is also utilized by the Microcontroller as a storage area for the operating stack. This fact severely limits the 8051s stack since, as illustrated in the memory map, the area reserved for the stack is only 80 bytes--and usually it is less since this 80 bytes has to be shared between the stack and user variables.

SFR Descriptions

There are different special function registers (SFR) designed in side the 89C51 micro controller. In this micro controller all the input , output ports, timers

interrupts are controlled by the SFRs. The SFR functionalities are as follows.

This section will endeavor to quickly overview each of the standard SFRs found in the above SFR chart map. It is not the intention of this section to fully explain the functionality of each SFR--this information will be covered in separate chapters of the tutorial. This section is to just give you a general idea of what each SFR does.

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BRFY ROBOTICS P0 (Port 0, Address 80h, Bit-Addressable): This is input/output port 0. Each bit of this SFR corresponds to one of the pins on the Microcontroller. For example, bit 0 of port 0 is pin P0.0, bit 7 is pin P0.7. Writing a value of 1 to a bit of this SFR will send a high level on the corresponding I/O pin whereas a value of 0 will bring it to a low level.

Programming Tip: While the 8051 has four I/O port (P0, P1, P2, and P3), if your hardware uses external RAM or external code memory (i.e., your program is stored in an external ROM or EPROM chip or if you are using external RAM chips) you may not use P0 or P2. This is because the 8051 uses ports P0 and P2 to address the external memory. Thus if you are using external RAM or code memory you may only use ports P1 and P3 for your own use.

SP (Stack Pointer, Address 81h): This is the stack pointer of the Microcontroller. This SFR indicates where the next value to be taken from the stack will be read from in Internal RAM. If you push a value onto the stack, the value will be written to the address of SP + 1. That is to say, if SP holds the value 07h, a PUSH instruction will push the value onto the stack at address 08h. This SFR is modified by all instructions which modify the stack, such as PUSH, POP, LCALL, RET, RETI, and whenever interrupts are provoked by the Microcontroller. Programming Tip: The SP SFR, on startup, is initialized to 07h. This means the stack will start at 08h and start expanding upward in internal RAM. Since alternate register banks 1, 2, and 3 as well as the user bit variables occupy internal RAM from addresses 08h through 2Fh, it is necessary to initialize SP in

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BRFY ROBOTICS your program to some other value if you will be using the alternate register banks and/or bit memory. It's not a bad idea to initialize SP to 2Fh as the first instruction of every one of your programs unless you are 100% sure you will not be using the register banks and bit variables. DPL/DPH (Data Pointer Low/High, Addresses 82h/83h): The SFRs DPL and DPH work together to represent a 16-bit value called the Data Pointer. The data pointer is used in operations regarding external RAM and some instructions involving code memory. Since it is an unsigned two-byte integer value, it can represent values from 0000h to FFFFh (0 through 65,535 decimal). Programming Tip: DPTR is really DPH and DPL taken together as a 16-bit value. In reality, you almost always have to deal with DPTR one byte at a time. For example, to push DPTR onto the stack you must first push DPL and then DPH. You can't simply plush DPTR onto the stack. Additionally, there is an instruction to "increment DPTR." When you execute this instruction, the two bytes are operated upon as a 16-bit value. However, there is no instruction that decrements DPTR. If you wish to decrement the value of DPTR, you must write your own code to do so. PCON (Power Control, Addresses 87h): The Power Control SFR is used to control the 8051's power control modes. Certain operation modes of the 8051 allow the 8051 to go into a type of "sleep" mode, which requires much, less power. These modes of operation are controlled through PCON. Additionally, one of the bits in PCON is used to double the effective baud rate of the 8051's serial port.

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BRFY ROBOTICS TCON (Timer Control, Addresses 88h, Bit-Addressable): The Timer Control SFR is used to configure and modify the way in which the 8051's two timers operate. This SFR controls whether each of the two timers is running or stopped and contains a flag to indicate that each timer has overflowed. Additionally, some non-timer related bits are located in the TCON SFR. These bits are used to configure the way in which the external interrupts are activated and also contain the external interrupt flags which are set when an external interrupt has occurred.

TMOD (Timer Mode, Addresses 89h): The Timer Mode SFR is used to configure the mode of operation of each of the two timers. Using this SFR your program may configure each timer to be a 16-bit timer, an 8-bit auto reload timer, a 13-bit timer, or two separate timers. Additionally, you may configure the timers to only count when an external pin is activated or to count "events" that are indicated on an external pin.

TL0/TH0 (Timer 0 Low/High, Addresses 8Ah/8Ch): These two SFRs, taken together, represent timer 0. Their exact behavior depends on how the timer is configured in the TMOD SFR; however, these timers always count up. What is configurable is how and when they increment in value.

TL1/TH1 (Timer 1 Low/High, Addresses 8Bh/8Dh): These two SFRs, taken together, represent timer 1. Their exact behavior depends on how the timer is configured in the TMOD SFR; however, these timers always count up. What is configurable is how and when they increment in value.

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BRFY ROBOTICS P1 (Port 1, Address 90h, Bit-Addressable): This is input/output port 1. Each bit of this SFR corresponds to one of the pins on the Microcontroller. For example, bit 0 of port 1 is pin P1.0, bit 7 is pin P1.7. Writing a value of 1 to a bit of this SFR will send a high level on the corresponding I/O pin whereas a value of 0 will bring it to a low level.

SCON (Serial Control, Addresses 98h, Bit-Addressable): The Serial Control SFR is used to configure the behavior of the 8051's on-board serial port. This SFR controls the baud rate of the serial port, whether the serial port is activated to receive data, and also contains flags that are set when a byte is successfully sent or received.

Programming Tip: To use the 8051's on-board serial port, it is generally necessary to initialize the following SFRs: SCON, TCON, and TMOD. This is because SCON controls the serial port. However, in most cases the program will wish to use one of the timers to establish the serial port's baud rate. In this case, it is necessary to configure timer 1 by initializing TCON and TMOD. SBUF (Serial Control, Addresses 99h): The Serial Buffer SFR is used to send and receive data via the on-board serial port. Any value written to SBUF will be sent out the serial port's TXD pin. Likewise, any value which the 8051 receives via the serial port's RXD pin will be delivered to the user program via SBUF. In other words, SBUF serves as the output port when written to and as an input port when read from.

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BRFY ROBOTICS P2 (Port 2, Address A0h, Bit-Addressable): This is input/output port 2. Each bit of this SFR corresponds to one of the pins on the Microcontroller. For example, bit 0 of port 2 is pin P2.0, bit 7 is pin P2.7. Writing a value of 1 to a bit of this SFR will send a high level on the corresponding I/O pin whereas a value of 0 will bring it to a low level.

Programming Tip: While the 8051 has four I/O port (P0, P1, P2, and P3), if your hardware uses external RAM or external code memory (i.e., your program is stored in an external ROM or EPROM chip or if you are using external RAM chips) you may not use P0 or P2. This is because the 8051 uses ports P0 and P2 to address the external memory. Thus if you are using external RAM or code memory you may only use ports P1 and P3 for your own use. IE (Interrupt Enable, Addresses A8h): The Interrupt Enable SFR is used to enable and disable specific interrupts. The low 7 bits of the SFR are used to enable/disable the specific interrupts, where as the highest bit is used to enable or disable ALL interrupts. Thus, if the high bit of IE is 0 all interrupts are disabled regardless of whether an individual interrupt is enabled by setting a lower bit.

P3 (Port 3, Address B0h, Bit-Addressable): This is input/output port 3. Each bit of this SFR corresponds to one of the pins on the Micro controller. For example, bit 0 of port 3 is pin P3.0, bit 7 is pin P3.7. Writing a value of 1 to a bit of this SFR will send a high level on the corresponding I/O pin whereas a value of 0 will bring it to a low level.

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Auto reset Circuit:

MICROCONTROLLER
39 38 37 36 35 34 33 32 1 2 3 4 5 6 7 8 P 0.0/AD0 P 0.1/AD1 P 0.2/AD2 P 0.3/AD3 P 0.4/AD4 P 0.5/AD5 P 0.6/AD6 P 0.7/AD7 P 1.0 P 1.1 P 1.2 P 1.3 P 1.4 P 1.5 P 1.6 P 1.7 X TA L1 X TA L2 E A/V PP RST P 2.0/A8 P 2.1/A9 P 2.2/A1 0 P 2.3/A1 1 P 2.4/A1 2 P 2.5/A1 3 P 2.6/A1 4 P 2.7/A1 5 P 3.0/RX D P 3.1/TX D P 3.2/INT 0 P 3.3/INT 1 P 3.4/T0 P 3.5/T1 P 3.6/WR P 3.7/RD A LE /P ROG P SE N 21 22 23 24 25 26 27 28 10 11 12 13 14 15 16 17 30 29

22pF 4 - 12Mhz

19 18 31 9

22pF

VCC=+5vdc

AT89C51

10uF RST

8.2k

The auto reset circuit is a RC network as shown in the mother board circuit diagram. A capacitor of 1-10mfd is connected in series with a 8k2 resister the RC junction is connected to the micro controller pin 9 which is reset pin. The reset pin is one when ever kept high( logic 1) the programme counter (PC) content resets to 0000h so the processor starts executing the programme. from that location. When ever the system is switched ON the mother board gets power and the capacitor acts as short circuit and the entire voltage appears across the

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BRFY ROBOTICS resistor, so the reset pin get a logic 1 and the system get reset, whenever it is being switched ON.

Pull-UP Resisters:
VCC=+5V

10k

PORT-0

39 38 37 36 35 34 33 32 1 2 3 4 5 6 7 8 19 18 31 9

P 0.0/AD0 P 0.1/AD1 P 0.2/AD2 P 0.3/AD3 P 0.4/AD4 P 0.5/AD5 P 0.6/AD6 P 0.7/AD7 P 1.0 P 1.1 P 1.2 P 1.3 P 1.4 P 1.5 P 1.6 P 1.7 X TA L1 X TA L2 E A/V PP RST

P 2.0/A8 P 2.1/A9 P 2.2/A1 0 P 2.3/A1 1 P 2.4/A1 2 P 2.5/A1 3 P 2.6/A1 4 P 2.7/A1 5 P 3.0/RX D P 3.1/TX D P 3.2/INT 0 P 3.3/INT 1 P 3.4/T0 P 3.5/T1 P 3.6/WR P 3.7/RD A LE /P ROG P SE N

21 22 23 24 25 26 27 28 10 11 12 13 14 15 16 17 30 29

AT89C51
The PORT0 and PORT2 of the MCS-51 architecture is of open collector type so on writing logic 0 the pins are providing a perfect ground potential. Where as on writing logic 1 the port pins behaves as high impedance condition so putting a pull-up resister enables the port to provide a +5volt(logic 1). Port1 and Port3 are provided with internal pull-ups. A pull-up resister is normally a 10K resistance connected from the port pin to the Vcc (+5) volt.

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Crystal Oscillator
The 8051 family microcontroller contains an inbuilt crystal oscillator, but the crystal has to be connected externally. This family of microcontroller can support 0 to 24MHz crystal and two numbers of decoupling capacitors are connected as shown in the figure. These capacitors are decouples the charges developed on the crystal surface due to piezoelectric effect. These decoupling capacitors are

normally between 20pf to 30pf. The clock generator section is designed as follows,

The Microcontroller design consist of two parts 1) 2) Hardware. Software.

HARDWARE:

The controller operates on +5 V dc, so the regulated + 5v is supplied to pin no. 40 and ground at pin no. 20. The controller is used here need not required to

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BRFY ROBOTICS handle high frequency signals, so as 4 MHz crystal is used for operating the processor. The pin no. 9 is supplied with a +5V dc through a push switch. To reset the processor .As prepare codes are store in the internal flash memory the pin no. 31 is connected to + Vcc

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MOTHER BOARD
BUZZER DRIVER
39 38 37 36 35 34 33 32 1 2 3 4 5 6 7 8
4M Hz

MOTOR START

P0.0/AD0 P0.1/AD1 P0.2/AD2 P0.3/AD3 P0.4/AD4 P0.5/AD5 P0.6/AD6 P0.7/AD7 P1.0 P1.1 P1.2 P1.3 P1.4 P1.5 P1.6 P1.7

P2.0/A8 P2.1/A9 P2.2/A10 P2.3/A11 P2.4/A12 P2.5/A13 P2.6/A14 P2.7/A15 P3.0/RXD P3.1/TXD P3.2/INT0 P3.3/INT1 P3.4/T0 P3.5/T1 P3.6/WR P3.7/RD

21 22 23 24 25 26 27 28 10 11 12 13 14 15 16 17

DC MOTOR DRIVER
22pF

MINE-DETECTOR OBSTACKLE

19 18 XTAL1 XTAL2 31 9 EA/VPP RST

30 ALE/PROG 29 PSEN

22pF Vcc =+5V

AT89C51
RST

10uF 8.2k

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E.IR TRANSMITTER
The IR LED is also light emitting diode but the junction is made out of such material that the transition of electron between the bands emits quanta of energy( E=h) having a particular frequency which is having a particular characteristic. When a diode emits a particular characteristic signal having frequency in the range of infrared then, that diode is called a infrared emitting diode. The IR data transmitter is a high intensity IR signal transmitter. There are two diodes connected in parallel to increase the intensity to avoid data corruption. In this section our aim is to protect the zone/door/almira etc. from the unauthorized entry or interruption, for that we need some element that should not be visible to the unauthorized person. For that we have taken elements as IR LED as a source and photo diode as a destination. Generally, we have taken IR because IR is invisible to the eye, where as in case of LASER, which is easily visible to the human eye by which will, alert the unauthorized person. That is why we have taken IR as a transmitter which will transmit a continuously IR signal. At the receiver end the photodiode will receive the IR signal. if somebody tries to interrupt the IR signal at the transmitter end, the receiver will decide the absence of the IR signal at the receiver end.

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VCC=+12V

150E/2W

IR DIODE

PHOTO DIODE

15k
8
U1A 1

10k
+

10K BC547

VCC=+12V 200K

GND

V CC

10k

TO NAND GATE
1k

OUT

IR TRANSMITTER

LM393 10K

IR RECEIVER/DETECTOR

Operation:
Whenever the base voltage (12v) is high which is connected through a base resistance Rb (1k-10k), the transistor (BC547/BC548) comes to saturation condition (ON state) thus emitter current starts flowing towards the collector junction which is connected through a collector resistance Rc (150E/2) and connected to Vcc. Which makes an IR LED as a forward biased thus transmit a continuous IR signal.

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F.IR RECEIVER
Introduction:
If a convectional silicon diode is connected in reverse biased ckt in fig., negligible current will flows through the diode and zero voltage will develop across R.

V CC

V CC

D1

D1

Vout

Vout

Fig.1

Fig.2

If the diode casing is now carefully removed so that the diode semiconductor junction is revealed, and the junction is then exposed to the visible light in the ckt

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BRFY ROBOTICS fig.1, the diode current will rise, possibly to as high as 1mA,producing a significant output across R. In use, the photodiode is reversed biased and the output voltage is taken from across a series-connected load resistor. This resistor may be connected between the diode and ground as in fig.1, or between the diode and the positive supply as in fig.2. Photodiodes have a far lower light sensitivity than cadmium-sulphide LDRs, but give a far quicker response to change in light level. Generally, LDRs are ideal for the use in slow acting directcoupled light- level sensing application, while photodiodes are ideal for the use in fast-acting AC-coupled signaling applications. Application: circuits, etc. Operation: In our project in the data receiving section, the photodiode is used as signal (data) detector purpose to detect the IR signal (data) from the IR transmitter LED section. Whenever the signal is transmitted from the IR transmitter LED, the signal is received at the photodiode receiving section. The receiving signal is very weak in strength, for that we used an amplifier. The output of the photodiode is given as input to the amplifier (Op-amp LM351) through a filtering capacitor (0.01uF) which is configured as an inverting amplifier and the non-inverting is grounded and the gain is adjusted with a variable resistor (1ME) to amplify the weak signal. Thus the amplified output is obtained at the output. That output signal is not compatible with the Microcontroller because of the high current; that output from the Op-amp is given to the signal conditioning i.e. the signal is given IR beam switches and alarm ckt, and photographic flash slave

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BRFY ROBOTICS to the base of the transistor through a base resistance (1.5k) and the collector is connected to Vcc and the output is taken from the emitter through a (10k) resistance which is connected to ground. Thus the output signal is compatible with the Microcontroller and that signal is connected to the RxD pin of the Microcontroller. Thus the transmitted data is received at the receiving section. The transmitted signal must fall pin pointed to the photodiode junction in order to receive the correct data at the receiver end without any interference or malflacuation.

G.RELAY DRIVER

The relay driver is design by using a BC547 transistor .The relay used here having the specification as follows Coil resistance =400ohm Coil voltage=12Vdc Contact capacity=230V, 7A

The above specification indicates that the coil requires 12V dc and 200mA current dc. The Microcontroller cant supply more then 10mA current. So driver section is very much required. BC547 has a typical current gain of 200 and maximum current capacity of 1A. So a typical base current of 200 A can trigger to on the relay.

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ELECTRO MAGNETIC RELAY These are varying much reliable devices and widely used on field. The operating frequency of these devices are minimum 10-20ms.That is 50Hz 100Hz.The relay which is used here can care 25mA currents continuously. The electromagnetic relay operates on the principle magnetism. When the base voltage appears at the relay driver section, the driver transistor will be driver transistor will be driven into saturation and allow to flow current in the coil of the relay, Which in turn create a magnetic field and the magnetic force produced due to that will act against the spring tension and close the contact coil. Whenever the base voltage is withdrawn the transistor goes to cutoff .So no current flow in the coil of the relay. Hence the magnetic field disappears so the contact point breaks automatically due to spring tension. Those contact points are isolated from the low voltage supply, so a high voltage switching is possible by the help of electromagnetic relays. The electromagnetic relays normally having 2 contact points. Named as normally closes (NC), normally open (NO). Normally closed points will so a short CKT path when the relay is off. Normally open points will so a short CKT path when the relay is energized.

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H. DC MOTOR
The motor being dissected here is a simple PMDC electric motor that is typically find applications in robotics and control systems also used for techo generator in the industries.

This is a small motor, about as big around as a coin. From the outside the body of the motor is shown in the picture along with its axle and two battery leads. If the motor is connected to the battery then , the axle will spin. If the leads are reversed then, it will spin in the opposite direction. Here are two other views of

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BRFY ROBOTICS the same motor. (Note the two slots in the side of the steel can in the second shot -- their purpose will become more evident in a moment.)

e nylon end cap is held in place by two tabs that are part of the steel can. By bending the tabs back, end cap can be free and removed. Inside the end cap are the motor's brushes. These brushes transfer power from the battery to the commutator as the motor spins:

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BRFY ROBOTICS The axle holds the armature and the commutator. The armature is a set of electromagnets in this case three. The armature in this motor is a set of thin metal plates stacked together, with thin copper wire coiled around each of the three poles of the armature. The two ends of each wire (one wire for each pole) are soldered onto a terminal, and then each of the three terminals is wired to one plate of the commutator. The figures below make it easy to see the armature, terminals and commutator:

The final piece of any DC electric motor is the field magnet. The field magnet in this motor is formed by the can itself plus two curved permanent magnets:

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BRFY ROBOTICS One end of each magnet rests against a slot cut into the can, and then the retaining clip presses against the other ends of both magnets.

An electromagnet is the basis of an electric motor. You can understand how things work in the motor by imagining the following scenario. Say that you created a simple electromagnet by wrapping 100 loops of wire around a nail and connecting it to a battery. The nail would become a magnet and have a north and south pole while the battery is connected.

Now say that you take your nail electromagnet, run an axle through the middle of it and suspend it in the middle of a horseshoe magnet as shown in the figure below. If you were to attach a battery to the electromagnet so that the north end of the nail appeared as shown, the basic law of magnetism tells you what would happen: The north end of the electromagnet would be repelled from the north end of the horseshoe magnet and attracted to the south end of the horseshoe magnet. The south end of the electromagnet would be repelled in a similar way. The nail would move about half a turn and then stop in the position shown

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I. DC MOTOR DRIVER
The D.C. Motor used in this project operates at 12 volt and carries approximately 400mA of current. The motor driver is designed to inter face the motor with micro controller. The micro controller out put is +5volt and can maximum give a current of 5mA. The driver stage changes the current and voltage level suitably to drive the motor. The driver stage not only drives the motor but also helps to control the direction of rotation. As the output current (Ic) is large the driver section requires a Darlington pair to switch the load. The Darlington pair I.C. TIP 122 is used here for designing. There are four ICs used here but two of those switched for one direction and other two will be switched for opposite direction rotation of the D.C. motor. The design principle of the driver section is as follows.

The motor takes approximately 400mA at 12 volt D.C., The power transistors can have amplification factor maximum 60 to 70 as per this assumption the base current required to switch on the transistor is approximately

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BRFY ROBOTICS Ib= (Ic/beta) =400mA/60 =6.7 mA

This current is too high to supply as a base current, more over the Microcontroller can not supply that much current to drive the transistor so, a darling ton pair is required to limit the base current with in 100 micro amp. To 2 mA.

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Vcc =+12v

1.5k

1N4007

RELAY

10uF

BC547

+
Vcc =+12v

M
-

Vcc =+12v

1.5k

1N4007

BC547

DC MOTOR DRIVER- 01

RELAY

10uF

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Vcc =+12v

1.5k

1N4007

RELAY

10uF

BC547

+
Vcc =+12v

M
-

Vcc =+12v

1.5k

1N4007

BC547

DC MOTOR DRIVER- 02

RELAY

10uF

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J. BUZZER DRIVER
This section interfaces one audible piezo electric buzzer with the controller. The controller activates the buzzer whenever there is any fault appears in any of the channel. PIEZO ELECRTIC BUZZER: It is a device that converts electrical signal to an audible signal (sound signal). The Microcontroller cannot drive directly to the buzzer, because the Microcontroller cannot give sufficient current to drive the buzzer for that we need a driver transistor (BC547), which will give sufficient current to the buzzer.

Whenever a signal received to the base of the transistor through a base resistance (1.5k) is high, the transistor comes to saturation condition i.e. ON condition thus the buzzer comes to on condition with a audible sound. Similarly, whenever the signal is not received to the base of the transistor, thus the transistor is in cut-off state i.e. is in OFF state thus the buzzer does not gets activated.

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FUTURE EXPANSION
This project has a vast field for expansion. The robot is designed with latest technology of communication and control. This project is designed with constraint of time and cost. This project can be modified and expanded in the following fields, 1. The robot can be interfaced with GPS sensor to send back the information to the base station to indicate the detection of mine at the particular location. 2. The robot can be programmed remotely through a GPRS or GSM network to control its movement. 3. The system may have a robotic arm and gripper to diffuse the mine . 4. The robo can be designed with a web cam to send the snap shots of the location.

CONCLUSION

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BRFY ROBOTICS This project is designed as a concept to control a robotic vehicle with automated control system. The control system is having feed back and the response is quit fast and accurate. The project performs satisfactorily in the laboratory condition. The accuracy and performance is quite accurate and the errors observed are well bellow the tolerance level.

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