PATH TRACKER WITH OBSTACLE SENSING

MENTER: SWETHA

BY: PRADEEP VARMA ABHISHEK REDDY ASHISH

INTRODUCTION:
. The term invention has changed the life of the early men. From then,

man has been reaching several heights; nothing could stop him in inventing more One of the most important inventions of the man is ROBOT. This is just like god made man and man made robot, which are equally important. This simple sentence shows the importance of the Robot The project deals with the design of a line follower robot that senses and transmits the ambient temperature IR (infra red) sensors are used to control the path of traversal of the robot. The phenomenon that a black body absorbs all the electromagnetic radiation that falls on it, is being used for the path control of the robot. When the sensor is on the black track the light is absorbed and there is no reflection. If it is out of the black track light is totally reflected. These variations are converted to digital signals and fed to the micro controller which is interfaced with two dc motors

NEED FOR THE PROJECT

Automated systems are flexible reliable and accurate. These reduce the monotonous annual work of human at the industries. Human negligence, possible at times, may lead to hazardous effects. This can be overcome by automation

Overcome Hazardous effects:

Many industries consist of equipment which are monitored at high temperatures. These include furnaces, kilns; metal refining industries etc., Any parameter exceeding its optimum value may lead to hazardous effects. It may lead to loss of life and property too. In order to avoid such consequences we opt for an automated system that led to the need of such a project.

IR sensors
Here we are using two pairs of IR trans receivers for sensing the line, one for the left and one for the right side. Depending on the size of the vehicle the number of sensors used in front of the vehicle, for obstacle detection will be decided and we are using four pairs of IR trans receivers. Comparators The o/p of IR receiver is very small in amplitude. By using comparator, we convert them to TTL level and interface them to micro controller

Micro controller unit

The AT89S52 is a low-power, high-performance CMOS 8-bit microcontroller with 8Kbytes of in-system programmable Flash memory . The device is manufactured using Atmels high-density nonvolatile memory technology and is compatible with the industry-standard 80C51 instruction set and pinout. The on-chip Flash allows the program memory to be reprogrammed in-system or by a conventional nonvolatile memory programmer By combining a versatile 8-bit CPU with in-system programmable Flash on a monolithic chip,

MICROCONTROLLER
The Micro controller is used for interface with PC, stepper motors, IR receiver and code comparator and it gives proper stepping pulses for RADAR and GUN movements, by receiving serial data from PC. In short, the AT89C51 has the following on-chip facilities: 4k ROM (EPROM on 8751) 128 byte RAM UART 32 input-output port linesTwo, 16-bit timer/counters Six interrupt sources and On-chip clock oscillator and power on reset circuitry

Hardware details
The on chip oscillator of 89C51 can be used to generate system clock. Depending upon version of the device, crystals from 3.5 to 12 MHz may be used for this purpose. The system clock is internally divided by 6 and the resultant time period becomes one processor cycle. The instructions take mostly one or two processor cycles to execute, and very occasionally three processor cycles. The ALE (address latch enable) pulse rate is 16th of the system clock, except during access of internal program memory, and thus can be used for timing purposes

Optical Transducer

POWER SUPPLY Battery 12V/1.2AH

Energy efficiency is calculated on the amount of power used from the battery while discharging divided by the amount of power delivered to the batter while charging, multiplied by 100 to yield percent. Pout x 100 /Pin . A lead-acid battery has an efficiency of only 75-85%. The energy lost appears as heat and warms the battery. Keeping the charge and discharge rate of a battery low, helps keep a battery cool and improves the battery life.

2 Three Terminal 7805 Voltage Regulator 7805 Regulator:

Features: Output Current of 1.5A Output Voltage Tolerance of 5% Internal thermal overload protection Internal Short-Circuit Limited Output Voltage 5.0V, 6V, 8V, 9V, 10V, 12V, 15V, 18V, 24V.

Use of comparator in IR sensors:

Comparator is a device which compares two input voltages and gives output as high or low. One of the input comes from the sensor output and the other is a reference voltage from a potentiometer. These two input voltages are fed to one of the op amps of the comparator. By adjusting the reference voltage, the output of the comparator is set to logic 1 for one colour and logic 0 for the other.

IR transmitter:
IR transmitter is an optical transducer which converts electrical signals into IR rays. This IR rays are transmitted into the space(in all directions) for sensing the presence of target.

IR receiver:

IR receiver is an optical transducer which converts IR rays into electrical signals. When a target is intersected by emitted rays of the IR transmitter (RADAR antenna), a portion of intersected rays are reflected back which is collected by IR receiver. This information is sent to micro controller 89C51.Thus ensuring the presence of target in space.

APPLICATIONS: Public Transport: This line following concept can be used to implement driver less cabs, which will follow particular road. Thus making the vehicles automated. Nuclear plants: This can be used for carrying nuclear fuels to avoid radiation to humans. The robot can travel along a pre-defined path given in an industry. It will in the cource gather the ambient temperature and transmit to a distant place for futhur use of that data. This application can warn about the increasing temperatures at that location. Office automation: This can be used for carrying files etc in offices. As the robot travels along the line, regular monotonous works like carrying light weighted objects like files, documents etc., in the offices from one place to other is possible with this. Goods transportation: This can be used for carrying goods from one place to other in fixed areas like ports. The transportation of goods in any industry is possible with the present project dealt.

MERITS AND DEMERITS: MERITS:

Automatic operation. Human interface is not required. Detects obstacles. It avoids collisions. Accurate control. It will not go out of track. No pollution as we are using D.C. power. Less maintenance.

DEMERITS: Initial cost is high. Track should be clean. Sensors should be protected from dust