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    Remote Controlled Metal Detecting Robot with

    Remote Image Transmission

    Mini-project

    Submitted in partial fulfillment of the requirements for the award of the degreeof

    BACHELOR OF TECHNOLOGY

    In

    Electronics and Communication Engineering

    By

    D.SPARSHA (07D21A0443)

    G.VANDANA (07D21A0455)

    Under the guidance of

    Mr. S. Bhargav Kumar.

    Assistant Professor

    Department of Electronics & Communication Engineering

    SRIDEVI WOMENS ENGINEERING COLLEGE

    (Affiliated to Jawaharlal Nehru Technological University, Hyderabad)

    V.N.PALLY, GANDIPET, R.R.DIST-500 075

    June 2010

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    SRIDEVI WOMENS ENGINEERING COLLEGE

    (Affiliated to Jawaharlal Nehru Technological University, Hyderabad)

    V.N.PALLY, GANDIPET, R.R.DIST-500 075

    Department of Electronics & Communication Engineering

    BONAFIDE CERTIFICATE

    Certified that the project Remote Controlled Robot with Remote Image Transmission is

    the bonafide work ofD.SPARSHA (07D21A0443) and G.VANDANA (07D21A0455), who carried out

    the project under my supervision from May to June in partial fulfillment of the requirements for the

    award of B.Tech Electronics &Communication Engineering to Jawaharlal Nehru TechnologicalUniversity, Hyderabad.

    Certified further, that to the best of my knowledge the work reported here in does not form part

    of any dissertation on basis of which a degree was conferred on an earlier occasion on this or any other

    candidate.

    Internal Guide Head of the DepartmentMr.S.Bhargav Kumar. Dr.Y. RAJASREE

    Assistant Professor Professor & HOD

    Department of ECE Department of ECE

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    DECLARATION

    The project entitled REMOTE CONTROLLED METAL DETECTING ROBOT WITH

    IMAGE TRANSMISSION is a record of the bonafide work undertaken by us towards partial

    fulfillment of the award of Degree ofBachelor of Technology. The results in this project work have not

    been submitted to any other University or Institute for the award of any Degree or Diploma.

    D.SPARSHA (07D21A0443)

    G.VANDANA (07D21A0455)

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    ABSTRACT

    Path Finder was sent to Mars in 1998. This was achievement a great which detected the secrets

    of Mars. This project deals with RF controlled robot. This robot prototype for the Path Finder.

    This robot is controlled by a RF remote. This can be moved forward and reverse direction using

    geared motors of 60RPM. Also this robot can take sharp turnings towards left and right directions. This

    project uses AT89S52 MCU as its controller. A high sensitive induction type metal detector is designed

    using colpitts oscillator principle and fixed to this robot. Also a wireless camera with voice is interfaced

    to the kit.

    When the robot is moving on a surface, the system produces a beep sound when metal is

    detected. This beep sound will be transmitted to remote place. Simultaneously the images around the

    robot will be transmitted to remote place. User can monitor the images and metal detection alarms on

    Television.

    The RF modules used here are STT-433 MHz Transmitter, STR-433 MHz Receiver, HT640 RF

    Encoder an HT648 RF Decoder. he three switches are interfaced to the RF transmitter through RF

    Encoder. The encoder continuously reads the status of the switches, passes the data to the RF transmitter

    and the transmitter transmits the data.

    This project uses 9V battery. This project is much useful for mines detection and surveillance

    applications

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    ACKNOWLEDGEMENT

    First and foremost, our sincere thanks to Prof. Y. RAJASREE, Principal and Head of the

    department of Electronics and Communication Engineering, Sridevi Womens Engineering College,

    V.N.Pally, Hyderabad for providing this opportunity to carry out the present project work and for her

    encouragement and advice during the course of this work.

    We indebted to our internal project guide Mr.S.BHARGAV KUMAR, Assistant Professor of

    Electronics and Communication Engineering, for his excellent guidance, constant inspiration and

    encouragement in the completion of this dissertation.

    We would like to express our thanks to all the Faculty members, Staff of Department of

    Electronics & Communication Engineering, who have rendered valuable help in making this project a

    successful one.

    D.SPARSHA

    G.VANDANA

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    LIST OF TABLES

    Table No Name of the Table Page No

    3.1. Pin Description of HT640L Encoder 10

    3.2 Pin Description of HT648L Decoder 12

    4.1. Alternate Functions of port 3 15

    5.1. Operation of H-Bridge 17

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    LIST OF FIGURES

    Figure No Name of the Figure Page No

    3.1 Regulated Power Supply 5

    3.2 Full Wave Bridge Rectifier 6

    3.3 Circuit Diagram and respective output

    Waveforms of Capacitive Filter 6

    3.4 RF Transmitter STT-433MHz 7

    3.5 Transmitter circuit 7

    3.6 HT640 Encoder 9

    3.7 RF Receiver STR-433MHz 10

    3.8 Pin Diagram of RF Receiver STR-433MHz 11

    3.9 HT648L Decoder 12

    4.1 Block Diagram of AT89C51 14

    4.2 Pin Diagram of AT89C51 15

    5.1 Graphical Representation of H-Bridge 16

    6.1 Metal Detecting circuit 18

    7.1 Block Diagram of RF Transmitter (Remote) 20

    7.2 Block Diagram of RF Receiver (Remote) 21

    10.1 RF Receiver Section (Robot) 28

    10.2 RF Transmitter Section (Remote) 28

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    INDEX

    CHAPTER TOPIC PAGE NO

    1 PROJECT OVERVIEW 1

    2 WIRELESS COMMUNICATION 2

    2.1. Radio Frequency-its necessity 2

    2.1.1. Brief Description of RF 2

    2.1.2. Properties of Radio Frequency 3

    3 REQUIREMENTS FOR RF COMMUNICATION 4

    3.1 Power Supply 4

    3.2 Regulated Power Supply 4

    3.3 Diode Rectifier- Full wave bridge rectifiers 5

    3.4 Capacitive Filter 6

    3.5 RF Transmitter STT-433MHz 7

    3.5.1. About the Transmitter 8

    3.5.2. Features 8

    3.5.3. Pin Description 8

    3.6 Basic Application circuit of HT640 Encoder 9

    3.7 RF Receiver STR-433MHz 10

    3.7.1. Pin Description 11

    3.8 Basic Application circuit of HT648L Decoder 12

    4 MICROCONTROLLER 13

    4.1. General Description 13

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    4.1.1 Features of ATMEL 89C51 Microcontroller 13

    4.1.2 Block Diagram ATMEL 89C51 Microcontroller 14

    4.1.3 Pin Diagram ATMEL 89C51 Microcontroller 15

    4.1.4 Pin Description of ATMEL 89C51 Microcontroller 15

    5 H-BRIDGE 17

    6 METAL DETECTOR 19

    7 WIRELESS CAMERA FOR IMAGE TRANSMISSION 20

    7.1. RF Transmitter (Remote) Block Diagram 20

    7.2. RF Receiver (Remote) Block Diagram 21

    8 WORKING OF THE PROJECT 22

    8.1. RF Transmitter (Remote) 22

    8.2. RF Receiver (Robot) 23

    9 PROGRAMMING THE FLASH (CODE) 25

    9.1. Programming Algorithm 25

    9.2. Project Code 26

    10 RESULTS 28

    ADVANTAGES AND DISADVANTAGES 29

    LIMITATIONS 30

    APPLICATIONS 31

    CONCLUSIONS 32

    REFERENCES 33

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    CHAPTER 1

    PROJECT OVERVIEW

    The aim of this project is to control the operation of movement of a remote controlled robot to

    detect metals and to view the images surrounding the robot.

    The main objectives of this project are to use radio frequency bands.

    The movement of robot is controlled by the transmission of signals through air.

    The receiver senses these signals from the air..

    This mini project makes use of the transmitter and receiver at 433MHz that is available at low

    cost hence making it very complicated.

    The Radio Frequency based control proves to be more advantageous compared to the Infrared

    Red based control that limits the operating range to only a few meters of distance.

    When the robot is moving on a surface, the system produces a beep sound when metal is

    detected. This beep sound will be transmitted to remote place. Simultaneously the images around

    the robot will be transmitted to remote place. User can monitor the images and metal detection

    alarms on Television.

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    CHAPTER2

    WIRELESS COMMUNICATION

    Wireless communication, as the term implies, allows information to be exchanged between two

    devices without the use of wire or cable. A wireless keyboard sends information to the computer without

    the use of a keyboard cable; a cellular telephone sends information to another telephone without the use

    of a telephone cable. Changing television channels, opening and closing a garage door, and transferring

    a file from one computer to another can all be accomplished using wireless technology. In all such cases,

    information is being transmitted and received using electromagnetic energy, also referred to as

    electromagnetic radiation. One of the most familiar sources of electromagnetic radiation is the sun; other

    common sources include TV and radio signals, light bulbs and microwaves.

    2.1. Radio Frequency-its necessity

    Radio frequency is a frequency or rate of oscillation within the range of about 3Hz to 300 GHz.

    This range corresponds to frequency of alternating current electrical signals used to produce and detect

    radio waves.Since most of this range is beyond the vibration rate the most mechanical systems can

    respond to, RF usually refers to oscillations in electrical circuits. RF is widely used because it does not

    require any line of sight, less distortions and no interference. Examples include, Cordless and cellular

    telephone, radio and television broadcast stations, satellite communications systems, and two-way radio

    services all operate in the RF spectrum.

    2.1.1. Brief Description of RF

    Radio frequency (abbreviated RF) is a term that refers to alternating current (AC) having

    characteristics such that, if the current is input to an antenna, an electromagnetic (EM) field is generated

    suitable for wireless broadcasting and/or communications. These frequencies cover a significant portion

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    of the electromagnetic radiation spectrum, extending from nine kilohertz (9 kHz),the lowest allocated

    wireless communications frequency (it's within the range of human hearing), to thousands of

    gigahertz(GHz).

    When an RF current is supplied to an antenna, it gives rise to an electromagnetic field that

    propagates through space. This field is sometimes called an RF field; in less technical jargon it is a

    "radio wave." Any RF field has a wavelength that is inversely proportional to the frequency.

    As the frequency is increased beyond that of the RF spectrum, EM energy takes the form of

    infrared (IR), visible, ultraviolet (UV), X rays, and gamma rays. ), X rays, and gamma rays. Many types

    of wireless devices make use of RF fields.Some wireless devices operate at IR or visible-light

    frequencies, whose electromagnetic wavelengths are shorter than those of RF fields.

    2.1.2. Properties of Radio Frequency

    Electrical currents that oscillate at RF have special properties not shared by direct current

    signals:

    1. One such property is the ease with which it can ionize air to create a conductive path through

    air. This property is exploited by 'high frequency' units.

    2. Another special property is an electromagnetic force that drives the RF current to the surface of

    conductors, known as the skin effect.

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    CHAPTER 3

    REQUIREMENTS FOR RF COMMUNICATION

    RF communication is required for the transmission of radio waves from RF transmitter (remote)

    to RF receiver (robot) to enable the movement of the robot in this project. The basic requirements for the

    RF communication used in this project are as follows:

    Power supply

    RF Transmitter

    RF Receiver

    Encoder and Decoder

    Microcontroller

    3.1 Power Supply

    The input to the circuit is applied from the regulated power supply. The a.c. input i.e., 230V from

    the mains supply is step down by the transformer to 12V and is fed to a rectifier. The output obtained

    from the rectifier is a pulsating d.c voltage. So in order to get a pure d.c voltage, the output voltage from

    the rectifier is fed to a filter to remove any a.c components present even after rectification. Now, this

    voltage is given to a voltage regulator to obtain a pure constant dc voltage.

    3.2Regulated Power Supply

    A variable regulated power supply, also called a variable bench power supply, is one where you

    can continuously adjust the output voltage to your requirements. Varying the output of the power supply

    is the recommended way to test a project having doubled checked parts placement against0* circuit

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    drawings and the parts placement guide. Most digital logical circuits and processors need a 5 volt power

    supply . to use these parts we need to build a regulated 5 volt source . Usually you start with an

    unregulated power supply ranging from 9 volts to 24 volts DC. To make a 5 volt power supply, we use a

    LM7805 voltage regulator IC (Integrated circuit) . the IC is shown below .

    Figure 3.1: Regulated Power Supply

    The LM7805 is simple to use. you simply connect the positive lead of your unregulated DC

    power supply (anything from 9 VDC to 24 VDC ) to the Input pin , connect the negative lead to the

    Common pin and then when you turn on the power , you get a 5 volt supply from the Output pin.

    3.3 Diode rectifier- Full wave bridge rectifier

    The need for a centre tapped power transformers is eliminated in the bridge rectifier .it contains

    four diodes D1 , D2 , D3 and D4 connected to from bridge as shown below.

    Figure 3.2: Full wave bridge rectifier

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    The a. c. supply to be rectified is applied to the diagonally opposite ends of the bridge through

    the transformer. Between other two ends of the bridge , the load resistance RL is connected .

    3.4 Capacitor Filter

    A capacitive filter helps in reducing the ripples. A capacitive filter is shown below.

    Figure 3.3: Circuit Diagram and the respective output waveforms of Capacitive Filter

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    3.5 RF Transmitter STT-433MHz

    Figure 3.4: RF Transmitter STT-433MHz

    Figure 3.5: Transmitter circuit

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    3.5.1. About the Transmitter:

    The STT-433 is ideal for remote control applications where low cost and longer range is

    required.

    The transmitter operates from a1.5-12V supply, making it ideal for battery-powered applications.

    The transmitter employs a SAW-stabilized oscillator, ensuring accurate frequency control for

    best range performance.

    The manufacturing-friendly SIP style package and low-cost make the STT-433 suitable for high

    volume applications.

    3.5.2. Features:

    433.92 MHz Frequency

    Low Cost

    1.5-12V operation

    3.5.3Pin Description:

    GND: Transmitter ground-Connect to ground plane.

    DATA: Digital data input. This input is CMOS compatible and should be driven with CMOS

    level inputs.

    VCC: Operating voltage for the transmitter. VCC bypassed with should be a .01uF ceramic

    capacitor and filtered with a 4.7uF tantalum capacitor. Noise on the power supply will degrade

    transmitter noise performance.

    ANT: 50ohm antenna output. The antenna port impedance affects output power and harmonic

    emissions.

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    3.6 Basic Application circuit of HT640 Encoder

    The encoder parallel bit data into serial bit data i.e, the antenna in the transmitter transmits the

    signal to the receiver, which is of single bit through the medium of air.

    Figure 3.6: HT640 Encoder

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    Table 3.1: Pin description (HT640 Encoder)

    3.7 RF Receiver STR-433MHz

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    Figure 3.7: RF Receiver STR-433MHz

    The data is received by the RF receiver fromthe antenna pin and this data is available on the data

    pins. Two Data pins are provided in the receiver module. Thus, this data can be used for further

    applications.

    Figure 3.8: Pin diagram of RF Receiver STR-433MHz

    3.7.1. Pin Description:

    ANT- Antenna input.

    GND-Receiver Ground. Connect to ground plane.

    VCC-VCC pins areelectrically connected and provide operating voltage for the receiver. VCC

    can be applied to either or both. VCC should be bypassed with a .1F ceramic capacitor. Noise

    on the power supply will degrade receiver sensitivity.

    DATA-Digital data output. This output is capable of driving one TTL or CMOS load. It is a

    CMOS compatible output.

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    3.8 Basic Application circuit of HT648L Decoder

    Figure 3.9: HT648L Decoder

    Similarly, as the transmitter requires an encoder, the receiver module requires a decoder. The

    decoder used is HT648L from HOLTEK SEMICONDUCTOR INC

    Table 3.2: Pin Description (HT648L Decoder)

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    CHAPTER 4

    MICROCONTROLLER

    4.1. General Description

    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

    Atmels high-density nonvolatile memory technology and is compatible with the industry-standard

    MCS-51 instruction set and pin out. 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.

    4.1.1. Features of ATMEL 89C51 Microcontroller

    Compatible with MCS-51 Products

    4K Bytes of In-System Reprogrammable Flash Memory

    Endurance: 1,000 Write/Erase Cycles

    Fully Static Operation: 0 Hz to 24 MHz

    Three-level Program Memory Lock

    128 x 8-bit Internal RAM

    32 Programmable I/O Lines

    Two 16-bit Timer/Counters

    Six Interrupt Sources

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    Programmable Serial Channel and Low-power Idle and Power-down Modes

    4.1.2. Block Diagram ATMEL 89C51 Microcontroller

    Figure 4.1: Block Diagram of AT89C51 microcontroller

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    4.1.3. Pin Diagram ATMEL 89C51 Microcontroller

    Figure 4.2: Pin Diagram of AT8951 microcontroller

    4.1.4 Pin Description of ATMEL 89C51 Microcontroller

    VCC: Pin 40 provides supply voltage to the chip. The voltage source is +5V.

    GND:Pin 20 is the ground.

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    XTAL1 and XTAL2: XTAL1 and XTAL2 are the input and output, respectively, of an inverting

    amplifier that can be configured for use as an on-chip oscillator. Either a quartz crystal or

    ceramic resonator may be used. To drive the device from an external clock source, XTAL2

    should be left unconnected while XTAL1 is driven, as shown in the below figure. There are no

    requirements on the duty cycle of the external clock signal, since the input to the internal

    clocking circuitry is through a divide-by-two flip-flop, but minimum and maximum voltage high

    and low time specifications must be observed.

    RESET: Pin9 is the reset pin. It is an input and is active high. Upon applying a high pulse to this

    pin, the microcontroller will reset and terminate all the activities. This is often referred to as a

    power-on reset.

    EA (External access): Pin 31 is EA. It is an active low signal. It is an input pin and must be

    connected to either Vcc or GND but it cannot be left unconnected.

    PSEN (Program store enable): This is an output pin.

    ALE (Address latch enable): This is an output pin and is active high.

    Ports 0, 1, 2 and 3:The four ports P0, P1, P2 and P3 each use 8 pins, making them 8-bit ports.

    All the ports upon RESET are configured as input, since P0-P3 have value FFH on them.

    Table 3: Alternate Functions of port 3

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    The assembly language program is written and this program has to be dumped into the microcontroller

    for the hardware kit to function according to the software. The program dumped in the microcontroller is

    stored in the Flash memory in the microcontroller.

    CHAPTER 5

    H-BRIDGE

    An H-bridge is an electronic circuit which enables DC electric motors to be run forwards or

    backwards. These circuits are often used in robotics. H-bridges are available as integrated circuits, or

    can be built from discrete components.

    Figure 5.1: Graphical representation of H-Bridge

    An H-bridge is built with four switches (solid-state or mechanical). When the switches S1 and S4

    (according to the first figure) are closed (and S2 and S3 are open) a positive voltage will be appliedacross the motor. By opening S1 and S4 switches and closing S2 and S3 switches, this voltage is

    reversed, allowing reverse operation of the motor

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    The H-Bridge arrangement is generally used to reverse the polarity of the motor, but can also be

    used to 'brake' the motor, where the motor comes to a sudden stop, as the motors terminals are shorted,

    or to let the motor 'free run' to a stop, as the motor is effectively disconnected from the circuit.

    The following table summarizes operation

    Table 4: Operation of H-Bridge

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    CHAPTER 6

    METAL DETECTOR

    The simplest form of a metal detector consists of an oscillator producing an alternating current that

    passes through a coil producing an alternating magnetic field. If a piece of electrically conductive metal

    is close to the coil, eddy currents will be induced in the metal, and this produces an alternating magnetic

    field of its own. If another coil is used to measure the magnetic field (acting as a magnetometer), the

    change in the magnetic field due to the metallic object can be detected.

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    Figure 6.1: Metal Detecting circuit

    CHAPTER 7

    WIRELESS CAMERA WITH VOICE TRANSMISSION

    The portable small-sized camera has the ball-point pen appearance, photographing a particular

    location in secret is possible without exposure to others. The camera circuit part is connected to a

    wireless transmission device for outputting a signal by a cable. A wireless receiving device at a remote

    location from the wireless transmission device receives a signal of the wireless transmission device for

    outputting or recording.

    7.1. RF Transmitter (Remote) Block Diagram

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    SW1

    SW2

    SW3

    SW4

    RF

    Encoder

    HT640 RF

    Transmitter

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    Figure 7.1: Block Diagram of RF Transmitter (Remote)

    7.2. RF Receiver (Remote) Block Diagram

    xxx

    RF Receiver

    RF

    Decoder

    89C51

    MCU

    H-

    Bridge

    H-Bridge

    Geared

    Motor - I

    GearedMotor - II

    Power On

    RESET

    MetalDetector

    Wireless Camera with voice

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    Figure 7.2: Block Diagram of RF Receiver (Remote)

    CHAPTER 8

    WORKING OF THE PROJECT

    This project (Remote Controlled Metal Detecting Robot with Image Transmission) consists of

    two sections-Transmitter section (Remote) and Receiver section (Robot).

    8.1. RF Transmitter (Remote)

    In the transmitter section (remote), we have the following components:

    Four switches

    RF encoder (HT640L)

    RF transmitter (STT-433MHz)

    There are four switches for the movement of the robot in various directions like forward,

    backward, left and right. These four switches are connected to the RF encoder . The RF encoder is then

    connected to RF transmitter, which is thereby connected to the antenna for the transmission of the radio

    waves.

    Depending on the switch that is been pressed (left, right, forward, and backward), the digital data

    from the switches is transferred to the RF encoder, which encodes this digital data into RF signals and

    transmits to the RF transmitter. This transmitter transmits the RF waves to the receiver (robot) through

    the antenna.

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    8.2. RF Receiver (Robot)

    The receiver section consists of the following components:

    RF receiver (STR-433MHz)

    RF decoder (HT648L)

    Microcontroller (AT89C51)

    H-Bridge

    Geared motors of 60RPM

    Metal detecting circuit

    Wireless camera

    In this receiver section, the RF receiver is connected to the RF decoder. This decoder is

    connected to the microcontroller, which is, in turn, connected to the H-Bridge. This H-Bridge is

    connected to the geared motors of the robot. Metal detecting circuit is also other separate sub-section on

    the receiver part. The wireless camera is placed separately on the receiver section to view the

    surroundings.

    When the radio waves are transmitted from the transmitter (remote) to the receiver (robot), these

    waves are received by the RF receiver through the receiver antenna. From the RF receiver the signals are

    sent to RF decoder, which decodes these signals into digital data. This digital data is sent to the

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    microcontroller, which, depending on the code written in it, enables either the upper H-Bridge or lower

    H-Bridge. This H-Bridge correspondingly activates the specified geared motors (Geared Motors-I or

    Geared motors-II). Power set reset button is used for activating the receiver section. Metal detecting

    circuit is other sub-section on the receiver part.

    As the robot moves in any specified direction and if a metal is been placed on the path of the

    robot., the inducting coil present at the lower side of the receiver section, which acts as a metal

    detecting coil, will detect the metal and activates the buzzer sound on the receiver section. The metal

    detection processes goes on by induction of eddy currents in the metal due to the variation in the

    magnetic fields of the two components-coils and metal.

    The wireless camera is placed to view the images surrounding the robot to locate the position of

    the metal being detected. The images can be viewed on a television at the user location. When the robot

    moves the camera also moves as per the adjustment of the camera on the receiver section. This provides

    the view of the location of the robot. Whenever the metal is detected, which we can be aware by the

    sound of the buzzer on the receiver section, we view the location of the mine with the help of the

    surrounding view provided by the camera through a television placed at our location. This feature makes

    the project more specific in applications like for metal detecting and other applications

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    CHAPTER 9

    PROGRAMMING THE FLASH (CODE)

    The AT89C51 is normally shipped with the on-chip Flash memory array in the erased state (that

    is, contents = FFH) and ready to be programmed. The programming interface accepts either a high-

    voltage (12-volt) or a low-voltage (VCC) program enable signal. The low-voltage programming mode

    provides a convenient way to program the AT89C51 inside the users system, while the high-voltage

    programming mode is compatible with conventional third party Flash or EPROM programmers. The

    AT89C51 is shipped with either the high-voltage or low-voltage programming mode enabled.

    9.1. Programming Algorithm:

    Before programming the AT89C51, the address, data and control signals should be set up

    according to the Flash programming mode table. To program the AT89C51, the following steps should

    be considered:

    1. Input the desired memory location on the address lines.

    2. Input the appropriate data byte on the data lines.

    3. Activate the correct combination of control signals.

    4. Raise EA/VPP to 12V for the high-voltage programming mode.

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    5. Pulse ALE/PROG once to program a byte in the Flash array or the lock bits. The byte-write cycle

    is self-timed and typically takes no more than 1.5 ms.

    6. Repeat steps 1 through 5, changing the address and data for the entire array or until the end of the

    object file is reached.

    9.2. Project Code:

    #include

    #definerfdataP1

    void stop(void);

    void forward(void);

    void left(void);

    void right(void);

    void backward(void);

    void main()

    {

    rfdata=0xff;

    P0=0;

    P3=0;

    while(1)

    {

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    if(rfdata==0x0f)

    {

    while(rfdata==0x0f)

    {

    stop();

    }

    }

    if(rfdata==0x0e)

    {

    forward();

    }

    }

    void forward(void)

    {

    P0=0xCA;

    P3=0:

    }

    The present project is implemented on Keil Uvision. In order to program the device, proload tool

    has been used to burn the program onto the microcontroller.

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    CHAPTER 10

    RESULTS

    Figure 10.1: RF Receiver Section

    (Robot)

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    Figure 10.2: RF Transmitter Section (Remote)

    ADVANTAGES AND DISADVANTAGES

    Advantages:

    1. No line of sight is needed.

    2. Not blocked by common materials: It can penetrate most solids and pass through walls.

    3. Longer range.

    4. It is not sensitive to the light;.

    5. It is not much sensitive to the environmental changes and weather conditions.

    Disadvantages:

    1. Interference: communication devices using similar frequencies - wireless phones, scanners, wrist

    radios and personal locators can interfere with transmission

    2. Lack of security: easier to "eavesdrop" on transmissions since signals are spread out in space

    rather than confined to a wire

    3. Higher cost than infrared

    4. Federal Communications Commission(FCC) licenses required for some products

    5. Lower speed: data rate transmission is lower than wired and infrared transmission

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    LIMITATIONS

    Limitations in this project are

    1. While working on this project, we had a difficulty of adjusting the RF frequency for our project.

    2. We had to tune the frequency in the RF range in such a way that the frequency used in our

    project should not be used anywhere in the closer vicinity of the project.

    3. Therefore we had to tune the frequency range between 340MHz to 415MHz.

    4. Finally we had rectified the problem by setting the frequency at 384.9MHz.

    5. High cost and high tech features are additional constraints in using robots for

    demining.

    6. The knowledge required to operate a machine may not match the skill level of the demines,

    many of whom are drawn from the local public.

    7. The main limitations of this robot are:

    a. Not suitable for difficult terrain

    b. Hard to navigate

    c. Blast-resistant wheels are unsuited to very soft ground, and

    d. The inability of the robot with its particular wheel configuration and available

    power to have enough torque to get out of a hole after a mine blast.

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    8. In addition, cost of maintenance, spare parts and its availability are critical parameters too. While

    current technology may be slightly effective, it is far too limited to fully address the huge mine.

    9. Here two main steps can be distinguished: first the presence of an object

    must be detected, and secondly this object has to be identified as being a mine or other.

    Critical to demining is the ability to distinguish fragments or stones from the target material.

    APPLICATIONS

    1. Mines detection

    This remote controlled metal detecting robot with image transmission can be used for

    detection of mines in remote and others places also with an image view through the television, to

    know the location of the mine. Since whenever this robot passes through a mine, it detects the

    mine and produces a buzzer sound and thereby the location of the mine can be traced out by the

    television used.

    2. Surveillance appliances.

    With the help of microcontroller, remote and other intelligent control technologies

    embedded in the project offer the end user to easily access greater control of their products. The

    use of a camera helps to view the location under control. the projects various surveillance

    appliances include the monitoring of the robot and thereby the view of the camera so as to

    observe the location being detected.

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    CONCLUSION

    This project presents a metal detecting robot using RF communication with wireless audio and

    video transmission and it is designed and implemented with Atmel 89C51 MCU in embedded system

    domain.

    The robot is moved in particular direction using switches and the images are captured along with

    the audio and images are watched on the television .Experimental work has been carried out carefully.

    The result shows that higher efficiency is indeed achieved using the embedded system. The proposed

    method is verified to be highly beneficial for the security purpose and industrial purpose.

    The mine sensor worked at a constant speed without any problem despite its extension, meeting

    the specification required for the mine detection sensor. It contributed to the improvement of detection

    rate, while enhancing the operability as evidenced by completion of all the detection work as scheduled.

    The tests demonstrated that the robot would not pose any performance problem for installation of the

    mine detection sensor. On the other hand, however, the tests also clearly indicated areas where

    improvement, modification, specification change and additional features to the robot are required to

    serve better for the intended purpose. Valuable data and hints were obtained in connection with such

    issues as control method with the mine detection robot tilted, merits and drawbacks of mounting the

    sensor, cost, handling the cable between the robot and support vehicle, maintainability, serviceability

    and easiness of adjustments. These issues became identified as a result of our engineers conducting both

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    the domestic tests and the overseas tests by themselves, and in this respect the findings were all the more

    practical.

    REFERENCES

    Text Books:

    [1] Raj Kamal, Embedded Systems, Pearson Education Publications, 2007.

    [2] Mazzidi, 8051 Microcontroller and Embedded Systems, Prentice Hall

    Publications, 2nd Edition, 2005.

    [3] Edwin S.Grosvenor and Morgan Wesson,Alexander Graham Bell: The Life and

    Times of the Man Who Invented the Telephone , New York, Abrams, 1997.

    Magazines:

    [1] Electronics for you

    [2] Electrikindia

    Web portal:

    [1] www.howstuffworks.com.

    [2] http://www.atmel.com/dyn/resources/prod_documents/doc0265.pdf.

    [3] www.intechopen.com/download/pdf/pdfs_id/68.pdf.

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