The document describes the design of an autonomous robot that can detect metals and obstacles. The robot uses an Arduino microcontroller along with ultrasonic sensors for obstacle avoidance and an inductive proximity sensor as a metal detector. It also uses motors, a motor driver, and an electromagnet to move around, detect metals, and pick them up when found. The objective is to build a robotic vehicle that can sense metals and pick them up and place in a designated area.

1. METAL DETECTING
AND OBSTACLE
AVOIDANCE
AUTONOMOUS
ROBOT

2. OVERVIEW
 Objective
 Expected output
 Hardware and software Requirements
 Module description
 Advantages and Disadvantages
 References

3. OBJECTIVE
 The main objective of our project is to build a robotic
vehicle that can sense metals ahead of it and to pick it
and place it in a pre-estimated place.

4. Expected Output
It scans the nearby area for obstacles.
If no obstacle is detected ,Robot moves forward while
scanning for metals.
If metals are detected, it collects them.

5. Hardware & Software
Requirements
Hardware Software
Robot Chassis Arduino IDE
DC motors Fritzing
Motor Driver MS-Powerpoint
Arduino Uno
Ultrasonic sensor
Servo Motors
Castor wheel
Pvc pipes, round block
Inductive proximity sensor(M30)
Electromagnet
Batteries

6. Ultrasonic
sensor
Metal
Detector
Electromag
net
Motor
Driver
H-Bridge
Motor
Motor
ARDUINO
C
Arduino
Uno
BLOCK DIAGRAM

7. Circuit Diagram

8. The project is divided into modules for better
understanding of the circuit. The modules include
 Arduino Uno Microcontroller Board
Motor Control Driver
Metal Detector
Ultrasonic Sensor

9. Motor Control Driver
 It is a dual H-bridge driver
designed to drive dc
motors.
 It controls the speed and
direction of each DC
motors independently
using the micro controller.
 It uses L293D IC to
control the dc motor
 It is powered by an external
power supply of 5v to 12v.

10. Operation of Motor Driver
 L293D has 2 sets of arrangements
where one set has input 1 and output
2 and other set has input 3,input
4,output 3 and output 4
 If enable 1 and pin number 2 are
high leaving pin number 7 as low
then motor rotates in forward
direction, vice-versa for reverse
direction.
 If enable 2 and pin number 10 are
high leaving pin 15 as low then
motor rotates in forward direction,
vice-versa for reverse direction.

11. Microcontroller
CPU RAM ROM
I/O
PORTS
TIMER Serial
Com
Ports
 It is a smaller computer
 It has on-chip
RAM,ROM,I/O ports

12. Arduino Uno Microcontroller
Microcontroller - Atmega328
Operating voltage - 5v
Pin count - 28
Input Voltage - 7-12v
Digital I/O pins - 14(6 pwm)
Analog Input Pins - 6
Current per I/O pins - 40mA
Current for 3.3 v pins - 50mA
Flash memory - 32KB
SRAM - 2KB
EEPROM - 1KB
Clock Speed - 16 MHz

13. Ultrasonic Sensor
 Ultrasonic sensor
generates high frequency
sound waves and evaluate
the echo which is received
back by the sensor.
 It measures the time
interval between sending
and receiving the echo to
determine the distance to
an object.
 It detects the distance of
the closest object in front
of the sensor(from 2cm to
3m).

14. Servo Motors
It is used to mount ultrasonic
sensor.
2 servo motors are used to
control the arm.
 It has 3 pins
Vcc, ground, control signal.

15. Arm
Control
Two servo motors are used
to control the arm.
Sweep Servo motor is used to
scan metals .
Flip Servo motor is used to pick
the metals.

16. Metal Detector
It is an inductive proximity sensor.
It consists of 3 pins.
Vcc (pink),Ground(blue),control(black)

17. electromagnet
 It is a 1.5 kg lifting electromagnet.
 It has two pins.
 It is controlled by H-bridge.

18. ADVANTAGES
Provide safety to the bomb disposal squad by
providing an extra line of defence.
Reduced amount of operator errors.
Can be made to perform even the most dangerous
tasks without concern.
Can operate without human assistance(i.e.
autonomous)

19. DISADVANTAGES
Precise programming needed.
It doesn’t possess pre-programmed path.
Robot doesn’t distinguish between small and large
pieces of metal.
Limited stability

20. IMPROVEMENTS
Stability can be improved by using 4 wheel
configuration.
Live video feedback could be implemented.
Chain drive can be used to improve the motion of
robot in terrain.

21. FLOWCHART

22. http://www.arduino.cc

23. THANK YOU