International Journal of Engineering Trends and Technology (IJETT) – Volume 34 Number 4- April 2016
An ultrasonic Based Path Finder Robot with
Metal Detection Capability
Rahul Agrawal1, Shakti Sharma2, Shubham Gupta3, Sachin Pathak4, Vishal Paras5
B.Tech students, Dept. of ECE, R.B.S Engg. Technical Campus, Bichpuri Agra-283105(U.P), India2, 3, 4, 5
Asst. Professor, Dept. of ECE, R.B.S Engg. Technical Campus, Bichpuri Agra-283105(U.P), India1
Abstract :The robotic capability of finding its own
path without any instruction and human effort. The
electronically decision taking capability is provide
by microcontroller which control the robot by using
ultrasonic sensor output. The microcontroller gave
instruction to the robot to survive according to the
environmental condition. To make this project
more functional we have added metal detection
technology which makes this project very much
technical. The application such as finding path
using ultrasonic sensor is one of the cheapest way
then other. In this proposed work of avoiding
obstacles and metal detection. The ultrasonic
sensor, microcontroller and metal detector is used
to make this project very efficient.
finding path Strategy in a continuous manner. The
robot can be considered as physical device which
performs an operation in a dynamic and unknown
environment without external help (human effort or
pre-instruction provided to microcontroller), the
environment has been represented with all its
components (robot, mobile robot, microcontroller,
ultrasonic sensor, and metal detector). The robot is
armored with metal detecting capability. The Metal
detectors work on the principle of transmitting a
magnetic field and analyzing a return signal from
the target.
Keywords –Microcontroller, Ultrasonic sensor,
Obstacle, Metal etc.
.
I.
INTRODUCTION
Capability of finding path without any instruction
or human effort, is introduced in a two wheel
moving robot which have solved this problem by
using microcontroller with ultrasonic sensor.
Automatic
taking decision
is
provideby
microcontroller for finding path just because the
microcontroller control the robot to autonomously
adapt its behavior to a given environment. The
microcontroller compare the ultrasonic sensor
reading to find the path for every given observation
of the given environment. Such as in line following
robot follow underlying
Structure of the state space is not explicitly
acquired [such as there are line following robot
which based only on a following particular line].
The first goal of this work is to provide automatic
ISSN: 2231-5381
(Fig 1) Block diagram for the robot
II.
HARDWARE REQUIREMENTS
After proceeding on the conclusion of making a
robot which have the ability of finding its path by
its own calculated readings and also capable of
detecting the metal. We reached to a decision that
we use such a technology that not used before
together. We used many techniques for finding path
such as infrared rays, radio frequency technology,
line following technology etc. But we want to use
the technology which lead all these technique on
the basis of their performance such as better
ranging, more efficient, and long distance
measurement. After many research work we
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International Journal of Engineering Trends and Technology (IJETT) – Volume 34 Number 4- April 2016
decided to go through the ultrasonic sensor for
finding path. But there is a problem that ultrasonic
sensor is only a sensor use to sense the obstacle.
There is need to controlling the ultrasonic sensor.
So to solve this problem we used microcontroller.
In market there are number of microcontroller
(8051, Arduino etc.). Another sophisticated is
added to the moving robot feature that is detection
of metal. The metal detection technology make the
moving the robot so much technological that is a
single robot which can also called as equipped with
technology.
1.
2.
WORKING PRINCIPLE FOR ROBOT
For the robot movement we use ultrasonic sensor as
path finder. The ultrasonic transmitter transmit the
ultrasonic waves with frequency of 40 KHZ. This
frequency is generated by the microcontroller. The
range of transmitted wave is between 2 cm to 4
meter. The ultrasonic sensor HC-SR04 operated at
15mA current and DC 5 volt. For movement of the
robot let see different cases:
START UP WITH POWER SUPPLY
SOURCE
In this project we use power supply of 9V. The
provided power supply not have constant voltage
so to maintain or make power supply constant we
use capacitor to make the supply exactly 9V. As we
know the microcontroller does not work on 9V
supply it work on 5V supply so we uses regulator
(7805) which make 9V power supply to 5V supply
on which microcontroller work.In this project
microcontroller AT89s52 is used. The AT89C51 is
a low-power, high-performance CMOS 8-bit
microcomputer with 4K bytes of Flash
Programmable and Erasable Read Only Memory
(PEROM). The device is manufactured using
Atmel’s high density nonvolatile memory
technology. 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 Flash on a
monolithic chip, the Atmel AT89C51 is a powerful
microcomputer which provides a highly flexible
and cost effective solution to many embedded
control applications. The AT89C51 provides the
following standard features: 4K bytes of Flash, 128
bytes of RAM, 32 I/O lines, two 16-bit
timer/counters, five vector two-level interrupt
architecture, a full duplex serial port, and on-chip
oscillator and clock circuitry.In addition, the
AT89C51 is designed with static logic for
operation down to zero frequency and supports two
software selectable power saving modes. The Idle
Mode stops the CPU while allowing the RAM,
timer/counters, serial port and interrupt system to
continue functioning. The Power down Mode saves
the RAM contents but freezes the oscillator
disabling all other chip functions until the next
hardware reset.
ISSN: 2231-5381
(Fig 2) An ultrasonic based path finder robot with
metal detection capability
The case determine that robot move
forward:Ultrasonic transmitter transmit the
ultrasonic wave with frequency 40MHZ if there is
no object found in between the path of waves then
no waves reflect back from the object. Due to
which ultrasonic receiver does not get any reading
from reflected wave. Because of that receiver can’t
be able to send signal to the microcontroller and
microcontroller can’t be able to send any signal to
the photo-transistor presented in opto coupler due
to which both the transistor get ON (NPN and
PNP) which resultant Cause clockwise movement
to the motor and robot start moving in forward
direction.
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International Journal of Engineering Trends and Technology (IJETT) – Volume 34 Number 4- April 2016
(Fig 3) Flow diagram shows robot move forward
The case determine that robot turns left at an
angle of 0 to 90 degree: In this case ultrasonic
transistor transmit the ultrasonic wave at same
frequency if there is present any object in between
the path of the waves the wave will reflect back by
the object and this reflected wave received by the
ultrasonic receiver. Ultrasonic receiver transmit the
signal to the microcontroller that object is detected
due to which microcontroller send negative pulse to
the opto coupler. And opto coupler which control
left motor in forward direction get turn OFF which
resultant cause left turn.
ISSN: 2231-5381
(Fig 4) Flow diagram shows robot turn left
3.
WORKING PRINCIPLE FOR METAL
DETECTOR
Here is the pair of NPN and PNP transistors,
variable register and a comparator LM 339. When
the metal detector sensor is activated by the 5V
power supply the transmitter start generating the
electromagnetic field and transmit it if there metal
is present the EMF react with metal and start
generating induced current. This induced current is
measured by the variable register for the generated
voltage. This generated voltages is now compared
by the comparator. Now the threshold voltage value
for comparator is set to max. 5V and min. 2.5V
now different condition. If generated voltage is 5V
then it compare by the comparator. Because of 5V
output of variable register the comparator output
turn ON the PNP transistor which output turn on
NPN transistor which gave negative output to the
buzzer. The circuit have positive and negative
signal both due to which buzzer get ON. The max.
Range metal detector can detect the metal is 6 cm
to 8 cm.
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International Journal of Engineering Trends and Technology (IJETT) – Volume 34 Number 4- April 2016
Maximum
threshold
voltage
Comment
If metal is
present then
variable
register gave
around 5V
output.
6.
Buzzer beep
Buzzer beep
get ON
5V
If metal is not
present then
variable
register gave
less than
2.5V output.
Buzzer
remain OFF
5V
(Table 1)Describe metal detection process
III.
"Optimal path algorithms for autonomous vehicles," in
Proc. 18th CIRP Manufacturing Systems Seminar, June
1986, Stuttgart, Germany.
7. Amy J. Briggs, Daniel Scharstein, Darius Braziunas,
Cristian Dima, and Peter Wall. “Mobile Robot Navigation
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8. Huosheng Hu and Dongbing GU. “Landmark-based
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9. Martin Samuelsson. “Artificial Landmark Navigation of an
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CONCLUSION
The paper express the obstacle avoidance
procedure introduced in the robot. Since the
procedure heavily depends on the performance of
the ultrasonic sensor and metal detector, these
sensors and the effect of their working on the
obstacle avoidance and metal detection procedure
were discussed above. And we conclude that we
can use the microcontroller for controlling the
ultrasonic sensor and metal detector circuit. And
ultrasonic sensor is the efficient way of finding
path. And a metal detector which can be used for
detecting metal. But the range for metal detecting is
not very efficient and the range varies from 4 cm to
7 cm with this technological platform.
IV.
1.
2.
3.
4.
5.
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