6.

METAL DETECTING BOT

6.1 Introduction

The project is designed to develop a robotic vehicle that can sense metals ahead of it on its
path similar to sensing land mines. The robot is controlled by a remote using RF technology.

6.2 Wireless Metal Detector Robot Circuit Principle

The proposed system consists of transmitter and receiver circuit. The transmitter circuit
transmits the commands required to operate the robot. The receiver circuit receives these
commands through RF and moves the robot according to the received commands. A metal
detector is interfaced to the controller in the receiver side. Thus whenever any metal is
detected the robot stops there and buzzer starts ringing.

6.3 Wireless Metal Detector Robot Block Diagram

6.3.1 Transmitter Side

Fig 6.1 Block diagram of transmitter side

6.3.2 Receiver Side

Fig 6.2 Block diagram of receiver side

6.4 Wireless Metal Detector Robot Circuit Diagram

6.4.1 Transmitter Circuit:

Fig 6.3 Transmitter circuit

6.4.2 Receiver Circuit:

Fig 6.4 Receiver Circuit

6.5 Circuit Components:

6.5.1Hardware Components:

 AT89c51 microcontroller
 RF encoder and decoder
 RF transmitter and receiver pair
 Push buttons
 Buzzer
 Robot
 L293d
 Connecting Wires

6.5.2Software Components:

 Keil software
 Sunrom
 Proteus

6.6 Software Description

KEIL Software (KEIL µVision IDE)

The µVision IDE combines project management, run-time environment, build

facilities, source code editing, and program debugging in a single powerful environment.
µVision is easy-to-use and accelerates your embedded software development. µVision
supports multiple screens and allows you to create individual window layouts anywhere on
the visual surface.

The µVision Debugger provides a single environment in which you may test, verify,
and optimize your application code. The debugger includes traditional features like simple
and complex breakpoints, watch windows, and execution control and provides full visibility
to device peripherals. With the µVision Project Manager and Run-Time Environment you
create software application using pre-build software components and device support from
Software Packs. The software components contain libraries, source modules, configuration
files, source code templates, and documentation.
Proteus

The Proteus Design Suite is a Windows application for schematic capture, simulation, and
PCB layout design. It can be purchased in many configurations, depending on the size of
designs being produced and the requirements for microcontroller simulation. All PCB Design
products include an auto router and basic mixed mode SPICE simulation capabilities. The
micro-controller simulation in Proteus works by applying either a hex file or a debug file to
the microcontroller part on the schematic. It is then co-simulated along with any analog and
digital electronics connected to it. This enables it's used in a broad spectrum of project
prototyping in areas such as motor control, temperature control and user interface design.
Microchip Technologies PIC10, PIC12, PIC16, PIC18, PIC24, dsPIC33 Microcontrollers.

 Atmel AVR (and Arduino), 8051 and ARM Cortex-M3 Microcontrollers

 NXP 8051, ARM7, ARM Cortex-M0 and ARM Cortex-M3 Microcontrollers.
 Texas Instruments MSP430, PICCOLO DSP and ARM Cortex-M3 Microcontrollers.
 Parallax Basic Stamp, Freescale HC11, 8086 Microcontrollers.

Sunrom

It is software used to dump the programing code into the 8051 microcontroller.

6.7 Circuit Design of Metal Detector Robot using Microcontroller

The metal detection robot project can be divided into sections 1) Transmitter section, 2)
Receiver section.

The transmitter section consists of RF encoder, RF transmitter and Push buttons. RF encoder
IC used here is HT12E.It is an 18 pin IC .The 4-bit binary input is applied to the decoder
through the AD0, AD1, AD2, AD3 pins. The TE pin enables the transmission when it is
low.A0-A7 are the address pins used for secured transmission. These pins are connected to
ground in the transmitter circuit. The 4-bit data is transmitted to the RF transmitter parallelly.
This is transmitted to the RF receiver serially. Input is given to the encoder through buttons.
The RF pair operates with a frequency of 434 kHz.

Receiver section consists of AT89c51 microcontroller, RF decoder, RF receiver, metal

detector, buzzer, L293d IC and robot.
The data received is applied to the RF decoder. The RF decoder used here is HT12D.
Decoded inputs are connected port 2 of the microcontroller. The four data pins D0-D3 are
connected to the Port P2.0 – P2.3.The decoded data is applied to the microcontroller which
controls the movement of the robot. The buzzer is connected to the port 3.4 and this rings
when any metal is detected in its path.

Metal detector is connected to the pin 3.2 of the microcontroller. Here in place of metal
detector a push button is connected. Metal detector plays a main role in the circuit. This will
have an oscillator inside it, which produces an alternating current that passes through the coil
producing an alternating magnetic field. When any metal is present near the coil this induces
magnetic field and thus it can be detected by using another coil which detects the change in
the field.

L293d is a motor driving IC .This IC is used to drive the motors.L293d has h-bridge
internally

6.8 Wireless Metal Detection Robot Circuit Working

 Initially burn the code into the microcontroller using Sunrom.

 Now switch on the power supply for the circuit.
 Now send the command ‘1’ using the transmitter.
 This is transmitted to the receiver.
 At the receiver side receiver receives these commands and moves the robot according
to the commands.

 The following commands moves the robot in the specified directions

• Forward
• Backward
• Left
• Right
 While robot is moving if any metal is detected in its path, the robot stops there ringing
the buzzer.
 Again it starts moving when the commands are sent from the transmitter.
6.9 Metal Detector Robot Circuit Algorithm

 Take five inputs at port 2 of 8051. Four inputs from receiver side and one from buzzer
 Make four conditions from the inputs taken from receiver side
 The following conditions are
• Forward
• Backward
• Right
• Left
 Take outputs from port 1 and give it to L293D Motor Driver

6.10 Microcontroller based Metal Detector Robot Applications

• These robots are used in detecting landmines.

• Robots are used for in detecting the minerals present in the ground.
• These robots are used for detecting the bombs.
• These can be used in construction industry for locating steel bars present in concrete.
• They are used in airports and building security to detect the weapons.

6.11 Limitations of the Circuit

The transmitter can operate the robot only in the range of RF that is approximately 30 metres.