autonomous robot

1. MULTITASKING
AUTOMATED FRAME
SUPERVISOR:-
PROF. ABHINAY NIGAM
SUBMITTED BY:-
RAMAN SAHAY

2. Problem definition and our objective
of project
 Problem define :- Majority of robot are designed to do a single task
assigned they also have complex structure and there price is also high. So
it is very hard to do more than one tasks on a single robot. We cannot use
the same robot for different tasks.
 Our objective :- We want to create a robot which is reusable for different
tasks, reprogrammable, reliable and cost effective. Which can perform
some tasks like line follower, light/obstacal follower/avoider.

3. Introduction of robot
 Robot :- A robot is a reprogrammable, multifunctional machine designed to move material, parts,
tools or specialized devices through variable programmed motions for the performance of a variety
of tasks.
 Different types of robot:-
Manual robots – Controlled By Humans.
Semi-Autonomous robot – Can be controlled by a user or can function automatically.
Autonomous robot – which can perform task without any human interaction.

4. Sensor guided robot
 It is an autonomous robot. Which function depending on inputs
from sensors and are controlled with the help of microcontrollers.
 SENSORS :- It is a convertor which can sense and measure a physical
quantity and then converts them into a signal so that it can be analysed by
an instrument.
 We are making a light sensor based robot. In which we are using IR sensor.

5. Schematic- Analogy with humans

6. IR sensor
 Detects object based on reflected light. An IR LED emits light and
photodiode detects the reflected light.
 IR sensor give Analog signals but microcontroller require a digital signal.
So we use OpAmp (operational amplifier) it convert analog signal into
digital signal.
 ANALOG SIGNAL DIGITAL SIGNAL

7. Microcontroller
 A microcontroller is a computer present in a single integrated circuit which is dedicated to
perform one task and execute one specific application. It contains memory, programmable
input/output peripherals as well a processor.
 We are using AT89S52 Microcontroller.

8. AT89S52 Microcontroller
 It is low power, high performance CMOS 8-BIT microcontroller with 8kbytes in system programmable
flash memory
 Basic features of AT89S52
40 pin
256*8Bite Internal RAM
32 Programmable input/output line
Three 16-bit Timers/counters
4 Ports
Pin Description

9. Schematics of development board

10. Voltage Regulator
As the 8051 microcontroller requires 5V, we need to convert the battery voltage from 9V to 5V before supplying it
our board.
LM324
The output from our sensors is in analog format but microcontroller take only digital inputs. Hence the LM324
comparator is used to convert the analog input into digital output. It is made up of OPAMPs
LEDs
LEDs are connected with the LM324. These LED indicate the output from the 4 pin of the OPAMP
LED on means High state and LED off means Low state.
Potentiometers
Potentiometer are connected with LM324 and are used to set the reference voltage for comparator.
Port P3and Port P0
Port P3 and port P0 are left free. They can be used for any purpose.
Power supply pins
In the SLDB there are multiple pins with 5V and ground (power supply)
Motor Driver
Motor is connected with port P2 of the microcontroller. DC motor needs higher current and voltage to run for this
motor driver is connected between microcontroller and motor.

11. Programing of Robot
For programing of robot some basic points are.
 Numbers system :- A number system is a way
to represent numbers. We are used to using the
base-16 number system, which is also called
hexadecimal number system. Other common
number systems include base-10 (decimal),
base-8 (octal), and base-2 (binary).
 PREFERENCE OF PORT
AT89S52 is an 8-bit microcontroller. It has 4
ports, each port has 8 bit. Each port is
separated in 2 half. Combination of 4 bit is
called nibbles. This is done because of
each nibble refer to a unique hexadecimal.

12. Masking
MASKING
 When writing the code for the robot, entire port are referenced to in
hexadecimal format. Output from sensor are sent to only few of the pin in
port. Condition for the robot to perform an action are written based on the
input from the sensors or the numbers of active or disabled pins in a port.
The other pin are masked so as to disable any active pin in the port other
than that are in use by the sensors. Masking is done by bit wise AND
operation.

13. Codes
 We can perform many operation in this robot with help of programing.
 Here as an example The program of line follower.
 The code is written in C language the it is compiled and
after that the programed is compiled and converted
for the AT89S52 After that the program is converted
in “ .hex “ file. Which is machine language by
using KEIL µVISION software.
 After this this file is burned into robot by using Progisp 1.72
Software.

14. List of components used in project
Serial no. Components Quantity
1 Development board Embedded with IC’s 1
2 USBASP Programing Cable 1
3 Wooden plank 12*12 cm 2
4 U Clamps 2
5 BOI Motors Straight type 2
6 Castor Wheels 1
7 2 pin connector 3
8 9V Battery (6F22) 2
9 9V Battery connector 2
10 1 Pin connector (female) 6
11 Double tape 10cm
12 Insulation material 1
13 IR sensor 2
14 Screws 3mm*60mm 4
15 Screws 3mm*30mm 4
16 Screws 3mm*45mm 4
17 Nuts 3mm 25
18 BO1 motor wheel screws 2

15. Application
 Guidance system for industry robot moving on shop floor etc.
 Industrial application
 Home application
 Military robots
 Robots such as HOSP are used as couriers in hospitals (hospital robot).
 Robots can serve as waiter and cooks.
 Robot combat for sport
 Clean-up of contaminated areas, such as toxic waste or nuclear facilities.
 Agricultural robots
 Domestic robots, cleaning and caring for the elderly
 Medical robots performing low-invasive surgery
 Household robots with full use.
 Nano robots
 Can be used to transport
 Can be used to transfer load from one point to another.
 Can be used for automobiles.
 Can be used as guide for blind people. etc

16. Future scope
 Smarter version of sensor guided robot are used to do various work like
delivery mails, guiding peoples, transfer heavy load from one point to
other, deliver medications, can use as bomb detecting robot and lots
more.
 This technology has been suggested for running buses and other mass
transit system and may end up as a part of autonomous car navigation the
freeway.
 It is also improved by adding RFID tags or other sensors so that accuracy
of the system increase.
 This robot can play vital role in every field. The sensor guided robot
application over Mechanical engineering can’t be underestimated it will
help to take job from one shop and deliver to another one.

17. THANKYOU