By: MUHAMMAD YASIR MAJEED BEE-11-102

MDR: Wirelessly Controlled Mines Detection Robot

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Supervisor : Engr. Waqar Farooq

Contents: Problem Statement Introduction Objectives to be Achieved Block Diagram Chassis Mecannum Wheels Ultrasonic Sensors

H-bridge Module Opto-Coupler Wireless Module NRF24L01 Metal Detector Camera Module Advantages / Limitations Application and Future Work References

MDR: Wirelessly Controlled Mines Detection Robot

Problems and effects of landmines

Lethal fallouts of the wars

Unknown forgotten landmines and ordnances

Forgotten mines remain effective after a long time and cause causalities

Detect buried mines and avoid human causalities

MDR: Wirelessly Controlled Mines Detection RobotINTRODUCTION: Design and implementation of mines detection robot

Detection of metal mines Avoiding hurdles

Movement control of robot

Controlling through remote

INSPIRATION: Human safety is important!

Advanced technology

Objectives To Be Achieved: Literature survey Construct chassis of a robotic vehicle Assembled Mecanum wheels Interfaced the Sonar sensor and work properly Interfaced metal detector and work properly Installed wireless camera Construction of H-bridge module Wireless connection between transmitter and receiver Movement of robot is controlled by remote Interfaced the LCD Stop and start button installed

Architecture of Robot

Flow Chart

Chassis: A framework that encloses and supports the objects placed inside it. Shape and the size of chassis Material of the chassis depend upon following factors:

1. The size of robot2. Our usage of robot

CHASSIS DIMENSIONS:◦ Length and width : 14 x 12 inches ◦ Height : 4 inches◦ Distance from the ground : 1 inch

Chassis:

Top View of Chassis Side Views of Chassis

Mecanum Wheels: Limitations of conventional wheels:

– not moveable in all directions and extra mechanical structure

Benefit of Mecanum wheels:– multi–directional motions on x – y plane and efficient working different terrains

Mecanum Wheels:

Mecanum Wheels on Inclined Surface

Mecanum Wheels

Rotation of Mecanum Wheels:moving the vehicle in the forward direction moving the vehicle in the backward direction moving the vehicle in the right-side direction

moving the vehicle in the left-side direction Revolving the vehicle in the clockwise rotation Revolving the vehicle in the anticlockwise rotation

Sonar Sensor – HC-SR-04: Role of ultrasonic sensor in our

project Mechanism of Ultrasonic

transducers Distance Calculation

It offers excellent detection with high accuracy and stable readings; from 2.5cm to 400 cm equivalent to 1” to 13 feet.

Ultrasonic Sensor Modules

Ultrasonic Sensor Modules: Connecting Wires

5V Supply to Sensor

Trigger Pulse Input

Echo Pulse Output

Ground

H-bridge Module: Efficient drive circuit Simple Working 12V as the operating voltage Switching speed is incredible and draws large amount of current Using 1 H-bridge for 1 motor For high efficiency MOSFETs are used

H-bridge Module: A significant role in any robotic systems.

Current providing appliance for flowing working of the machine.

Proteus Simulation:

Opto-Coupler: Protection circuit LED for transmission and photo sensor for receiver. An opto-coupler is a semiconductor device that uses a small optical communication path to carry an electrical signal between circuits but keep them electrically isolated from each other.

Metal Detector: Detects according to strength of magnetic field.

Strength of metal detection Beyond a certain depth, the detection becomes weak.

Finds the hidden metal underground or wall etc.

Working Principle Of Metal Detector: Detection is displayed on LCD.

Working Principle: “If a portion of metal is in the range

of the coil, the eddy current will be induced and make magnetic field of its own. The difference of magnetic field caused by metal is used to detect metal.”

The diagram shows the electromagnet field lines and eddy currents.

Wireless Module NRF24L01: Avoidance of human interference. 2.483GHz is the international frequency for NRF24L01 module.

The radio signals carry information using air as a medium.

The nRF24L01 is a single chip transceiver designed for low power wireless applications.

NRF24L01 Working Diagram

Receiver Circuitry: Signals received by the NRF transmitter Signals for metal detector and Sonar sensor are received Fig shows the receiver side of the project

Receiver Circuitry:

Block diagram of Receiver Side

Transmitter Circuitry:Functions performed by the transmitter – Buttons and LCD Indication of distance and interconnecting the transmitter and receiver modulesMechanism of sending and receiving coded informationFig show the block diagram of components that are being used and the transmitter side of the project.

Block diagram of Transmitter Side

Transmitter Circuitry:

Camera Module Competent working of robot Human security Effective wireless transmission RF AV camera module Broadcast of location

Controller Workings:

Advantages:1. Quick detection requiring less time2. Precise and accurate detection of mines3. Detects underground mines and hidden ordnances4. Cost effective and efficient5. Wirelessly controlled from a safe distance maintaining human safety6. Reduced complexity as compared to the other techniques7. Easy to be modified in order to enhance or change functionalities

Future Work: Bomb Disposal Purpose Adding a Camera Password Protection Temperature and Humidity Sensor Adding a GPS

References: Keno Nongame, Seiji Misusage and Daniel Waterman‖ “Mine Detection Robot and Related Technologies for Humanitarian Demining", Japan, 2008. Retrieved September, 2014.

Jarvi, A, Leinonen, E, Thompson, M, and Valkonen K, “Designing Modern Walk-through Metal Detectors,” Access Security Screening: Challenges and Solutions, ASTM STP 1127 TP Tsacoumis Ed, American Society for Testing of Materials, Philadelphia 1992, pp21-25 Archived July 2014.

Ken Rutherford, Disarming States “The International Movement to Ban Landmine’s”,   March, 2011, Archived May, 2014.

Hays, Tom (16 April 2006). "NYPD deploys first of 500 security cameras". USA Today. The Associated Press. Retrieved June, 2014.

McGraw-Hill. "Programming Arduino Getting Started with Sketches".  Nov 8, 2011. Retrieved Aug 2015.

References: Energy Efficiency and Technology, September 1, 2009. Retrieved November , 2014

Ohio Electric Motors. DC Series Motors: High Starting Torque but No Load Operation Ill-Advised. Ohio Electric Motors, 2011. Archived July 2014.

Al Williams (2002) Microcontroller projects using the Basic Stamp (2nd Ed.). Focal Press. p. 344. iSBN 978-1-57820-101-3, Archived April 2015.

Tom Ribarich, international Rectifier, Director, Lighting Systems and Applications “The Half-bridge Circuit Revealed,” (2012) . Archived July 2014.

Ananthi, “Practical example of an opt-coupled EEG application,” , pp. 56, 62. Archived Mar 2014.

Christophe Basso (2009). Dealing with Low-Current Opto-coupler (oct 2012 v2.2 <http://robomart.com/wireless-a-v-camera.html>. Archived Oct 2015.

Nordic Semiconductor “ALL ABOUT NRF “Vol 2 Retrieved Aug, 2015

References: Lakshmi Anand K, Director of MSPVL Polytechnic College, Pavoorchatram July 2014. <http://usercontent1.hubimg.com/7675804_f520.jpg>. Archived Aug,2015

Intelligent Computation Technology and Automation “Ultrasonics, Ferroelectrics, and Frequency Control,” vol. 59, no. 10, 2237-2253, October 2012. . Archived May,2014.

Ilon, B.E, “Wheels for a course stable self-propelling vehicle movable in any desired direction on the ground or some other base,” US Patents and Trademarks office, Patent 3,876,255. Archived July 2014.

Institute of Technology and Engineering “Improved Mecanum Wheel Design for Omni-Directional Robots" (PDF)., Massey University. November 2002. Retrieved  September,2014.

Benjamin Stephens (ME, Class of 2006), Laboratory for Intelligent Mechanical Systems (LIMS) March, 2015 <http://hades.mech.northwestern.edu/index.php/Actuators_Available_in_the_Mechatronics_Lab>. Archived Sep, 2014.