Metal Detector Robotic Vehicle

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Metal Detector Robotic Vehicle
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Introduction

• Here is a war field land rover that alerts on
  sensing planted land mine ahead controlled
  remotely using the RF mode primarily.
• The RF remote control has the advantage of
  adequate range (up to 200 meters with proper
  antennae) besides being Omni-directional.
• On the other hand, an IR remote would function
  over a limited range of about 5 meters, and the
  remote transmitter has to be oriented towards the
  receiver module quite precisely.
• However, the cost involved in using RF modules is
  much higher than of IR components and as such, we
  have included the replacement alternative of RF
  modules with their IR counterparts for using the
  IR remote control.

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Transmitter

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Receiver

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Working Process

• The project uses HT12E Encoder which converts 4
  bit data to serial output which is then fed to
  the RF module for transmitting the same to be
  received by the receiver of RF module.
• Then the output of which is fed to HT12D the
  serial decoder IC, next the output of which is
  fed to controller pin 1-4.
• The transmitting end MC is connected to a set of
  pushbutton switches. Thus, while a particular
  button is pressed the program executed delivers
  corresponding 4-bit data that are then
  transmitted serially.
• The data so received at the receiver end of port
  1 operates the motor through motor driver IC
  L293D as required being interfaced from the
  Microcontroller output port 2.

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Working Process (Continue)

• The transmitter is powered by a 6v battery in
  series with a silicon diode to develop finally
  required voltage for microcontroller circuit.
• The receiver is powered by a 12v battery in
  series with a silicon diode to protect the
  circuits from the accidental reverse battery
  connection.
• 5V DC out of the 12V available from regulator IC
  7805 is fed to the controller, decoder, and the
  motor driver IC L293D pin 8 for the operation of
  the motor.
• A metal detector circuit is used that uses a
  tuned circuit comprising of a coil.

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Working Process (Continue)

• Two capacitors C2 and C3 determining a
  particular resonant frequency of the oscillator
  by Q4. The sensitivity of which is adjusted by a
  potentiometer of 5k.
• The output of this resonant circuit is fed to Q2
  which quarter in emitter follower configuration
  with appropriate filtering to forward bias Q3
  that forces Q4 to be not in condition stage thus
  the buzzer connected from positive supply to the
  collector of Q4 does not get any power so doesnt
  sound.
• While any metal object is encountered by the coil
  the resonance frequency drifts away that removes
  the drive voltage to Q3, which in turn switches
  on the Q4 for the buzzer to get power and sound
  accordingly together with the L, LED growing to
  indicate the presence of the metallic object.

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Micro controller

• 8K Bytes of In-System Programmable (ISP) Flash
  Memory.
• 4.0V to 5.5V Operating Range.
• Crystal Frequency 11.0592MHZ.
• Three-level Program Memory Lock.
• 256 x 8-bit Internal RAM.
• 32 Programmable I/O Lines.
• Three 16-bit Timer/Counters.

AT89S52
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Block diagram of MC

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MC components explanation

• ROM
• A code of 4K memory is incorporated as on-chip
  ROM in 8051.
• RAM
• The 8051 microcontroller is composed of 128 bytes
  of internal RAM.
• Interrupt Control
• An event which is used to suspend or halt the
  normal program execution for a temporary period
  of time in order to serve the request of another
  program or hardware device is called an
  interrupt.

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MC components explanation
Parallel Input/Output Ports PORT P0 When there
is no external memory present, this port acts as
a general purpose input/output port. PORT P1
This port is used for various interfacing
activities. PORT P2 This port can be used as a
general purpose port when there is no external
memory but when external memory is present it
works in conjunction with PORT PO as an address
bus. PORT P3 PORT P3 behaves as a dedicated
I/O port.

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MC components explanation

• Address Bus
• A bus is group of wires using which data transfer
  takes place from one location to another within a
  system.
• Timers and Counters
• Synchronization among internal operations can be
  achieved with the help of clock circuits which
  are responsible for generating clock pulses.
• Internal operations can be synchronized using
  clock circuits which produce clock pulses.

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Pin diagram of 8052

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8052 pin diagram explanation

• Port 0(p0.0 to p0.7)
• It is 8-bit bi-directional I/O port. It is bit/
  byte addressable. During external memory access,
  it functions as multiplexed data and low-order
  address bus AD0-AD7.
• Port 1 (p1.0 to p1.7)
• It is 8-bit bi-directional I/O port. When logic
  '1' is written into port latch then it works as
  input mode. It functions as simply I/O port and
  it does not have any alternative function.

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8052 pin diagram explanation

• Port 2 (p2.0 to p2.7)
• It is 8-bit bi-directional I/O port. It is bit/
  byte addressable.
• Port 3(p3.0 to port 3.7)
• It is 8-bit I/O port. In an alternating function
  each pins can be used as a special function I/O
  pin.
• RESET 
• It is active high I/P signal. It should be
  maintained high for at least two machine cycle
  while oscillator is running then 8051
  microcontroller resets.

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Motor driver IC

• L293D is a dual H-bridge motor driver integrated
  circuit (IC).
• Motor drivers act as current amplifiers since
  they take a low-current control signal and
  provide a higher-current signal.
• This higher current signal is used to drive the
  motors.
• L293D contains two inbuilt H-bridge driver
  circuits. In its common mode of operation, two DC
  motors can be driven simultaneously, both in
  forward and reverse direction.

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Motor driver ic diagram

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Operation of motor driver

• L293D has 2 set of arrangements where one set has
  input 1, input 2, output 1 and output 2 and
  other set has input 3, input 4, output 3 and
  output 4, according to block diagram if pin no 2
  7 are high then pin no 3 6 are also high.
• If enable 1 and pin number 2 are high leaving
  pin number 7 as low then the motor rotates in
  forward direction.
• If enable 2 and pin number 10 are high leaving
  pin number 15 as low then the motor rotates in
  forward direction.

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Power on Reset circuit

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RF remote control

• The circuit uses HT 12E, HT 12D encoder and
  decoder.
• 433MHz ASK transmitter and receiver is used for
  the remote control.

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Features of RF

• Range in open space(Standard Conditions) 100
  Meters
• RX Receiver Frequency 433 MHz
• RX Typical Sensitivity 105 Dbm
• RX Supply Current 3.5 mA
• RX IF Frequency 1MHz
• Low Power Consumption
• Easy For Application
• RX Operating Voltage 5V
• TX Frequency Range 433.92 MHz
• TX Supply Voltage 3V 6V
• TX Out Put Power 4 12 Dbm

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RF encoder decoder

• The HT 12E Encoder ICs are series of CMOS LSIs
  for Remote Control system applications. They are
  capable of Encoding 12 bit of information which
  consists of N address bits and 12-N data bits.
• The HT 12D ICs are series of CMOS LSIs for remote
  control system applications.
• This ICs are paired with each other. For proper
  operation a pair of encoder/decoder with the same
  number of address and data format should be
  selected.
• The Decoder receive the serial address and data
  from its corresponding decoder, transmitted by a
  carrier using an RF transmission medium and gives
  output to the output pins after processing the
  data.

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Metal detector

• The operation of metal detectors is based upon
  the principles of electromagnetic induction.
• The single-coil detector is the one used in a
  real metal detector.
• A pulsing current is applied to the coil, which
  then induces a magnetic field.
• When the magnetic field of the coil moves across
  metal, such as the coin, the field induces eddy
  currents in the coin.
• The eddy currents induce their own magnetic
  field, which generates an opposite current in the
  coil, which induces a signal indicating the
  presence of metal.

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Software requirements

• Keil an ARM Company makes C compilers, macro
  assemblers, real-time kernels, debuggers,
  simulators, integrated environments, evaluation
  boards, and emulators for ARM7/ARM9/Cortex-M3,
  XC16x/C16x/ST10, 251, and 8051 MCU families.
• Compilers are programs used to convert a High
  Level Language to object code. Desktop compilers
  produce an output object code for the underlying
  microprocessor, but not for other
  microprocessors.

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Advantages

• The detection and removal of landmines can be
  achieved by using metal detection robot.
• This Metal Detector Robotic Vehicle System is
  used for locating and detecting landmines very
  effectively and efficiently.
• This system can be operated easily.
• It is used for finding the landmines in a short
  period, a necessary worldwide concern at present.
• It can move on natural ground surfaces including
  roads and tracks in a same manner to a human
  operator.

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Conclusion

• The Metal Detector Robotic Vehicle is used to
  find the landmine when the robot moves on the
  earth.
• The main purpose of this system is to detect and
  remove the landmines in a short span of time and
  sense the metals ahead of it.
• This project can be improved by mounting a
  wireless camera on the robot, and the operator
  can control the movement of the robot easily by
  visualizing it on a screen.

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