MULTI-UTILITY AUTOMATED VEHICLE

SUBMITTED BY Sagar Raikwar

CONTENTS
Introduction Abstract Hardware Software Assembly Description and working Applications Reference

INTRODUCTION
The term robot originates from the Czech word robota, meaning compulsory labor. It was first used in the 1921 play R.U.R. (Rossum's Universal Robots) by the Czech novelist and playwright Karel Capek. Robot is a machine that is programed to move. It was first used in the 1921 play R.U.R. (Rossum's Universal Robots) by the Czech novelist and playwright Karel Capek. The word robot has been used since to refer to a machine that performs work to assist people or work that humans find difficult or undesirable.

ABSTRACT
A line following robot follows a prescribed path. The sensor used in this vehicle is a light sensing device that distinguishes between illuminated and dark area. The micro processor used in the path following vehicle are L293D and ATMEL AT89C51. The ATMEL AT89C51 is a flash memory based micro controller. The ATMEL AT89C51 is a flash memory based micro controller. This is a reprogrammable micro controller

PATH FOLLOWING ROBOT

HARDWARE
L293D Motor Driver DC motor. ATMEL AT89C51 - ( Micro Controller ) ISP Flash Microcontroller Programmer Resistors Light Sensor Capacitors L.E.D.

L293D Motor Driver

16-pin chip with a little notch cut out of the front of it (that last bit is for you non-experts). gives our robot more power from a tighter space. The L293D Motor Driver can take standard TTL (well, CMOS too) inputs and make a standard motor function properly. A standard DC Motor use a Pulse Width Modulated (PWM) signal to tell a motor where to rotate. PWM works by sending a rapid train of high/low signals to the servos regular driver brains, and depending on how different the high signal is from the low signal, the servo moves to the according position. PWM is great if you dont want to rotate much more than 180, which is fine for actuators, but not for driving wheels.

DC motor
Step motors : Produce high torque for their size and have useable torque to around 1K RPM. Step motors with a controller like the Velmex VXM are the most cost effective solution for accurate speed and precise incremental positioning. used for coarse positioning, they can stop within 5 degrees of rotation. DC servo motor : Advantage over a step motor of less acoustical noise. closed loop device has position feedback. Higher cost and the need for a larger motor or gear box are the disadvantages of the servo motor compared to a step motor.

ATMEL AT89C51 - ( Micro Controller )

ATMEL AT89C51 - (Micro Controller)

FEATURES
4K Bytes of In-System Reprogrammable Flash Memory Endurance: 1,000 Write/Erase Cycles Fully Static Operation: 0 Hz to 24 MHz 128 x 8-bit Internal RAM 32 Programmable I/O Lines Two 16-bit Timer/Counters Six Interrupt Sources Programmable Serial Channel

Pin Configrations of ATMEL 89C51 and L293D

SOFTWARE
After program is developed using assembly language, it is compiled using assembly language and built up to .hex it is downloaded in 89C51 microcontroller.

ISP Flash Microcontroller Programmer V 3.0 - The ISP-3v0.zip file contains the main program and the I/O port driver for windows 2000 & XP

ASSEMBLY
Block Diagram Circuit Diagram Layout PCB Design & Fabrication Soldering Part List

Block diagram

Circuit diagram

Layout

Part list

DESCRIPTION AND WORKING

A path following vehicle follows a line as fast and unwavering as possible. For a line follower apart from programming some useful guidelines are: Sensors should be placed as far away from the motors as possible so that we have enough time to change motor direction. The weight of the machine should be evenly balanced Construction of the robot and sensor placement will depend upon the speed of the motors to be used

APPLICATION
Obstacle Detection Contact Detection (Touch) Land Mine Detection Water & Mud Detection

APPLICATION
Robotized space vehicles and facilities Anthropomorphic general-purpose robots with hands like humans used for factory jobs Intelligent robots for unmanned plants - Totally automated factories will be commonplace. Robots for guiding blind people and home automation for the elderly and disabled. Robots for almost any job in home or hospital, including Robo-surgery. Obstacle Detection

Obstacle Detection

Contact Detection (Touch)

Land Mine Detection

Water & Mud Detection

REFERENCE
www.Electronicsforu.com www.Atmel.com http://www.avr-asm-tutorial.net http://us.st.com/stoline/books/docs/2143.pdf www.Seattleroboticssociety.com Neural network control of simple mobile robot. - R. J. Mitchell and D. A. Keating. http://home.zonnet.nl/bvandam/voorpag.html