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INTERNATIONAL JOURNAL OF COMPUTER ENGINEERING & 
International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), 
ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 
TECHNOLOGY (IJCET) 
ISSN 0976 – 6367(Print) 
ISSN 0976 – 6375(Online) 
Volume 5, Issue 7, July (2014), pp. 24-35 
© IAEME: www.iaeme.com/IJCET.asp 
Journal Impact Factor (2014): 8.5328 (Calculated by GISI) 
www.jifactor.com 
24 
 
IJCET 
© I A E M E 
A METAL DETECTOR MOBILE ROBOT AS A NEW APPLICATION OF 
MICROCONTROLLER 
Maha M. Lashin 
Mechanical Engineering Department, Shoubra Faculty of Engineering, Banha University, Egypt 
 
ABSTRACT 
A microcontroller is a small and low-cost computer built for the purpose of dealing with 
specific tasks. Microcontrollers are mainly used in products that require a degree of control to be 
exerted by the user. It is generally built using a technology known as Complementary Metal Oxide 
Semiconductor. A metal detector robot designed as a new application of microcontroller. It used the 
microcontroller to control its mechanism movement. The robot has two links and two joints 
supported on moving table to make its movement easy. A carriage vehicle used for carrying robot 
which used the skid steered wheeled types to make its movement easy and safety on ground open 
area. The robot’s movement orientation done very accurate depending on link between the 
microcontroller and the user’s hand remote. 
Keyword: Microcontroller - Metal Detector Robot. 
INTRODUCTION 
Microcontroller structure usually contain as in figure1, CPU, ROM, RAM, I/O ports, timers, 
and ADC. Memories on a microcontroller [1] used to store data and/or the program to be run. The 
data stored in Random Access Memory (RAM) is volatile which means that it lost when had been 
power turned off. Read Only Memory (ROM) is non-volatile and therefore stored between power 
cycles, and it is a read only memory but may not be written to. Erasable Programmable Read Only 
Memory (EPROM) allows read and write access and is also non-volatile. Electronically Erasable 
Programmable Read Only Memory (EEPROM) where the program is stored. Central Processor Unit 
(CPU) is the brains of the microcontroller, it executes instructions such by fetching the instruction 
and any required data over its data bus. Input/output (I/O) programmable lines with bit ports. Timers 
are internal clocks to give the user sensing of time and duration information for great importance in
International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), 
ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 
digital control systems. Analog-to-Digital Converter (ADC) built within it to convert the analog 
signals to digital signals to help the microcontroller dealing with this information 
25 
 
FIG.1: Microcontroller Structure 
How Microcontroller Work 
The microcontroller work[2] when power supply turned off, the program is loaded into the 
microcontroller. Power supply is turned on then the control logic unit keeps everything under 
control. It disables all other circuits except quartz crystal to operate. Power supply voltage reaches 
its maximum and oscillator frequency becomes stable. All pins are configured as inputs. The overall 
electronics starts operation in rhythm with pulse sequence. From now on the time is measured in 
micro and nanoseconds. Program Counter is set to zero. Instruction from that address is sent to 
instruction decoder which recognizes it, after which it is executed with immediate effect. The value 
of the Program Counter is incremented by 1 and the whole process is repeated several million times 
per second. 
Types of Microcontrollers 
All controllers of a family [3] contain the same processor core and hence are code-compatible, 
but they differ in the additional components like the number of timers or the amount of 
memory. 
Applications of Microcontrollers 
Microcontrollers have innumerable applications[4]. Some examples of their simple 
applications are in, Biomedical instruments like an ECG LCD display cum recorder, blood cell 
recorder cum analyzer, patient monitor system. Communication systems like numeric pagers, 
cellular phones, cable TV terminals, FAX and transceivers with or without an accelerator, video 
game and so on. Peripheral controllers of a computer such as the keyboard controller, printer 
controller, laser printer controller, LAN controller and disk drive controller. Instruments such as an 
industrial process controller, and electronic smart weight display system. A target tracker. An 
automatic signal tracker. Accurate control of the speed and position of a DC motor. A robotics 
system. A CNC machine controller. Automotive applications like a close loop engine control, a 
dynamic ride control, an anti-lock braking system monitor. Electronic data acquisition and 
supervisory control system. Industrial moisture recorder cum controller. CRT display controller. 
Digital storage system and spectrum analyzer. 
METAL DETECTOR MOBILE ARM ROBOT 
A metal detector mobile arm robot (manipulator) show in figure2, designed her as a new 
application of microcontroller. The robot used to detect the metal underground depending on the
International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), 
ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 
thermal effect of this metal. Metal detector mobile arm robot has a three systems, mechanical 
system, electrical system, and control system. 
26 
 
FIG.2: Metal Detector Mobile Arm Robot 
Mechanical System 
The robot’s mechanical system consists of two branches. The first one as show in figure3 is 
the robot carriage system which built of four wheels skid steer vehicle. 
FIG.3: Robot Carriage 
As in figure4 the vehicle moving use the skid steered wheeled (chain) to make the robot’s 
vehicle having more ground contact surface area. This type of moving technique used to be 
compatible with different ground types which the robot will detect any metal under it. 
FIG.4: Four Tracked Drive Train 
The second main components in the mechanical system are the robot arms or the 
manipulator. The manipulator built of two arms and two joints supported on rotating base. The 
rotating base supported over the vehicle body. Each arm has two degrees of freedom to make it 
move in forward and backward directions easily. The arms base has one degree of freedom to rotate 
around its centre. Two degrees of freedom of the vehicle (vehicle movement to front and back at 
same line) is added to the 5DOF (Degree Of Freedom) of the arm that would give the metal robot 
detector a total sum of 7 DOF.
International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), 
ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 
27 
 
FIG.5: Metal Detection Robot’s Arms and Joints 
Electrical system 
The main components of the metal detector robot electrical system are motor, battery, and 
temperature sensor. Four DC motors were used, two motors for robot’s vehicle wheels movement 
forward and backward directions. Other two motors for arms movement. Two chargeable batters, 
one battery for motors and sensor, and other one is the power source of controlling system boards. 
The final component in the metal detector robot electric system is the temperature sensor. A 
thermostat with NTC used as a temperature sensor. Figure 6 appear the DC motor, battery, and 
temperature sensor. 
FIG.6: DC motor, Battery, and Temperature Sensor 
Control System 
Any control system contain hardware and software branches. The main hardware 
Components of a metal detector control system as in figure 7 are actuators, controller, and sensor. 
Actuators supply the driving and corrective forces to achieve a desired output. Controller generates 
actuator commands according to feedbacks from the sensors and the implemented control algorithm. 
Sensors which measure and feedback physical parameters of a system. 
FIG.7: Control System Block Diagram 
As in figure 8 a controller type PIC 16f877A with transistors TIP142/147 used to control the 
metal detector robot movement.
International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), 
ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 
28 
 
FIG.8: PIC Controller and Transistor 
The PCB (printed circuit board) of the DC motor drive and its controller circuit show in figure 9. 
FIG.9: PCB of the DC Motor Drive 
Also figure 10 show the main circuit schematic of the robot control system and its main printed 
circuit board. 
FIG.10: PCB and main Circuit Schematic for the Robot’s Control System
International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), 
ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 
29 
 
The final component of the control system of the metal detector robot is the temperature 
sensor (thermostat) which detects the metal by measuring any increase in the ground temperature. 
The sensor board and its schematic diagram show in figure 11. 
 
FIG.11: PCB and main Circuit Schematic for the Thermostat 
The software of the control system is the programming of the controller unit. The program is 
written in PIC basic pro language. This program consist of manual movement with remote control 
and automatic movement by itself. A part of this program explain in the following pages. 
-------------*'Variables------------ 
DelayVARWORD' WORD for variable Delay 
B0VARWORD 
define ADC_BITS 8 ' Set number of bits in result (8 , 10 ) 
define ADC_CLOCK 3 ' Set clock source (rc=3) 
define ADC_SAMPLEUS 50 ' Set sampling time in microseconds 
tonevar word 
durvar word 
xvar word 
-----------'Initialization--------- 
TRISA = %11011011 ' All PORTA pins are setup as inputs. 
' except RA2,RA5 are setup as inputs. 
TRISB = %00000000 ' All PORTB pins are setup as outputs, 
TRISC = %00001111 ' FROM RC0 TO RC3 ARE OUTPUTS 
'FROM RC4 TO RC7 ARE INPUTS 
TRISD = %11111111 ' ALL PORTD PINS ARE SETUP AS INPUTS 
TRISE = %11111111 
ADCON1 = %01111111 ' Changes PORTE and PORTA analog bits 
'Sets all PORTA pins to LOW (0 volts) 
PORTA = 0 
PORTB = 0 
PORTC = 0 
PORTD = 0
International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), 
ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 
------------------------------------- ' 
'The first part is manual movement 
---------------------- 'the first part 
'There are 12 button , 2 buttons can be used in the same time 
Check: 
'GROUP OF REMOTE 1 
IF PORTD.7 = 1 AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 
AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN FWD 
'if pb1 connected to RD7 is pressed then the robot moves forward 
IF PORTD.6 = 1 AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 
AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN BCK 
'if pb2 connected to RD6 is pressed then the robot moves backward 
IF PORTD.5 = 1 AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 
AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN RGT 
'if pb3 connected to RD5 is pressed then the robot moves right 
IF PORTD.4 = 1 AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 
AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN LFT 
'if pb4 connected to RD4is pressed then the robot moves left 
IF PORTD.3 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 
AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN FLIPPER_U 
'if pb5 connected to RD3 is pressed then the flipper moves up 
IF PORTD.2 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 
AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN FLIPPER_D 
'if pb6 connected to RD2 is pressed then the flipper moves down 
IF PORTD.1 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 
AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN ELBOW_U 
'if pb7 connected to RD1 is pressed then the elbow motor moves up 
IF PORTD.0 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 
AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN ELBOW_D 
'if pb8 connected to RD0 is pressed then the elbow motor moves down 
30 
PORTE = 0 
ADCIN 0, B0 ' Read channel 0 to B0 
'GROUP OF REMOTE 2 
GROUP OF REMOTE 3
International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), 
ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 
IF PORTC.7 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 
AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 THEN BASE_U 
'if pb9 connected to Rc7is pressed then the base motor moves up 
IF PORTC.6 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 
AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 THEN BASE_D 
'if pb10 connected to RD1 is pressed then the base motor moves down 
IF PORTC.5 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 
AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 THEN LEVEL_U 
'if pb11 connected to RD1 is pressed then the level motor moves up 
IF PORTC.4 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 
AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 THEN LEVEL_D 
'if pb7 connected to RD1 is pressed then the elbow motor moves up 
'GROUP OF REMOTE12 =16 
IF PORTD.7 = 1 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 = 1 
AND PORTD.2 = 0 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 
0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN fwd_flp_u 
31 
 
'forward and the flipper up 
IF PORTD.7 = 0 AND PORTD.6 =1 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 = 1 
AND PORTD.2 = 0 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 
0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN bck_flp_u 
' backward and flipper up 
IF PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 1 AND PORTD.4 = 0 AND PORTD.3 = 1 
AND PORTD.2 = 0 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 
0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN rgt_flp_u 
' right and flipper up 
IF PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 1 AND PORTD.3 = 1 
AND PORTD.2 = 0 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 
0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN lft_flp_u 
' left and flipper up ------------' 
IF PORTD.7 = 1 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 = 0 
AND PORTD.2 = 1 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 
0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN fwd_flp_d
International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), 
ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 
IF PORTD.7 = 0 AND PORTD.6 =1 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 = 0 
AND PORTD.2 = 1 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 
0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN bck_flp_d 
IF PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 1 AND PORTD.4 = 0 AND PORTD.3 = 0 
AND PORTD.2 = 1 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 
0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN rgt_flp_d 
IF PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 1 AND PORTD.3 = 0 
AND PORTD.2 = 1 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 
0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN lft_flp_d 
'leftand the flipper down ------------' 
IF PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 =0 
AND PORTD.2 = 0 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 
0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN STP 
'if no button is pressed then stop 
If porta.1 = 1 then beep' make sound if sensor give high signal 
goto check 
LOW PORTB.0 :LOW PORTB.1 : LOW PORTB.2 : LOW PORTB.3 :LOW PORTB.4 :LOW 
PORTB.5 :LOW PORTB.6:LOW PORTB.7 :LOW PORTC.0 :LOW PORTC.1 :LOW PORTC.2 
:LOW PORTC.3 :LOW PORTC.0 :LOW PORTC.1 :LOW PORTC.2 :LOW PORTC.3 
FWD: 
HIGH PORTB.0 :LOW PORTB.1 :HIGH PORTB.2 :LOW PORTB.3 :low PORTB.4 :LOW 
PORTB.5 :LOW PORTB.6 :LOW PORTB.7 
goto check 
BCK: 
LOW PORTB.0 :HIGH PORTB.1 :LOW PORTB.2 :HIGH PORTB.3 :low PORTB.4 :LOW 
PORTB.5 :LOW PORTB.6 :LOW PORTB.7 
GOTO CHECK 
32 
'forward and the flipper down 
'backward and the flipper down 
'right and the flipper down 
STP: 
GOTO CHECK 
'REMOTE 1 RESULTS
International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), 
ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 
RGT: 
HIGH PORTB.0 :LOW PORTB.1 :LOW PORTB.2 :HIGH PORTB.3 :low PORTB.4 :LOW 
PORTB.5 :LOW PORTB.6 :LOW PORTB.7 
GOTO CHECK 
LFT: 
LOW PORTB.0 :HIGH PORTB.1 :HIGH PORTB.2 :LOW PORTB.3 :low PORTB.4 :LOW 
PORTB.5 :LOW PORTB.6 :LOW PORTB.7 
GOTO CHECK 
FLIPPER_U: 
low PORTB.0 :LOW PORTB.1 :low PORTB.2 :LOW PORTB.3 :HIGH PORTB.4 :LOW PORTB.5 
:LOW PORTB.6 :LOW PORTB.7 
GOTO CHECK 
FLIPPER_D: 
low PORTB.0 :LOW PORTB.1 :low PORTB.2 :LOW PORTB.3 :LOW PORTB.4 :HIGH PORTB.5 
:LOW PORTB.6 :LOW PORTB.7 
GOTO CHECK 
ELBOW_U: 
low PORTB.0 :LOW PORTB.1 :low PORTB.2 :LOW PORTB.3 :LOW PORTB.4 :LOW PORTB.5 
:HIGH PORTB.6 :LOW PORTB.7 
GOTO CHECK 
ELBOW_D: 
low PORTB.0 :LOW PORTB.1 :low PORTB.2 :LOW PORTB.3 :LOW PORTB.4 :LOW PORTB.5 
:LOW PORTB.6 :HIGH PORTB.7 
GOTO CHECK 
BASE_U: 
HIGH PORTC.0 :LOW PORTC.1 :LOW PORTC.2 :LOW PORTC.3 
GOTO CHECK 
BASE_D: 
LOW PORTC.0 :HIGH PORTC.1 :LOW PORTC.2 :LOW PORTC.3 
GOTO CHECK 
LEVEL_U: 
LOW PORTC.0 :LOW PORTC.1 :HIGH PORTC.2 :LOW PORTC.3 
GOTO CHECK 
LEVEL_D: 
LOW PORTC.0 :LOW PORTC.1 :LOW PORTC.2 :HIGH PORTC.3 
33 
'REMOTE 2 RESULTS: 
REMOTE 3 RESULTS:
International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), 
ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 
fwd_flp_u: 
HIGH PORTB.0 :LOW PORTB.1 :HIGH PORTB.2 :LOW PORTB.3 :HIGH PORTB.4 :LOW 
PORTB.5 :LOW PORTB.6 :LOW PORTB.7 
goto check 
bck_flp_u: 
LOW PORTB.0 :HIGH PORTB.1 :LOW PORTB.2 :HIGH PORTB.3 :HIGH PORTB.4 :LOW 
PORTB.5 :LOW PORTB.6 :LOW PORTB.7 
goto check 
rgt_flp_u: 
HIGH PORTB.0 :LOW PORTB.1 :LOW PORTB.2 :HIGH PORTB.3 :HIGH PORTB.4 :LOW 
PORTB.5 :LOW PORTB.6 :LOW PORTB.7 
goto check 
lft_flp_u: 
LOW PORTB.0 :HIGH PORTB.1 :HIGH PORTB.2 :LOW PORTB.3 :HIGH PORTB.4 :LOW 
PORTB.5 :LOW PORTB.6 :LOW PORTB.7 
goto check 
fwd_flp_d: 
HIGH PORTB.0 :LOW PORTB.1 :HIGH PORTB.2 :LOW PORTB.3 :LOW PORTB.4 :HIGH 
PORTB.5 :LOW PORTB.6 :LOW PORTB.7 
goto check 
bck_flp_d: 
LOW PORTB.0 :HIGH PORTB.1 :LOW PORTB.2 :HIGH PORTB.3 :LOW PORTB.4 :HIGH 
PORTB.5 :LOW PORTB.6 :LOW PORTB.7 
goto check 
rgt_flp_d: 
HIGH PORTB.0 :LOW PORTB.1 :LOW PORTB.2 :HIGH PORTB.3 :LOW PORTB.4 :HIGH 
PORTB.5 :LOW PORTB.6 :LOW PORTB.7 
goto check 
lft_flp_d: 
LOW PORTB.0 :HIGH PORTB.1 :HIGH PORTB.2 :LOW PORTB.3 :LOW PORTB.4 :HIGH 
PORTB.5 :LOW PORTB.6 :LOW PORTB.7 
goto check 
----------' 
Beep: 
LOW PORTB.0 :LOW PORTB.1 : LOW PORTB.2 : LOW PORTB.3 :LOW PORTB.4 :LOW 
PORTB.5 :LOW PORTB.6:LOW PORTB.7 :LOW PORTC.0 :LOW PORTC.1 :LOW PORTC.2 
:LOW PORTC.3 :LOW PORTC.0 :LOW PORTC.1 :LOW PORTC.2 :LOW PORTC.3 
FOR x = 0 TO 50 
34 
GOTO CHECK 
'results of 12
International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), 
ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 
lookup 
x,[80,0,75,0,68,0,75,0,80,0,80,0,80,0,75,0,75,0,75,0,80,0,80,0,80,0,80,0,75,0,68,0,75,0,80,0,80,0,80, 
0,80,0,75,0,75,0,80,0,75,0,68],tone 
lookup 
x,[80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80, 
0,80,0,80,0,80,0,80,0,80,0,80],dur 
Sound portb.0, tone,dur] [ 
next 
pause 10000 
Gotocheck 
'stop and make tone when sensor become high 
END 
35 
CONCLUSION 
 
A metal detector robot discussed as a new application for microcontroller. The robot has two 
arms with tow joints supported on moving base which connected with vehicle carriage. The vehicle 
carriage moving done by using four wheels skid steer to make the robot’s moving easy and stable on 
the any type of ground. For metal detection a thermostat was used to measure any increase in the 
ground temperature to determine the position of this metal. The moving of the robot arms and 
vehicle wheels were controlled by using a controller type PIC 16f877A with transistors TIP142/147. 
The hardware and software of the metal detector robot discussed very well to explain the benefits of 
using this robot as a tool can be used in metal detection at open area with any type of ground with 
high accurate detect and stable motion. 
REFERENCES 
[1] John A. Chandy, “Microcontroller Applications in Engineering”, ECE110, university of 
Connecticut, January 24, 2008. 
[2] G¨unther Gridling, Bettina Weiss, “Introduction to Microcontrollers”, Courses 182.064  
182.074, Vienna University of Technology, February 26, 2007, Version 1.4. 
[3] David calcut, “Microcontroller an Applications Based Introduction”, Newnes, ELSEVIER, 
2011. 
[4] OKI, “Microcontroller”, Data Book, ELSEVIER, 1988, third edition. 
[5] Kabeer Mohammed and Dr.Bhaskara Reddy, “Optimized Solution for Image Processing 
Through Mobile Robots Working as a Team with Designated Team Members and Team 
Leader”, International Journal of Computer Engineering  Technology (IJCET), Volume 4, 
Issue 3, 2013, pp. 140 - 148, ISSN Print: 0976 – 6367, ISSN Online: 0976 – 6375. 
[6] Hameedah Sahib Hasan and Dr. P.Ramesh Babu, “Analysis and Control of Mobile Robot for 
Pipe Line Inspection”, International Journal of Mechanical Engineering  Technology 
(IJMET), Volume 4, Issue 5, 2013, pp. 1 - 9, ISSN Print: 0976 – 6340, ISSN Online: 
0976 – 6359. 
[7] Sreekanth Reddy Kallem, “Artificial Intelligence in the Movement of Mobile Agent 
(Robotic)”, International Journal of Computer Engineering  Technology (IJCET), Volume 4, 
Issue 6, 2013, pp. 394 - 402, ISSN Print: 0976 – 6367, ISSN Online: 0976 – 6375.

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50120140507004

  • 1. INTERNATIONAL JOURNAL OF COMPUTER ENGINEERING & International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME TECHNOLOGY (IJCET) ISSN 0976 – 6367(Print) ISSN 0976 – 6375(Online) Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME: www.iaeme.com/IJCET.asp Journal Impact Factor (2014): 8.5328 (Calculated by GISI) www.jifactor.com 24 IJCET © I A E M E A METAL DETECTOR MOBILE ROBOT AS A NEW APPLICATION OF MICROCONTROLLER Maha M. Lashin Mechanical Engineering Department, Shoubra Faculty of Engineering, Banha University, Egypt ABSTRACT A microcontroller is a small and low-cost computer built for the purpose of dealing with specific tasks. Microcontrollers are mainly used in products that require a degree of control to be exerted by the user. It is generally built using a technology known as Complementary Metal Oxide Semiconductor. A metal detector robot designed as a new application of microcontroller. It used the microcontroller to control its mechanism movement. The robot has two links and two joints supported on moving table to make its movement easy. A carriage vehicle used for carrying robot which used the skid steered wheeled types to make its movement easy and safety on ground open area. The robot’s movement orientation done very accurate depending on link between the microcontroller and the user’s hand remote. Keyword: Microcontroller - Metal Detector Robot. INTRODUCTION Microcontroller structure usually contain as in figure1, CPU, ROM, RAM, I/O ports, timers, and ADC. Memories on a microcontroller [1] used to store data and/or the program to be run. The data stored in Random Access Memory (RAM) is volatile which means that it lost when had been power turned off. Read Only Memory (ROM) is non-volatile and therefore stored between power cycles, and it is a read only memory but may not be written to. Erasable Programmable Read Only Memory (EPROM) allows read and write access and is also non-volatile. Electronically Erasable Programmable Read Only Memory (EEPROM) where the program is stored. Central Processor Unit (CPU) is the brains of the microcontroller, it executes instructions such by fetching the instruction and any required data over its data bus. Input/output (I/O) programmable lines with bit ports. Timers are internal clocks to give the user sensing of time and duration information for great importance in
  • 2. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME digital control systems. Analog-to-Digital Converter (ADC) built within it to convert the analog signals to digital signals to help the microcontroller dealing with this information 25 FIG.1: Microcontroller Structure How Microcontroller Work The microcontroller work[2] when power supply turned off, the program is loaded into the microcontroller. Power supply is turned on then the control logic unit keeps everything under control. It disables all other circuits except quartz crystal to operate. Power supply voltage reaches its maximum and oscillator frequency becomes stable. All pins are configured as inputs. The overall electronics starts operation in rhythm with pulse sequence. From now on the time is measured in micro and nanoseconds. Program Counter is set to zero. Instruction from that address is sent to instruction decoder which recognizes it, after which it is executed with immediate effect. The value of the Program Counter is incremented by 1 and the whole process is repeated several million times per second. Types of Microcontrollers All controllers of a family [3] contain the same processor core and hence are code-compatible, but they differ in the additional components like the number of timers or the amount of memory. Applications of Microcontrollers Microcontrollers have innumerable applications[4]. Some examples of their simple applications are in, Biomedical instruments like an ECG LCD display cum recorder, blood cell recorder cum analyzer, patient monitor system. Communication systems like numeric pagers, cellular phones, cable TV terminals, FAX and transceivers with or without an accelerator, video game and so on. Peripheral controllers of a computer such as the keyboard controller, printer controller, laser printer controller, LAN controller and disk drive controller. Instruments such as an industrial process controller, and electronic smart weight display system. A target tracker. An automatic signal tracker. Accurate control of the speed and position of a DC motor. A robotics system. A CNC machine controller. Automotive applications like a close loop engine control, a dynamic ride control, an anti-lock braking system monitor. Electronic data acquisition and supervisory control system. Industrial moisture recorder cum controller. CRT display controller. Digital storage system and spectrum analyzer. METAL DETECTOR MOBILE ARM ROBOT A metal detector mobile arm robot (manipulator) show in figure2, designed her as a new application of microcontroller. The robot used to detect the metal underground depending on the
  • 3. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME thermal effect of this metal. Metal detector mobile arm robot has a three systems, mechanical system, electrical system, and control system. 26 FIG.2: Metal Detector Mobile Arm Robot Mechanical System The robot’s mechanical system consists of two branches. The first one as show in figure3 is the robot carriage system which built of four wheels skid steer vehicle. FIG.3: Robot Carriage As in figure4 the vehicle moving use the skid steered wheeled (chain) to make the robot’s vehicle having more ground contact surface area. This type of moving technique used to be compatible with different ground types which the robot will detect any metal under it. FIG.4: Four Tracked Drive Train The second main components in the mechanical system are the robot arms or the manipulator. The manipulator built of two arms and two joints supported on rotating base. The rotating base supported over the vehicle body. Each arm has two degrees of freedom to make it move in forward and backward directions easily. The arms base has one degree of freedom to rotate around its centre. Two degrees of freedom of the vehicle (vehicle movement to front and back at same line) is added to the 5DOF (Degree Of Freedom) of the arm that would give the metal robot detector a total sum of 7 DOF.
  • 4. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 27 FIG.5: Metal Detection Robot’s Arms and Joints Electrical system The main components of the metal detector robot electrical system are motor, battery, and temperature sensor. Four DC motors were used, two motors for robot’s vehicle wheels movement forward and backward directions. Other two motors for arms movement. Two chargeable batters, one battery for motors and sensor, and other one is the power source of controlling system boards. The final component in the metal detector robot electric system is the temperature sensor. A thermostat with NTC used as a temperature sensor. Figure 6 appear the DC motor, battery, and temperature sensor. FIG.6: DC motor, Battery, and Temperature Sensor Control System Any control system contain hardware and software branches. The main hardware Components of a metal detector control system as in figure 7 are actuators, controller, and sensor. Actuators supply the driving and corrective forces to achieve a desired output. Controller generates actuator commands according to feedbacks from the sensors and the implemented control algorithm. Sensors which measure and feedback physical parameters of a system. FIG.7: Control System Block Diagram As in figure 8 a controller type PIC 16f877A with transistors TIP142/147 used to control the metal detector robot movement.
  • 5. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 28 FIG.8: PIC Controller and Transistor The PCB (printed circuit board) of the DC motor drive and its controller circuit show in figure 9. FIG.9: PCB of the DC Motor Drive Also figure 10 show the main circuit schematic of the robot control system and its main printed circuit board. FIG.10: PCB and main Circuit Schematic for the Robot’s Control System
  • 6. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME 29 The final component of the control system of the metal detector robot is the temperature sensor (thermostat) which detects the metal by measuring any increase in the ground temperature. The sensor board and its schematic diagram show in figure 11. FIG.11: PCB and main Circuit Schematic for the Thermostat The software of the control system is the programming of the controller unit. The program is written in PIC basic pro language. This program consist of manual movement with remote control and automatic movement by itself. A part of this program explain in the following pages. -------------*'Variables------------ DelayVARWORD' WORD for variable Delay B0VARWORD define ADC_BITS 8 ' Set number of bits in result (8 , 10 ) define ADC_CLOCK 3 ' Set clock source (rc=3) define ADC_SAMPLEUS 50 ' Set sampling time in microseconds tonevar word durvar word xvar word -----------'Initialization--------- TRISA = %11011011 ' All PORTA pins are setup as inputs. ' except RA2,RA5 are setup as inputs. TRISB = %00000000 ' All PORTB pins are setup as outputs, TRISC = %00001111 ' FROM RC0 TO RC3 ARE OUTPUTS 'FROM RC4 TO RC7 ARE INPUTS TRISD = %11111111 ' ALL PORTD PINS ARE SETUP AS INPUTS TRISE = %11111111 ADCON1 = %01111111 ' Changes PORTE and PORTA analog bits 'Sets all PORTA pins to LOW (0 volts) PORTA = 0 PORTB = 0 PORTC = 0 PORTD = 0
  • 7. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME ------------------------------------- ' 'The first part is manual movement ---------------------- 'the first part 'There are 12 button , 2 buttons can be used in the same time Check: 'GROUP OF REMOTE 1 IF PORTD.7 = 1 AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN FWD 'if pb1 connected to RD7 is pressed then the robot moves forward IF PORTD.6 = 1 AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN BCK 'if pb2 connected to RD6 is pressed then the robot moves backward IF PORTD.5 = 1 AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN RGT 'if pb3 connected to RD5 is pressed then the robot moves right IF PORTD.4 = 1 AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN LFT 'if pb4 connected to RD4is pressed then the robot moves left IF PORTD.3 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN FLIPPER_U 'if pb5 connected to RD3 is pressed then the flipper moves up IF PORTD.2 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN FLIPPER_D 'if pb6 connected to RD2 is pressed then the flipper moves down IF PORTD.1 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN ELBOW_U 'if pb7 connected to RD1 is pressed then the elbow motor moves up IF PORTD.0 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTC.7 =0 AND PORTC.6 = 0 AND PORTC.5 =0 AND PORTC.4 = 0 THEN ELBOW_D 'if pb8 connected to RD0 is pressed then the elbow motor moves down 30 PORTE = 0 ADCIN 0, B0 ' Read channel 0 to B0 'GROUP OF REMOTE 2 GROUP OF REMOTE 3
  • 8. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME IF PORTC.7 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 THEN BASE_U 'if pb9 connected to Rc7is pressed then the base motor moves up IF PORTC.6 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 THEN BASE_D 'if pb10 connected to RD1 is pressed then the base motor moves down IF PORTC.5 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 THEN LEVEL_U 'if pb11 connected to RD1 is pressed then the level motor moves up IF PORTC.4 = 1 AND PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 =0 AND PORTD.0 = 0 THEN LEVEL_D 'if pb7 connected to RD1 is pressed then the elbow motor moves up 'GROUP OF REMOTE12 =16 IF PORTD.7 = 1 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 = 1 AND PORTD.2 = 0 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN fwd_flp_u 31 'forward and the flipper up IF PORTD.7 = 0 AND PORTD.6 =1 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 = 1 AND PORTD.2 = 0 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN bck_flp_u ' backward and flipper up IF PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 1 AND PORTD.4 = 0 AND PORTD.3 = 1 AND PORTD.2 = 0 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN rgt_flp_u ' right and flipper up IF PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 1 AND PORTD.3 = 1 AND PORTD.2 = 0 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN lft_flp_u ' left and flipper up ------------' IF PORTD.7 = 1 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 = 0 AND PORTD.2 = 1 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN fwd_flp_d
  • 9. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME IF PORTD.7 = 0 AND PORTD.6 =1 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 = 0 AND PORTD.2 = 1 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN bck_flp_d IF PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 1 AND PORTD.4 = 0 AND PORTD.3 = 0 AND PORTD.2 = 1 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN rgt_flp_d IF PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 1 AND PORTD.3 = 0 AND PORTD.2 = 1 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN lft_flp_d 'leftand the flipper down ------------' IF PORTD.7 = 0 AND PORTD.6 =0 AND PORTD.5 = 0 AND PORTD.4 = 0 AND PORTD.3 =0 AND PORTD.2 = 0 AND PORTD.1 = 0 AND PORTD.0 = 0 AND PORTC.7 = 0 AND PORTC.6 = 0 AND PORTC.5 = 0 AND PORTC.4 = 0 THEN STP 'if no button is pressed then stop If porta.1 = 1 then beep' make sound if sensor give high signal goto check LOW PORTB.0 :LOW PORTB.1 : LOW PORTB.2 : LOW PORTB.3 :LOW PORTB.4 :LOW PORTB.5 :LOW PORTB.6:LOW PORTB.7 :LOW PORTC.0 :LOW PORTC.1 :LOW PORTC.2 :LOW PORTC.3 :LOW PORTC.0 :LOW PORTC.1 :LOW PORTC.2 :LOW PORTC.3 FWD: HIGH PORTB.0 :LOW PORTB.1 :HIGH PORTB.2 :LOW PORTB.3 :low PORTB.4 :LOW PORTB.5 :LOW PORTB.6 :LOW PORTB.7 goto check BCK: LOW PORTB.0 :HIGH PORTB.1 :LOW PORTB.2 :HIGH PORTB.3 :low PORTB.4 :LOW PORTB.5 :LOW PORTB.6 :LOW PORTB.7 GOTO CHECK 32 'forward and the flipper down 'backward and the flipper down 'right and the flipper down STP: GOTO CHECK 'REMOTE 1 RESULTS
  • 10. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME RGT: HIGH PORTB.0 :LOW PORTB.1 :LOW PORTB.2 :HIGH PORTB.3 :low PORTB.4 :LOW PORTB.5 :LOW PORTB.6 :LOW PORTB.7 GOTO CHECK LFT: LOW PORTB.0 :HIGH PORTB.1 :HIGH PORTB.2 :LOW PORTB.3 :low PORTB.4 :LOW PORTB.5 :LOW PORTB.6 :LOW PORTB.7 GOTO CHECK FLIPPER_U: low PORTB.0 :LOW PORTB.1 :low PORTB.2 :LOW PORTB.3 :HIGH PORTB.4 :LOW PORTB.5 :LOW PORTB.6 :LOW PORTB.7 GOTO CHECK FLIPPER_D: low PORTB.0 :LOW PORTB.1 :low PORTB.2 :LOW PORTB.3 :LOW PORTB.4 :HIGH PORTB.5 :LOW PORTB.6 :LOW PORTB.7 GOTO CHECK ELBOW_U: low PORTB.0 :LOW PORTB.1 :low PORTB.2 :LOW PORTB.3 :LOW PORTB.4 :LOW PORTB.5 :HIGH PORTB.6 :LOW PORTB.7 GOTO CHECK ELBOW_D: low PORTB.0 :LOW PORTB.1 :low PORTB.2 :LOW PORTB.3 :LOW PORTB.4 :LOW PORTB.5 :LOW PORTB.6 :HIGH PORTB.7 GOTO CHECK BASE_U: HIGH PORTC.0 :LOW PORTC.1 :LOW PORTC.2 :LOW PORTC.3 GOTO CHECK BASE_D: LOW PORTC.0 :HIGH PORTC.1 :LOW PORTC.2 :LOW PORTC.3 GOTO CHECK LEVEL_U: LOW PORTC.0 :LOW PORTC.1 :HIGH PORTC.2 :LOW PORTC.3 GOTO CHECK LEVEL_D: LOW PORTC.0 :LOW PORTC.1 :LOW PORTC.2 :HIGH PORTC.3 33 'REMOTE 2 RESULTS: REMOTE 3 RESULTS:
  • 11. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME fwd_flp_u: HIGH PORTB.0 :LOW PORTB.1 :HIGH PORTB.2 :LOW PORTB.3 :HIGH PORTB.4 :LOW PORTB.5 :LOW PORTB.6 :LOW PORTB.7 goto check bck_flp_u: LOW PORTB.0 :HIGH PORTB.1 :LOW PORTB.2 :HIGH PORTB.3 :HIGH PORTB.4 :LOW PORTB.5 :LOW PORTB.6 :LOW PORTB.7 goto check rgt_flp_u: HIGH PORTB.0 :LOW PORTB.1 :LOW PORTB.2 :HIGH PORTB.3 :HIGH PORTB.4 :LOW PORTB.5 :LOW PORTB.6 :LOW PORTB.7 goto check lft_flp_u: LOW PORTB.0 :HIGH PORTB.1 :HIGH PORTB.2 :LOW PORTB.3 :HIGH PORTB.4 :LOW PORTB.5 :LOW PORTB.6 :LOW PORTB.7 goto check fwd_flp_d: HIGH PORTB.0 :LOW PORTB.1 :HIGH PORTB.2 :LOW PORTB.3 :LOW PORTB.4 :HIGH PORTB.5 :LOW PORTB.6 :LOW PORTB.7 goto check bck_flp_d: LOW PORTB.0 :HIGH PORTB.1 :LOW PORTB.2 :HIGH PORTB.3 :LOW PORTB.4 :HIGH PORTB.5 :LOW PORTB.6 :LOW PORTB.7 goto check rgt_flp_d: HIGH PORTB.0 :LOW PORTB.1 :LOW PORTB.2 :HIGH PORTB.3 :LOW PORTB.4 :HIGH PORTB.5 :LOW PORTB.6 :LOW PORTB.7 goto check lft_flp_d: LOW PORTB.0 :HIGH PORTB.1 :HIGH PORTB.2 :LOW PORTB.3 :LOW PORTB.4 :HIGH PORTB.5 :LOW PORTB.6 :LOW PORTB.7 goto check ----------' Beep: LOW PORTB.0 :LOW PORTB.1 : LOW PORTB.2 : LOW PORTB.3 :LOW PORTB.4 :LOW PORTB.5 :LOW PORTB.6:LOW PORTB.7 :LOW PORTC.0 :LOW PORTC.1 :LOW PORTC.2 :LOW PORTC.3 :LOW PORTC.0 :LOW PORTC.1 :LOW PORTC.2 :LOW PORTC.3 FOR x = 0 TO 50 34 GOTO CHECK 'results of 12
  • 12. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 - 6375(Online), Volume 5, Issue 7, July (2014), pp. 24-35 © IAEME lookup x,[80,0,75,0,68,0,75,0,80,0,80,0,80,0,75,0,75,0,75,0,80,0,80,0,80,0,80,0,75,0,68,0,75,0,80,0,80,0,80, 0,80,0,75,0,75,0,80,0,75,0,68],tone lookup x,[80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80,0,80, 0,80,0,80,0,80,0,80,0,80,0,80],dur Sound portb.0, tone,dur] [ next pause 10000 Gotocheck 'stop and make tone when sensor become high END 35 CONCLUSION A metal detector robot discussed as a new application for microcontroller. The robot has two arms with tow joints supported on moving base which connected with vehicle carriage. The vehicle carriage moving done by using four wheels skid steer to make the robot’s moving easy and stable on the any type of ground. For metal detection a thermostat was used to measure any increase in the ground temperature to determine the position of this metal. The moving of the robot arms and vehicle wheels were controlled by using a controller type PIC 16f877A with transistors TIP142/147. The hardware and software of the metal detector robot discussed very well to explain the benefits of using this robot as a tool can be used in metal detection at open area with any type of ground with high accurate detect and stable motion. REFERENCES [1] John A. Chandy, “Microcontroller Applications in Engineering”, ECE110, university of Connecticut, January 24, 2008. [2] G¨unther Gridling, Bettina Weiss, “Introduction to Microcontrollers”, Courses 182.064 182.074, Vienna University of Technology, February 26, 2007, Version 1.4. [3] David calcut, “Microcontroller an Applications Based Introduction”, Newnes, ELSEVIER, 2011. [4] OKI, “Microcontroller”, Data Book, ELSEVIER, 1988, third edition. [5] Kabeer Mohammed and Dr.Bhaskara Reddy, “Optimized Solution for Image Processing Through Mobile Robots Working as a Team with Designated Team Members and Team Leader”, International Journal of Computer Engineering Technology (IJCET), Volume 4, Issue 3, 2013, pp. 140 - 148, ISSN Print: 0976 – 6367, ISSN Online: 0976 – 6375. [6] Hameedah Sahib Hasan and Dr. P.Ramesh Babu, “Analysis and Control of Mobile Robot for Pipe Line Inspection”, International Journal of Mechanical Engineering Technology (IJMET), Volume 4, Issue 5, 2013, pp. 1 - 9, ISSN Print: 0976 – 6340, ISSN Online: 0976 – 6359. [7] Sreekanth Reddy Kallem, “Artificial Intelligence in the Movement of Mobile Agent (Robotic)”, International Journal of Computer Engineering Technology (IJCET), Volume 4, Issue 6, 2013, pp. 394 - 402, ISSN Print: 0976 – 6367, ISSN Online: 0976 – 6375.