METAL DETECTING AND OBSTACLE

AVOIDANCE AUTONOMOUS

ROBOT

OVERVIEW Objective Expected output Hardware and software Requirements Module description Advantages and Disadvantages References

OBJECTIVE The main objective of our project is to build a

robotic vehicle that can sense metals ahead of it and to pick it and place it in a pre-estimated place.

Expected OutputIt scans the nearby area for obstacles.If no obstacle is detected ,Robot moves

forward while scanning for metals.If metals are detected, it collects them.

Hardware & Software Requirements Hardware Software

Robot Chassis Arduino IDEDC motors Fritzing

Motor Driver MS-PowerpointArduino Uno

Ultrasonic sensorServo MotorsCastor wheel

Pvc pipes, round blockInductive proximity sensor(M30)

ElectromagnetBatteries

Ultrasonic sensor

Metal Detector

Electromagnet

Motor Driver

H-Bridge

Motor

Motor

ARDUINOC

Arduino

Uno

BLOCK DIAGRAM

Circuit Diagram

The project is divided into modules for better understanding of the circuit. The modules include

Arduino Uno Microcontroller BoardMotor Control DriverMetal DetectorUltrasonic Sensor

Motor Control Driver It is a dual H-bridge

driver designed to drive dc motors.

It controls the speed and direction of each DC motors independently using the micro controller.

It uses L293D IC to control the dc motor

It is powered by an external power supply of 5v to 12v.

Operation of Motor Driver L293D has 2 sets of arrangements

where one set has input 1 and output 2 and other set has input 3,input 4,output 3 and output 4

If enable 1 and pin number 2 are high leaving pin number 7 as low then motor rotates in forward direction, vice-versa for reverse direction.

If enable 2 and pin number 10 are high leaving pin 15 as low then motor rotates in forward direction, vice-versa for reverse direction.

Microcontroller CPU

RAM ROM

I/OPORTS

TIMER

SerialCom Ports

It is a smaller computer

It has on-chip RAM,ROM,I/O ports

Arduino Uno MicrocontrollerMicrocontroller - Atmega328Operating voltage - 5vPin count - 28Input Voltage - 7-12vDigital I/O pins - 14(6 pwm)Analog Input Pins - 6 Current per I/O pins - 40mACurrent for 3.3 v pins - 50mAFlash memory - 32KBSRAM - 2KBEEPROM - 1KBClock Speed - 16 MHz

Ultrasonic SensorUltrasonic sensor generates

high frequency sound waves and evaluate the echo which is received back by the sensor.

It measures the time interval between sending and receiving the echo to determine the distance to an object.

It detects the distance of the closest object in front of the sensor(from 2cm to 3m).

Servo MotorsIt is used to mount ultrasonic sensor.2 servo motors are used to control the arm. It has 3 pinsVcc, ground, control signal.

Arm ControlTwo servo motors are used to control the arm.Sweep Servo motor is used to scan metals .Flip Servo motor is used to pick the metals.

Metal Detector

It is an inductive proximity sensor.

It consists of 3 pins.

Vcc (pink),Ground(blue),control(black)

electromagnetIt is a 1.5 kg lifting

electromagnet.It has two pins.It is controlled by H-bridge.

ADVANTAGESProvide safety to the bomb disposal squad by

providing an extra line of defence.Reduced amount of operator errors.Can be made to perform even the most

dangerous tasks without concern.Can operate without human assistance(i.e.

autonomous)

DISADVANTAGES

Precise programming needed.It doesn’t possess pre-programmed path.Robot doesn’t distinguish between small and

large pieces of metal.Limited stability

IMPROVEMENTSStability can be improved by using 4 wheel

configuration.Live video feedback could be implemented.Chain drive can be used to improve the

motion of robot in terrain.

FLOWCHART

Referencehttp://www.arduino.cc

THANK

YOU