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Obstacle Avoiding Robot center3048000              PROJECT REPORT,[object Object],               ,[object Object],                              ,[object Object],OBSTACLE  AVOIDING  ROBOT,[object Object],SUBMITTED  BY:,[object Object],                  NAME                                       ROLL NO.,[object Object],                          SANDEEP BHOSALE                              03,[object Object],                          KALPESH CHHAJED                               06,[object Object],                          ABHIJEET KALBHOR                            13,[object Object],                          ABHIJEET KAPSE                                   15,[object Object],                                                           GUIDED BY,[object Object],[object Object]
Department of Electronics and Telecommunication
G.H.R.C.E.M., Wagholi, Pune
University of Pune
Academic Year 2008-2009
G. H. Raisoni
College of Engineering & Management
Certificate
                This is to certify that
                                        SANDEEP BHOSALE                                                    KALPESH CHHAJED,[object Object],                                                    ABHIJEET KALBHOR,[object Object],                                                    ABHIJEET KAPSE ,[object Object],[object Object]
    Project  Guide                                                             H. O. D.
Prof. Mr. Pravin Matte                                        Prof. Mr. Vijay Joshi
                                             Principal
                                           Dr. Mr. Dilip Shah
ACKNOWLEDGEMENTWe feel profound pleasure in bringing out this projects report for which we have to go from pillar to post to make it a reality. This project work reflects contributions of many people with whom we had long discussions and without which it would not have been possible. We must first of all, express our heartiest gratitude to respected Prof. Pravin Matte (Dept. of E&TC) for providing us all guidance to complete project.,[object Object],                             It would be unfair if we do not mention the invaluable contribution and timely co-operation extended to us by staff member of our department. And especially we can never forget the most worthy advices given by Col. Vijay Joshi (H.O.D., Dept of E&TC), that would help us the entire lifetime. ,[object Object],                              Last but not the least we express our sincere thanks to the institute G.H.R.C.E.M., Wagholi, Pune for providing such a platform for implementing the ideas in our mind. ,[object Object],INDEX                                   Page No.,[object Object],1. PREFACE,[object Object],  A) INTRODUCTION………………………………………………………..6,[object Object],  B) SCOPE OF PROJECT…………………………………………………..8,[object Object],2. DESIGN OF THE PROJECT,[object Object],  A) PRELIMINARY DESIGN,[object Object],  i)   BLOCK DIAGRAM………………………………………..10,[object Object],  ii)  CIRCUIT DIAGRAM ……………………………………..12,[object Object],  iii) COMPONENT LIST………………………………………14,[object Object],B) PROBLEMS ENCOUNTERED…………………………………………..15,[object Object], C) FINAL DESIGN,[object Object],i)   PCB LAYOUT……………………………………………….17,[object Object],ii)  CIRCUIT DESCRIPTION………………………………….19,[object Object],iii)  ALGORITHM.………………………………………………20,[object Object],iv) TESTING…………………………………………………….21,[object Object],D) SOFTWARES USED……………………………………………………....23,[object Object],i)   DipTrace         (ii)  µVision Keil    (iii) FlashMagic,[object Object],3. SCOPE OF THE PROJECT ,[object Object],1.APPLICATIONS……………………………………………..27,[object Object],2. FURTHER IMPROVEMENTS & FUTURE SCOPE……..29                                                      ,[object Object],4. BILL OF MATERIAL..................................................30,[object Object],5. REFERENCES         ..…………………………………….....32,[object Object],         INTRODUCTION,[object Object],INTRODUCTION :,[object Object],Robotics is part of Todays communication. In today’s world ROBOTICS is fast growing and interesting field. It is simplest way for latest technology modification. Now a days communication is part of advancement of technology, so we decided to work on ROBOTICS field, and design something which will make human life simpler in day today aspect. Thus we are supporting this cause.                                                                                                                                     ,[object Object],                       This project is basic stage of any automatic robot.                                                                                                                    This ROBOT has sufficient intelligence to cover the maximum area of provided space. It has a infrared sensor which are used to sense the obstacles coming in between the path of ROBOT. It will move in a particular direction and avoid the obstacle which is coming in its path. ,[object Object],We have used two D.C motors to give motion to the ROBOT. The construction of the ROBOT circuit is easy and small .The electronics parts used in the ROBOT circuits are easily available and cheap too.,[object Object],Scope of the project :,[object Object],[object Object]
The two IR transmitter circuits are fitted on front and left side of robot. The two IR sensors are placed near to transmitters’ IR LEDs. The connections can be given from main circuit to sensors using simple twisted pair cables.
Two motors namely right motor and left motor are connected to driver IC (L293D). L293D is interface with µc. Micro-controller  sends logic 0 & logic 1 as per the programming to driver IC which moves motors forward or reverse direction.   ,[object Object],            DESIGN ,[object Object],               OF ,[object Object],          pROJECT,[object Object],BLOCK DIAGRAM :,[object Object],DESCRIPTION:,[object Object],Basically  circuit  consist  of following  blocks:,[object Object],[object Object]
Microcontroller 89V51RD2
Driver
MotorsLet us take the overview of each block one by one.,[object Object],[object Object]
The IR Transmitter block mainly used to generate IR signal. It uses timer IC555 in astable multivibrator mode to generate square wave which have continuous pulses of 50% duty cycle of frequency 38 KHz. This transmitter is so arranged that the IR rays are focused on the sensor.
IR sensor (TSOP 1738) which gives normally 5v at output of it. After receiving infrared light at output of sensor we get 0v.
 Microcontroller
This is the most important block of the system. Microcontroller is the decision making logical device which has its own memory, I/O ports, CPU and Clock circuit embedded on a single chip.
DriverL293D is used as driver IC. Motors are connected to this IC. According to program in µc it drives the left and right motor.,[object Object],CIRCUIT   DIAGRAM (Reference) :,[object Object],                                                                                                                                ,[object Object],TRANSMITTER :,[object Object],2. COMPONENTS USED:,[object Object],VALUE     QUANTITY10K21k,33E,330E,100E28.2k,10K PULL UP1,[object Object],1) RESISTORS :,[object Object],2)CAPACITOR: ,[object Object],VALUE     QUANTITY0.1,10,4.7122 P             2,[object Object],VALUE     QUANTITY11.0592 MHz1,[object Object],3) OSCILLATORS:,[object Object],VALUE     QUANTITY89V51RD21L293D,7805             1,[object Object],4)ICs:,[object Object],5) MISCELLANEOUS:,[object Object],COMPONENTQUANTITY6V ,200 RPM DC MOTOR 2ZENER DIODE, 5.6V3RESET SWITCH16V DC BATTERY2CONNECTING WIRES-,[object Object],PROBLEMS FACED : ,[object Object],Although the concept & design of the project seemed perfect, there were some problems faced while actual implementation:,[object Object],[object Object],          Transmitter circuit.,[object Object],Solution : Use variable resistor pot in astable multivibrator. Connect IC 555’s output pin to C.R.O. & measure frequency pulses generated by IC 555.By varying the resistor pot we can adjust the frequency of output.   ,[object Object],[object Object],Solution:as burner kit is not easily available, so we have design & implement hardware for burn the IC,[object Object], ,[object Object],       ,[object Object],FINAL DESIGN,[object Object],FINAL DESIGN:,[object Object],1. PCB LAYOUT:,[object Object],   ,[object Object],TRANSMMITER :,[object Object],2. CIRCUIT DESCRIPTION:,[object Object],       ELECTRICAL DESIGN:-,[object Object],              Components are properly mount on respective position. This  include wiring and layout. The connection are given such that two IC’s i.e. 89V51RD2 & L293D are interface. To L293D we connect two motors namely left motor & right motor.  ,[object Object], We implement transmitter circuit separately & gives power supply independentely. For power supply we use chargeable DC battery which having rating of 6V & 1.3A.Output pin of sensor(TSOP 1738) is connected to micro-controllers pin.     ,[object Object],          ,[object Object],MECHANICAL DESIGN:-,[object Object],It include front panel which is given with ball caster wheel which is fixed. Back panel is provided with circular wheel with DC motor of 12v and 100 rpm with suitable clip pin for fixing the tyre. All the assembly is fixed on  base. All assembly mounted on single base.    ,[object Object],ALGORITHM-:,[object Object],[object Object]
Initialize the input port & output port. Set the bit of port pin 1.0  ,[object Object],[object Object]
Check the  bit on pin P1.0.
If  bit is present move motors in forward direction.          Else go to step 6.,[object Object], ,[object Object],[object Object]
Again go to step 3.
Stop.TESTING:-,[object Object],A) HARDWARE,[object Object],B) SOFTWARE,[object Object],A)  Hardware:-,[object Object],1. Continuity test:-,[object Object],          First of all we checked the PCB that all the tracks are as per the design of PCB and showing continuity with the help of multimeter and PCB layout.,[object Object],2. Short circuit test:-,[object Object],          Then we checked the PCB for any unwanted short circuits with the help of multimeter and PCB layout.,[object Object],3. Soldering:-,[object Object],          In the next step, we soldered the required components.and then checked that there are no any unwanted shorts occurred due to soldering without putting IC's and keeping power supply off. ,[object Object],4. Power supply test:-,[object Object],          In the next step, we put power supply on and checked whether required voltage is appearing at the required voltage is appearing at the required points i.e.+Vcc and GND at the respective points.we took care of not connecting IC's in the circuit while performing this test. ,[object Object], 5. Microcontroller test:-,[object Object],         For testing the microcontroller, we wrote the square wave generation program for generating square wave on each port pin.Then we fed the program in microcontroller and checked the output with the help of CRO by connecting the microcontroller in the circuit. We took care of not connecting any other IC in the circuit.  ,[object Object],SOFTWARES USED,[object Object],SOFTWARES USED :                                                           ,[object Object],1. DipTrace ,[object Object],    ROLE IN THE DESIGN: ,[object Object],[object Object]
WORKING WITH DipTrace :             ,[object Object],2. µVision Keil ,[object Object],[object Object],    ,[object Object],µVision Keil provides IDE for 8051 programming & is very easy to use. When starting a new project, simply select the microcontroller you use from the Device Database and the µVision IDE sets all Compiler, Assembler, Linker, and Memory options. It’s device database is large which supports many ICs of the 8051 family.  A HEX file can be created with the help of Keil which is required for burning onto chip. It has a powerful debugging tool which detects most of the errors in the program.,[object Object],[object Object]
  3. FlashMagic,[object Object],[object Object],Flash Magic is a PC tool for programming flash based microcontrollers from NXP using a serial or Ethernet protocol while in the target hardware.  It has some excellent features like changeable baud rate, erase all flash before programming, setting security bits etc. The HEX file created with the help of keil was selected through it for programming the microcontroller. ,[object Object],[object Object],       ,[object Object],APPLICATIONS,[object Object],APPLICATIONS :,[object Object],[object Object]
Just by making small changes in software this system            can be used for avoiding concealed  paths. This robot can effectively sense the obstacles and find out correct path.
With proper programming we can use it as a weight lifter.

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