PROJECT REPORT ON

AUTOMATIC METAL MINE DETECTING VEHICLE WITH WIRELESS VIDEO CAMERA

CONTENTS

1. ABSTRACT

2. OVERVIEW OF THE PROJECT WORK

3. ROBOTICS

4. INTRODUCTION

5. BLOCKDIAGRAM AND ITS BRIEF DESCRIPTION

6. CIRCUIT ANALYSIS

7. COMPLETE CIRCUIT DIAGRAM

8. DETAILS ABOUT IR SENSORS

9. DETAILED DESCRIPTION ABOUT VIDEO CAMERAS

10.DETAILS ABOUT MICROCONTROLLERS

11.SOFTWARE DETAILS

12.HARDWARE DETAILS

13.FABRICATION DETAILS

14.CONCLUSIONS AND REFERENCES

AUTOMATIC METAL MINE DETECTING VEHICLE

ABSTRACT

Although many systems are available to detect the metal mines, involves man

power to carry the metal detectors and it is very difficult to search the largest areas

like forests and deserts. To cover the complete area, lot of time is required and the

search parties some times they may have to spend weeks together in the sites, and

due to this they may loose patience. Keeping all these things in view, we decided to

develop one search vehicle for detecting the metal mines in largest areas. The

vehicle is designed as driverless, so human involvement is avoided for searching the

metal mines.

Rover technology is implemented in the system to make it as autonomous; in

this concept the vehicle itself is detecting the objects and taking suitable decisions to

avoid collisions with objects on its way. Depending up on the position of the object

that is in front and its position, the vehicle it self takes diversion to avoid collision

with it and moves forward. The vehicle can move in all directions like automobile

vehicle, in addition it can find pits and valleys to avoid falling into it. The metal

detector circuit designed with induction coil is arranged below the vehicle, such that

whenever it finds metal object, vehicle stops there and video camera rotates, which

is arranged at the front side of the vehicle and surrounding images are captured and

transmitted to the nearest observing station for identifying the area. The monitoring

station at remote place is equipped with television set along with its video receiver.

The vehicle is designed with three stepper motors and the Microcontroller unit

depending up on the information received from the optical sensors controls these

motors. Heavy-duty battery is used to drive entire system including motors.

CHAPTER – 1

OVERVIEW OF THE PROJECT WORK IN DETAIL:

This project is aimed to detect the presence of any metallic mine in the field, it

can detect the explosives or bombs also, which are positioned under the ground.

Detecting these kind of explosives manually with ordinary handheld portable metal

detectors is quite dangerous, because terrorists are designing these bombs with

advanced technologies, these bombs can be exploded in many ways like through

mobile phones, using timers, using pressure sensors, using remote control, etc, and the

technology facilitates that the terrorist can blast these bombs from anywhere from the

world. Some times, while searching for the explosives, all of sudden it may blast, which

leads to major damages. To save the lives of our hero’s (those who are searching for

the explosives, generally called as bomb squad or search party) we need a special kind

of metal detectors, by which squad can stay away from the explosives. In this regard

this project work is taken up, which functions the performance of mobile Robot to detect

metal mine or to detect any explosives that contains metallic objects like nails, balls,

sharp metal pieces, etc.

The system can be designed in two ways; a) one huge vehicle with high speed

can be constructed for out door applications like search in jungles or deserts, b) one

small vehicle (miniature) can be constructed for indoor applications. Here for the

demonstration purpose a prototype module is constructed for detecting the metal mines,

with slight modifications the same vehicle can be used for both the applications. This

vehicle is designed to detect the metal, where as it cannot defuse the bomb.

Now a days detecting mines has become big task and involves lot of

expenditure both in terms of manpower and time to reduce the over heads on

the man power and time consuming process a technique is evolved using

electronic circuits comprising both hardware and software. An automatic

vehicle is designed which can use in the extreme field condition such as

forests, deserts, open terrains and hillocks.

The metal mine detecting vehicle is designed with two stepper motors

to move the vehicle, and one stepper motor is used to rotate the video camera

to capture the visual images. The stepper motors are meant for precise

movement and high resolution and good amount of torque. A Microcontroller

based on ATMEL 89C51 which is an 8- bit Microcontroller with 32 I/O lines

configured as four ports, 4Kbytes of flash programmable memory, 128 bytes

of data memory five interrupts and optimized 111 instruction set is used in the

project work which can receive the information of movement of vehicle, drive

the stepper motors for left and right directions and to change the direction for

reverse movement etc.,

In order to use in the field conditions a battery-backed unit is designed

and this battery can be charged through solar energy. This provision is not

there in demo module, but for the real operating system it is essential that the

vehicle body should be constructed with solar panels. Here the battery is

charged through battery charger and the required DC source to charge the

battery is derived from main supply. Since the system utilizes the re-

chargeable battery, vehicle can be used with optimum mileage. A dedicated

regulated power supply unit also incorporated in the project work, which

provides 5V dc for all electronic and IC circuits.

Since the vehicle is equipped with wire less video camera and the

concept is autonomous, it can be utilized for other purposes also. When the

vehicle is roaming in the forest, we can identify the terrorist campaigns and

movement of animals. With little modifications, the same system can be used

for defense applications as a security system to guard the military zones and

other VIP zones.

The main goal of this project is to present a working solution for

autonomous search navigation, to be implemented in a vehicle for operation

in forest, mountain terrains.

The Autonomous Ground Vehicle (AGV) designed with stepper motors,

driven by the microcontroller detects the objects like trees, bushes; stones

etc., detecting the objects are main task, which is essential for a safe

autonomous vehicle. Detecting obstacles implies an active perception of the

environment. Typical sensors for this kind of task include optical sensors, Infra

red sensors and high-resolution cameras. In this project work both are used.

Four pairs of IR LED’s are used as optical sensors and all the four pairs are

arranged at front side of the vehicle to detect the movement of vehicle in

forward direction (left, right) and reverse direction and any drenches or pits.

An exclusive sensor is used to detect the mines consisting of iron ore, and

other metallic ore. These sensors act as Laser rangefinders have the great

advantage of providing the information about the objects, which are in front of

the vehicle. Since it is a prototype module we have arranged only four sets of

sensors, but for the real operation many more number of sensors can be

used, and they are supposed to be arranged in all the four sides of the

vehicle. The main advantage of using these optical sensors is, it not only

detects the object also these can detect the pits as well as valleys. In this

project work one set of sensors is used for detecting the pits and valleys, the

other three sets of sensors are used to detect the obstacles.

In addition to the optical sensors, video camera is also used in this

project work and the output of this camera is transmitted through the

transmitter, hence this camera can be called as wireless video camera. At the

receiving station, color or black and white television set can be used and the

data obtained through the pictures can be analyzed. The camera used for

the purpose is miniature, arranged at front side of the vehicle, which

continuously takes the pictures and sends through the built-in FM Transmitter.

To detect the metal mines a pick up coil energized through an oscillator

is used as a metallic detector and whenever any metallic object is detected,

the reluctance of the magnetic pick up coil changes and in turn produces a

high output to the Micro controller and this gives an indication of the mine

detection. The video camera sends the pictures corresponding to that location

through the built in Transmitter and the distant end Television receiver

receives the information and displays the picture information for mining

exploration.

The complete vehicle, which carries the total electronic circuitry

including camera is designed to operate at 12V DC. For this purpose 7.5 AH

maintenance free battery is used. To drive the vehicle, heavy-duty stepper

motors are used at rear side, and the vehicle wheels are directly coupled to

the motor shafts. Two motors are used, and each motor is capable to drive up

to 5kg loads, as the holding torque of the motor is 5kg. To charge the battery

from 230 V AC Mains, a separate battery charger is deigned with a 12V step

down transformer.

Construction of Autonomous Ground Vehicles has been an intense

research area for the last decade. A number of successful applications in

agriculture and the mining industry, many engineers, have been

demonstrated. It is reasonable to believe that similar solutions are relevant for

a forest-based AGV. However, the forest environments have enough

peculiarities to make the proposed development project highly advanced, and

full of challenging tasks for research. Similarly, the tracking also can be done

at the high altitudes also in areas such as Deserts, Open terrains, Mountain /

Hillock terrains by using high-resolution sensors so that it can cover long

distances. Particularly these types of navigations at Sky level are very much

required to locate terrorist camps in the bordering countries such as Pakistan

and Bangla desh, Nepal and Afghanistan etc.

CHAPTER – 2

Robotics:

Science-fiction author Isaac Asimov is often given credit for being the

first person to use the term robotics in a short story composed in the 1940s. In

the story, Asimov suggested three principles to guide the behavior of robots

and smart machines. Asimov's Three Laws of Robotics, as they are called,

have survived to the present:

1. Robots must never harm human beings.

2. Robots must follow instructions from humans without violating rule 1.

3. Robots must protect themselves without violating the other rules.

The Czech word "robota" means "forced labor".

A robot is a machine designed to execute one or more tasks repeatedly, with

speed and precision. There are as many different types of robots as there are

tasks for them to perform.

Robotics is a branch of engineering that involves the conception,

design, manufacture, and operation of robots. This field overlaps with

electronics, computer Science, artificial intelligence, mechatronics,

nanotechnology, and bioengineering.

A robot can be controlled by a human operator, sometimes from a great

distance. But most robots are controlled by computer, and fall into either of

two categories: autonomous robots and insect robots. An autonomous robot

acts as a stand-alone system, complete with its own computer (called the

controller). Insect robots work in fleets ranging in number from a few to

thousands, with all fleet members under the supervision of a single controller.

Robots are sometimes grouped according to the time frame in which

they were first widely used. First-generation robots date from the 1970s and

consist of stationary, nonprogrammable, electromechanical devices without

sensors. Second-generation robots were developed in the 1980s and can

contain sensors and programmable controllers. Third-generation robots were

developed between approximately 1990 and the present. These machines

can be stationary or mobile, autonomous or insect type, with sophisticated

programming, speech recognition and/or synthesis, and other advanced

features. Fourth-generation robots are in the research-and-development

phase, and include features such as artificial intelligence, self-replication, self

assembly, and nanoscale size (physical dimensions on the order of

nanometers, or units of 10-9 meter).

Some advanced robots are called androids because of their superficial

resemblance to human beings. Androids are mobile, usually moving around

on wheels or a track drive. Some of the most esoteric and powerful robots do

not look or behave anything like humans. The ultimate in robotic intelligence

and sophistication might take on forms yet to be imagined.

CHAPTER - 3

INTRODUCTION

Current methods for detecting and removing mines are dangerous, too

costly, and, considering the number of abandoned mines, very slow.

Mechanical systems are most frequently used to clear large areas polluted by

mines. The main drawback of purely mechanical de-mining is that no system

can satisfy the desired 100% reliability of humanitarian de-mining.

Consequently, all cleaned areas require manual verification. Thus, an urgent

need exists to develop safe and efficient de-mining methods. This

requirement represents a big challenge for robotic research.

The Existence of large numbers of landmines poses a severe threat to

human life in many areas throughout the world. Some estimates of the total

number of mines deployed are well above 100 million.

A simple electro mechanical type of mobile robot is designed as Anti-

personnel mine detecting vehicle. The introduction of an operational vehicle

resulting will be equally significant to de-mining. In addition another important

design criterion is safety especially in mine fields were human beings have to

take the risk of their lives to find and disable mines. This is why our robot will

be autonomous and will be equipped with mine detection to help the de-

mining team locating them in a safer way.

At present mine detection and mine-clearance technology consists

primarily of metal detectors, probes, and tank-mounted sensors or similar

vehicles are used. The need to detect plastic-cased, minimum-metal content

mines without significantly impairing mobility and damaging road surfaces,

however, is not fully met by these types of systems. The underlying problem

is that predominately plastic anti-personnel mines are extremely difficult to

detect. They are typically between 50 and 100mm in diameter and contain

little metal. The dangerous nature of mines demands that each possible target

is treated with extreme caution and this makes the clearance rate very slow.

The detection and neutralization of buried landmines has become an

increasingly important issue as military forces rely more than ever on

increased mobility.

The research work will deal with obstacle detection problems, where

cameras, ultra violet & infrared detectors, and other sensors are utilized to

detect objects close to the vehicle. Another area of research is route

navigation and control algorithm that take into account the specific problems

involved in controlling a forest machine in a forest environment. The

suggested hardware solution will involve micro controller and the sensors are

interfaced with controller, which drives both the motors according to the

received information from the sensors. This arrangement is believed to

simplify and speed up the development work significantly since the Micro

controller provide lot of flexibility while writing the software and interfacing with

the sensors.

This document is a pre-study for the project work Automatic Metal Mine

Detecting Vehicle with Wireless Video Camera, which can be Autonomous

Navigation for Forest Machines. The general requirements and conditions for the

development of such a product are addressed in this document. This paper also

focuses on one of the necessary components: autonomous navigation, which

involves sensing and moving safely according to a fixed or changing plan in the

environment of the vehicle. The proposed project aims at developing a system

design, including algorithms and hardware and software specifications for such a

vehicle.

The software and hardware will be installed in a standard vehicle,

selected and prepared in collaboration with the customer / navigation

agencies. A first version, which can be called as prototype module of the

system will be installed and demonstrated on a smaller vehicle. This vehicle

can also be called as a robot and this robot will also be important for speeding

up and simplifying the development.

The suggested software solution involves a behavior-based

architecture, commonly used in modern robotics. The vehicle’s tasks are

defined as behaviors, such as finding obstacles and Avoid obstacles. Each of

these behaviors is specified separately and works essentially reflexively, i.e.

the action is a direct function of the sensor input. Control logic is often used to

express complex behaviors in a compact and efficient way. Safety issues

involve avoidance of accidents and damage to vehicles and environment.

These problems will be given the highest priority in the project. Besides pure

research, the project also involves a lot of engineering work, where existing

technology is combined with innovative research results into a working

product.

The preliminary project plan takes the design, development and

fabricating a proto type unit. Vehicle driving has concentrated on forward-

looking sensing, by sensing the obstacles. This is an appropriate first step, but

real deployment of mobile vehicles will require additional sensing and

reasoning to surround the vehicle with safeguard sensors and systems.

In the military context, the focus is short-range sensing for full

automation of vehicles. An autonomous vehicle moving through a clustered

environment, such as a forest, may need to move between objects (e.g. trees)

with very little clearance on either side of the vehicle.

CHAPTER-4

BLOCKDIAGRAM AND ITS BRIEF DESCRIPTION

The Block diagram of Automatic Metal Mine Detecting Vehicle with

Wireless Video Camera consists of Obstacle Sensing circuits Designed with IR

Sensors. The obstacle sensing block is designed with LM567 IC, this is a

tone decoder IC, and also it generates tone frequency. For identifying the

obstacles 3 sets of sensors are used. For detecting the direction of search

vehicle in Left, Right and Center directions, three different 567 IC’s are used.

Similarly for detecting the pit or valleys another set of IR sensors are used.

All these four sets of sensors are arranged at front side of the vehicle in four

different positions. Each sensing block is designed with two IR LEDs, Namely

transmitting LED and receiving LED. Both the sensors are arranged side by

side with in half-inch distance. The tone generator part of the IC is configured

as astable mode of operation, which produces a perfect square wave of 10

KHz approximately and it is amplified using a transistor. The amplified signal

is radiated through the transmitting IR LED. The signal delivered by the IR

LED transmits in a line like LASER beam, whenever this signal is interrupted

by an object, the radiating signal will be spread in the air because of the

object, this signal is tracked by the another IR LED which is called as optical

signal sensor. On receipt of optical signal, the tone decoder part of the IC

detects the signal through the optical sensor and generates a high signal for

the micro controller. Like wise the controller is getting signals from the four

sensing blocks, according to the received information from the sensors, the

controller controls the stepper motors in all directions i.e., Left, Right, Front

and Back. The Micro controller 89C51 is used for this purpose in this project

work. To rotate the movement of Video Camera, one more stepper Motor is

used, which is also energized through Micro controller.

In addition, to detect the Mines consisting various metals a magnetic

pick up coil is used. This coil is energized through a low frequency Oscillator

and whenever any metal mine is detected it opposes the magnetic flux

produced by the Magnetic coil and the current flowing in the coil will be

reduced. The circuit will detect this reduction of current and it gives the

detected information to Micro Controller in the form of Logic signal. The

information detected by the Video camera according to the position detected

by the Mining detector will be transmitted using AM transmitter to the distant

end for analysis. At the distant end TV receiver is used which receives the

Video information. Since the search vehicle is equipped with 12V battery, a

battery charging facility is also incorporated with Battery charger comprising a

step down transformer, Full wave rectifier and a series voltage regulator.

. The actual theory is “Collision avoidance theory”. Using range-finding

sensors developed this theory. A new kind of IR sensors having the range is

installed. When object obstacles in that range the IR beam will be reflected

back and the Receiver will absolve it. Here the receiver is connected to

micorcontroller. Infrared reflex sensors are most typically used for distance

measurements by transmitting a modulated infrared light pulse and measuring

the intensity of the reflection from obstacles nearby. In practice, infrared

sensors can only be used for detection of objects, not for range

measurements.

The signals received from the Video Camera according to the position

set by the Stepper

MICRO-CONTROLLER

A highly integrated chip that contains all the components comprising a

controller. Typically this includes a CPU, RAM, some form of ROM, I/O ports,

and timers

In addition to the usual arithmetic and logic elements of a general

purpose microprocessor, the microcontroller typically integrates additional

elements such as read-write memory for data storage, read-only memory,

such as flash for code storage, EEPROM for permanent data storage,

peripheral devices, and input/output interfaces. At clock speeds of as little as

a few MHz or even lower, microcontrollers often operate at very low speed

compared to modern day microprocessors, but this is adequate for typical

applications. They consume relatively little power (mill watts), and will

generally have the ability to sleep while waiting for an interesting peripheral

event such as a button press to wake them up again to do something. Power

consumption while sleeping may be just nano watts, making them ideal for

low power and long lasting battery applications.

Microcontrollers are frequently used in automatically controlled products

and devices, such as automobile engine control systems, remote controls,

office machines, appliances, power tools, and toys.

The received information from the optical sensors fed to micro-

controller, for storing as well as controlling stepper motors. Micro-controller

unit is constructed with ATMEL 89C51 Micro-controller chip. The ATMEL

AT89C51 is a low power, higher performance CMOS 8-bit microcomputer with

4K bytes of flash programmable and erasable read only memory (PEROM).

Micro-controller works according to the program written in it. Most

microcontrollers today are based on the Harvard architecture, which clearly

defined the four basic components required for an embedded system. These

include a CPU core, memory for the program (ROM or Flash memory),

memory for data (RAM), one or more timers (customizable ones and

watchdog timers), as well as I/O lines to communicate with external

peripherals and complementary resources — all this in a single integrated

circuit. A microcontroller differs from a general-purpose CPU chip in that the

former generally is quite easy to make into a working computer, with a

minimum of external support chips. The idea is that the microcontroller will be

placed in the device to control, hooked up to power and any information it

needs, and that's that.

For instance, a typical microcontroller will have a built in clock generator

and a small amount of RAM and ROM (or EPROM or EEPROM), meaning

that to make it work, all that is needed is some control software and a timing

crystal (though some even have internal RC clocks). Microcontrollers will also

usually have a variety of input/output devices, such as analog-to-digital

converters, timers, UARTs or specialized serial communications interfaces

like I²C, Serial Peripheral Interface and Controller Area Network. Often these

integrated devices can be controlled by specialized processor instructions.

Originally, microcontrollers were only programmed in assembly

language, or later in C code. Recent microcontrollers integrated with on-chip

debug circuit accessed by In-circuit emulator via JTAG (Joint Text Action

Group) enables a programmer to debug the software of an embedded system

with a debugger.

More recently, however, some microcontrollers have begun to include a

built-in high-level programming language interpreter for greater ease of use.

BASIC is a common choice, and is used in the popular BASIC Stamp MCUs

(Master Control Unit). Microcontrollers trade away speed and flexibility to gain

ease of equipment design and low cost.

Stepper Motor Drive Circuit

The output of the microcontroller is used to drive the stepper motor

through drive circuit, and the motor used in this project work is having four

windings, therefore the controller drives the motor through four outputs. The

stepper motor windings are energized one after another in a sequence

according to the code produced by the controller through motor drive circuit.

This motor rotates in step wise and the step angle is 1.80. Varying the pulse

rate can vary the speed of the motor. The pulses are produced by the

controller can be controlled through the program by which motor speed can

be varied. The stepper motor used in this project work is capable to drive up

to 5kg load.

ABOUT STEPPER MOTOR

The stepper Motor used in this project work is indigenous one, which is

an easy and reliable device to convert electrical energy into mechanical

motion. It does not have the accuracy or the response speed of a dc motor. It

is, however, utilized in many applications such as disk drives, printers,

recorders, plotters, copiers, scanners, fax machines, robots, machine tools,

automobiles, and medical equipment for its ease of use. Since each input

change causes exactly one step rotation, a stepper motor may be operated in

an open loop system. Typical step angles are 0.9o, 1.8o, 3.6o, 7.5o, 15o, and

30o. Stepper motors are frequently applied to problems that require precision

positioning without rotor position feedback. The most common stepper motors

have multiple field windings and a permanent magnet rotor. The rotor is made

to rotate by means of electronically commutating (switching) the current in the

field windings. These motors are design to operate indefinitely with DC

voltage applied to one or more fields in order to hold the rotor in a fixed

position.

The rotor will rotate in discrete steps when the fields are energized in a

specific sequence. Depending upon the sequence, the rotor may rotate

clockwise (CW) or counter clockwise (CCW). Stepper motors are designed to

rotate a fixed number of degrees with each step. A 1.8-degree stepper motor

requires 200 steps for the rotor to make a full revolution.

Stepper motors have multiple stepping modes, full stepping, half-

stepping and micro stepping. During full stepping, the rotor rotates the

designed angular distance (1.8 degrees for example) each step.

Half stepping is achieved on the same stepper motor by using an 8-

state sequence. The rotor now rotates only half the designed angular rotation

per half step. For a 1.8-degree stepper motor, the rotor will rotate 0.9 degrees

for each half-step thus requiring 400 half steps for the rotor to make a full

revolution. The chief advantage of half stepping is higher position control

precision. Micro stepping requires extremely complex field current switching

and allows an infinitely small rotation. Micro stepping is beyond the scope of

this experiment.

TRIGGER CIRCUIT BLOCK

This block is designed with 555 timer IC and an LDR is used as a light-

sensing device, the same is wired with timer IC. The idea of building this

block is to energize the vehicle headlamps automatically, whenever the

natural light disappears. Two lamps are provided at the front side of the

vehicle and these lamps energized through the relay contact.

The timer IC configured as Schmitt trigger mode of operation triggers at

1/3Vcc. When the LDR is exposed to the light intensity, the resistance of the

LDR will become less than 1K and makes the voltage at comparator input

less than 1/3Vcc which in turn triggers the timer IC and generates a high

signal at its output (Pin No.3). When the IC is triggered relay will be

energized automatically, this relay contact is used to provide supply to the

lamps. For this purpose normally closed contact is used, when the relay

energized closed contact becomes open and breaks the supply to the lamps.

When the natural light disappears, the resistance of the LDR will become

more than 500K, which in turn comparator input voltage increases more

2/3Vcc, there by the relay remains in de-energized condition. When the relay

remains in de-energized condition, normally closed contact remains in closed

condition and provides supply to the lamps. Hence these lamps energized

automatically when the natural light disappears.

TRANSMITTER

The output of the video camera is fed to transmitter as modulating waves

and these waves are super imposed over the carrier and transmitted as

modulated waves. The carrier is designed for transmitting the picture details.

At the receiving end, a small television set of 4” screen is used.

The transmitter circuit generates a continuous frequency of 100MHz

approximately, which is used to form a permanent link between the transmitter

and receiver, and this is known as carrier frequency. The output of video

camera is fed to this carrier input as a modulating wave. This is an amplitude

modulated T.V transmitter. The radiating power of the transmitter is less than

20mw, so that the range between transmitter and receiver can be less than 25

feet.

The block diagram of simplified block & white TV receiver shown below

In above block diagram, the receiving antenna intercepts radiated RF

signals and the turner selects desired channels frequency band and converts

it to common IF band of frequencies. The receiver employs two or three

stages of IF amplifiers. The output from the last IF stage is de-modulated to

recover the video signal. This signal that carries picture information is

amplified and coupled to the picture tube, which converts the electrical signal

back into picture elements of the same degree of black and white. The

picture tube is very similar to the cathode-ray tube used in an oscilloscope.

The glass envelope contains and electron-gun structure that produces a beam

of electrons aimed at the fluorescent screen. When the electron beam strikes

the screen. Light is emitted. A pair of deflecting coils mounted on the neck

of picture tube in the same way as the beam of camera tube scans the target

plate deflects the beam.

The path of sound signals is common with the picture signal from antenna to

video detector section of the receiver. Here the two signals are separated and

fed to their respective channels. The frequency modulated audio signal is

demodulated after at least one stage of amplification. The audio output from

the FM detector is given due amplification before feeding it to the

loudspeaker.

METAL DETECTOR BLOCK

The metal detector circuit is designed with CD 4011 IC, this is a quad 2

input NAND gate IC, which is having 4 NAND gates inside. This IC is

configured as low frequency oscillator, designed with pick up coil; this pick up

coil is used as metal detector, which can be placed below the vehicle. In

normal condition the circuit output remains in constant state, whenever any

metallic object brought very near to the pick up coil frequency will be disturbed

due to the magnetic flux produced by the coil. This changes in the circuit to

generate logic high signal at final output through the NAND gate. Due to

these changes, voltage variations are observed at final output and this

distorted DC voltage is compared with op-amp. In normal condition 2 volts

can be obtained from the final output, when the circuit is interrupted due to the

metal, heavy noise will be produced by the circuit, which makes reduction in

the voltage. Means, whenever the metal is brought near the pick up coil, the

final output falls from 2 volts to 1.5 volts. This difference is monitored

continuously and with the help of a op-amp configured as voltage comparator,

converted this difference into logic level. Depending up on the difference a

comparator output remains in a perfect logic level, either 0 or 1. The output of

this voltage comparator is fed to Microcontroller and whenever it receives

logic high signal, it stops producing pulses to the stepper motor, which in turn

vehicle stops at particular location for indicating that there is a metal dump

just before the vehicle.

BD

Chapter-5 Acrobat reader

Chapter-6 Acrobat reader

CHAPTER - 7

DETAILS ABOUT I R SENSOR

INTRODUCTION

A sensor is a type of transducer which uses one type of energy, a signal of

some sort, and converts it into a reading for the purpose of information transfer.

Sensors are used in everyday objects such as touch-sensitive elevator

buttons and lamps which dim or brighten by touching the base. There are also

innumerable applications for sensors of which most people are never aware.

Applications include automobiles, machines, aerospace, medicine, industry, and

robotics.

DETECTION FACTORS

Six factors typically affect the Probability of Detection (Pd) of most

area surveillance (volumetric) sensors, although to varying degrees. These

are the: 1) amount and pattern of emitted energy; 2) size of the object; 3)

distance to the object; 4) speed of the object; 5) direction of movement and 6)

reflection/absorption characteristics of the energy waves by the intruder and

the environment (e.g. open area, shrubbery, or wooded). Theoretically, the

more definitive the energy pattern, the better. Likewise, the larger the

intruder/moving object the higher the probability of detection. Similarly,

shorter the distance from the sensor to the intruder/object, and the faster the

movement of the intruder/object, the higher the probability of detection. A

lateral movement that is fast typically has a higher probability of detection

than a slow straight-on movement.

PERFORMANCE CHARACTERISTICS:

In the process of evaluating individual intrusion detection

sensors, there are at least three performance characteristics which should be

considered: Probability of Detection (PD), False Alarm Rate (FAR), and

Vulnerability to Defeat (i.e. typical measures used to defeat or circumvent the

sensor). A major goal of the security planner is to field an integrated Intrusion

Detection System (IDS), which exhibits a low FAR and a high PD and is not

susceptible to defeat. Probability of Detection provides an indication of sensor

performance in detecting movement within a zone covered by the sensor.

Probability of detection involves not only the characteristics of the sensor, but

also the environment, the method of installation and adjustment, and the

assumed behavior of an intruder. False Alarm Rate indicates the expected

rate of occurrence of alarms high is not attributable to intrusion activity. For

purposes of this Handbook, "false alarms" and "nuisance alarms" are included

under the overall term "False Alarm Rate", although technically, there is a

distinction between the two terms.

CHAPTER-8

Detailed Description about Video Cameras

The video camera is a kind of transducer, which produces electrical

energy from light energy. I.e., the input to the video camera is light energy and

this light energy is converted into electrical signals. Video converting the

complete spectrum of visible light into electrical frequencies.

There are two basic types of video cameras: monochrome (Black and

White) and color. Monochrome cameras are lower in price, but color is more

realistic. Both have advantages and both are desirable.

The video camera not only converts the light reflected from a scene into

an analogous video voltage, but it also supplies the necessary sync and

blanking pulses to go along with it. In short, the video camera produces the

equivalent of an NTSC (National Television Standards Committee) signal, the

same sort of signal that is generated by a television broadcasting station.

There is one exception, though. At the TV broadcasting station the

composite video signal is loaded on to a carrier wave so as to be able to

cover the distance between the station and all the receivers tuned to it. The

composite video signal, recorded on videotape by the VCR accompanying the

camera, can be inserted into the in-home VCR for reproduction on the

television screen. But that missing factor, the carrier wave, must be

introduced. This is handled by the converter section of the VCR, supplying a

carrier wave whose frequency is that of either channel 3 or channel 4. Thus

the composite video signal, now complete with a carrier, can be sent into the

TV receiver via its antenna terminals. All that is required of the TV set is that

it’s tuner be adjusted to the frequency of the carrier that is, either the

frequency of channel 3 or channel 4, whichever frequency is used by the

converter

A video camera can be used indoors or out. For in-home use power for

operating the camera can be obtained from the AC power line by using an

adaptor or the battery pack, as an additional piece of equipment. The amount

of power used by a camera is least when various camera functions are

manually operated. It takes battery power to make use of cameras automatic

features. Thus a camera could need 7.6 watts approximately with its auto

focus in the manual position. The camera used in this project work is

designed to operate 12V DC.

The trend in video camera design is to produce cameras that are as

lightweight and as compact as possible. The camera used in this project work

is known as Board camera and the weight of this camera is less than 200

grams. The details of the Board camera collected from Internet, the details

along with the picture is as follows

CAMERA OPTICS

As in motion picture film cameras, the optics represent the most

important part of the camera and this includes the lens or the lens system and

the viewfinder.

"Board" CameraThe "Board" camera is an entire camera on a single TINY

circuit board.  Anytime you have ever seen someone with a

camera hidden in a teddy bear, wall clock or smoke detector, it

has been a board camera.  Though it is very small, and perfect

for hidden-camera applications, the wires are very sensitive to

damage. This camera should not be used for outside use.

FOCAL LENGTH

In a film camera focal length is the distance from the optical center of

the lens to the film. In a video camera it is the distance between the optical

center of the lens and the target area of the picture tube. A short focal length

means light inside the camera, whether film or video, has a shorter distance to

travel, and so less light is lost, hence the attractiveness of keeping the focal

length as short as possible. Focal length is measured in millimeters (mm) and

is supplied as a range.

OPERATING POWER

The operating power requirements of a video camera are approximately

6 to 8.5 watts DC. This doesn’t sound like much and it is not if the camera is

being used indoors and is connected to an outlet supplying 230 volts AC,

changed to 12 volts DC by a converter. But it is another matter if the camera

is being operated outdoors and must rely on batteries for power. Under such

conditions a camera having the smallest power requirement would be the

most desirable one if this were the only feature being considered.

The video camera used in our project work is arranged over a revolving

disk, naturally 12V battery pack must be provided over the disk to drive the

camera.

Chapter-9 (Acrobat reader)

CHAPTER-10

PK1 BIT 00h

PK2 BIT 01h

ONOFF BIT 02H

MOVFOR BIT 03H

PK3 BIT 04H

PK4 BIT 05H

STEP_CNTL DATA 30H

STEP_CNTR DATA 31H

LAST_POS DATA 32H

DIR_CON DATA 33H

DLY_REG1 DATA 34H

DLY_REG2 DATA 35H

DLY_REG3 DATA 36H

INT_DLY1 DATA 37H

INT_DLY2 DATA 38H

TRK_DLY1 DATA 39H

TRK_DLY2 DATA 3AH

STEP_CNTL1 DATA 3BH

STEP_CNTR1 DATA 3CH

LAST_POS1 DATA 3DH

COUNT DATA 3EH

COUNT1 DATA 3FH

INT_DLYZ DATA 40H

STEP_CNTLZ DATA 41H

INT_DLYZ1 DATA 42H

STEP_CNTRZ DATA 43H

COUNTAZ DATA 44H

COUNTAZY DATA 45H

STEP_CNTLX DATA 46H

STEP_CNTLXY DATA 47H

ORG 0000H

ljmp RESET

ORG 000BH

push ACC

push PSW

lcall WHEEL_LEFT

pop PSW

pop ACC

reti

ORG 001BH

push ACC

push PSW

lcall WHEEL_RIGHT

pop PSW

pop ACC

reti

RESET:

mov P1, #0FFH

MOV P3,#0FH

mov p2,#00h

mov SP, #60H

mov DPTR, #0400H

mov STEP_CNTL, #00h

mov STEP_CNTR, #00h

mov TMOD, #22H

mov IE, #8AH

setb TR0

setb TR1

mov TH0, #7FH

mov TL0, #7FH

mov TH1, #7FH

mov TL1, #7FH

mov DLY_REG1, #0FFH

mov DLY_REG2, #0FFH

mov DLY_REG3, #24H

mov DIR_CON, #00H

mov TRK_DLY1, #00H

mov TRK_DLY2, #00H

CLR ONOFF

mov STEP_CNTL1, #00h

mov STEP_CNTR1, #00h

MOV COUNT,#00H

MOV COUNT1,#00H

CLR PK1

CLR PK2

CLR PK3

CLR PK4

clr onoff

CLR MOVFOR

lcall dddelay

MAIN: JB P3.2,NOINTP

MOV P2,#11H

CLR MOVFOR

CLR ONOFF

CLR PK1

CLR PK2

CLR PK3

CLR PK4

LCALL DDDELAY

MOV P2,#00H

LCALL DDDELAY

SETB ONOFF

LCALL DDDELAY

CLR ONOFF

MOV P2,#11H

LCALL DDDELAY

MOV P2,#00H

LCALL SIDES

LCALL DDDELAY

LCALL LLFT

LCALL DDDELAY

LCALL RRFT

LCALL DDDELAY

LCALL LLFT

LCALL DDDELAY

LCALL RRFT

LCALL DDDELAY

LCALL SIDE

LCALL DDDELAY

MOV P3,#0FH

LCALL DDELAY

SETB PK2

LCALL DDELAY

CLR PK2

SETB P3.2

NOINTP: mov a,p1

anl a,#0fh

cjne a,#05h,run

go: CLR MOVFOR

CLR PK1

CLR PK2

CLR PK3

CLR PK4

SETB ONOFF

LCALL DDELAY

CLR ONOFF

CLR PK3

CLR PK4

SETB PK1

CLR PK2

LCALL DDELAY

ljmp main

RUN: cjne a,#06h,run1

SETB PK3

CLR ONOFF

CLR MOVFOR

CLR PK1

CLR PK2

CLR PK4

LCALL DLYS

ljmp main

RUN1: cjne a,#03h,run2

CLR ONOFF

CLR MOVFOR

CLR PK3

CLR PK2

CLR PK1

SETB PK4

LCALL DLYS

LJMP MAIN

RUN2: cjne a,#0fh,run3

CLR MOVFOR

CLR PK1

CLR PK2

CLR PK3

CLR PK4

SETB ONOFF

LCALL DDELAY

CLR ONOFF

SETB PK2

CLR PK3

CLR PK1

CLR PK4

LCALL DDELAY

ljmp main

run3: cjne a,#07h,run4

SETB MOVFOR

CLR PK3

CLR PK4

CLR PK1

CLR PK2

CLR ONOFF

ljmp main

run4: cjne a,#08h,run5

ljmp go

run5: cjne a,#01h,run6

ljmp go

run6: cjne a,#04h,run7

ljmp go

run7: cjne a,#00h,run8

ljmp go

run8: cjne a,#02h,run9

ljmp go

run9: cjne a,#09h,run10

ljmp go

run10: cjne a,#0Ah,run11

ljmp go

run11: cjne a,#0Bh,run12

ljmp go

run12: cjne a,#0Ch,run13

ljmp go

run13: cjne a,#0Dh,run14

ljmp go

run14: cjne a,#0Eh,run15

ljmp go

run15: LJMP MAIN

WHEEL_LEFT:JB ONOFF,TOP

JB MOVFOR,TOP3

ret

TOP: JNB ONOFF,NOTCH21

inc COUNT

mov A, COUNT

cjne A, #3FH, NOTCH21

mov COUNT, #00H

MOV DPTR,#0800H

mov A, STEP_CNTL1

movc A, @A+dptr

mov P2,A

inc STEP_CNTL1

mov A, STEP_CNTL1

cjne A, #08h, NOTCH21

mov STEP_CNTL1, #00h

NOTCH21:

RET

TOP3: JNB MOVFOR,NOTCH311

inc COUNT1

mov A, COUNT1

cjne A, #3FH, NOTCH311

mov COUNT1, #00H

MOV DPTR,#0800H

mov A, STEP_CNTR1

add A, #08H

movc A, @A+dptr

mov P2,A

inc STEP_CNTR1

mov A, STEP_CNTR1

add A, #08H

cjne A, #10h, NOTCH311

mov STEP_CNTR1, #00h

NOTCH311:

RET

WHEEL_RIGHT:jb pk1,run21

jb pk2,run31

jb pk3,run71

jb pk4,run81

ret

run21: jnb pk1, STOP_FORW

inc INT_DLY2

mov A, INT_DLY2

cjne A, #3FH, SKIP_INT0

mov INT_DLY2, #00H

MOV DPTR,#0400H

mov A, STEP_CNTL

movc A, @A+dptr

mov P2,A

inc STEP_CNTL

mov A, STEP_CNTL

cjne A, #08h, NOTCH2

mov STEP_CNTL, #00h

NOTCH2:

ljmp SKIP_INT0

STOP_FORW:

SKIP_INT0:

ret

run71: jnb pk3, STOP_FOW

inc INT_DLYZ

mov A, INT_DLYZ

cjne A, #1FH, SKIP_IT0

mov INT_DLYZ, #00H

MOV DPTR,#0A00H

mov A, STEP_CNTLZ

movc A, @A+dptr

mov P2,A

inc STEP_CNTLZ

mov A, STEP_CNTLZ

cjne A, #08h, NOTCH2Z

mov STEP_CNTLZ, #00h

NOTCH2Z:

ljmp SKIP_IT0

STOP_FOW:

SKIP_IT0:

ret

run31: jnb pk2, STOP_REVW

inc INT_DLY1

mov A, INT_DLY1

cjne A, #3FH, SKIP_INT1

mov INT_DLY1, #00H

MOV DPTR,#0400H

mov A, STEP_CNTR

add A, #08H

movc A, @A+dptr

mov P2,A

inc STEP_CNTR

mov A, STEP_CNTR

add A, #08H

cjne A, #10h, NOTCH3

mov STEP_CNTR, #00h

NOTCH3:

ljmp SKIP_INT1

STOP_REVW:

SKIP_INT1:

ret

run81: jnb pk4, STOP_REVWZ

inc INT_DLYZ1

mov A, INT_DLYZ1

cjne A, #1FH, SKIP_INTZ1

mov INT_DLYZ1, #00H

MOV DPTR,#0A00H

mov A, STEP_CNTRZ

add A, #08H

movc A, @A+dptr

mov P2,A

inc STEP_CNTRZ

mov A, STEP_CNTRZ

add A, #08H

cjne A, #10h, NOTCH3Z

mov STEP_CNTRZ, #00h

NOTCH3Z:

ljmp SKIP_INTZ1

STOP_REVWZ:

SKIP_INTZ1:

ret

SIDE:

mov STEP_CNTLX, #00h

MOV DPTR,#0C00H

SIDE1: mov A, STEP_CNTLX

movc A, @A+dptr

mov P3,A

LCALL DELAY

inc STEP_CNTLX

mov A, STEP_CNTLX

cjne A, #08h, SIDE1

mov STEP_CNTLX, #00h

INC COUNTAZ

MOV A,COUNTAZ

CJNE A,#08H,SIDE

MOV COUNTAZ,#00H

RET

SIDES:

mov STEP_CNTLX, #00h

MOV DPTR,#0C20H

SIDES1: mov A, STEP_CNTLX

movc A, @A+dptr

mov P3,A

LCALL DELAY

inc STEP_CNTLX

mov A, STEP_CNTLX

cjne A, #08h, SIDES1

mov STEP_CNTLX, #00h

INC COUNTAZ

MOV A,COUNTAZ

CJNE A,#08H,SIDES

MOV COUNTAZ,#00H

RET

LLFT:

mov STEP_CNTLX, #00h

MOV DPTR,#0C00H

LLFT1: mov A, STEP_CNTLX

movc A, @A+dptr

mov P3,A

LCALL DELAY

inc STEP_CNTLX

mov A, STEP_CNTLX

cjne A, #08h, LLFT1

mov STEP_CNTLX, #00h

INC COUNTAZ

MOV A,COUNTAZ

CJNE A,#0EH,LLFT

MOV COUNTAZ,#00H

RET

RRFT:

mov STEP_CNTLX, #00h

MOV DPTR,#0C20H

RRFT1: mov A, STEP_CNTLX

movc A, @A+dptr

mov P3,A

LCALL DELAY

inc STEP_CNTLX

mov A, STEP_CNTLX

cjne A, #08h, RRFT1

mov STEP_CNTLX, #00h

INC COUNTAZ

MOV A,COUNTAZ

CJNE A,#0EH,RRFT

MOV COUNTAZ,#00H

RET

ddelay: MOV R4,#70

Zz2: MOV R5,#70

Zz1: MOV R6,#70

TRGU: JNB P3.2,NOINTP2

DJNZ R6,TRGU

DJNZ R5,Zz1

DJNZ R4,Zz2

NOINTP2:RET

;>

dddelay: MOV R4,#50

Zz21: MOV R5,#50

Zz11: MOV R6,#50

DJNZ R6,$

DJNZ R5,Zz11

DJNZ R4,Zz21

RET

DLYS: MOV R4,#5

GZz2: MOV R5,#4

GZz1: MOV R6,#3

DJNZ R6,$

DJNZ R5,GZz1

DJNZ R4,GZz2

RET

DELAY:

MOV R4,#10H

GZz2C: MOV R5,#10H

GZz1C: MOV R6,#10H

DJNZ R6,$

DJNZ R5,GZz1C

DJNZ R4,GZz2C

RET

SDELAY:

MOV R4,#6FH

DJNZ R4,$

RET

ORG 0400H

STEP_M2:

db 0a1h

db 61h

db 51h

db 91h

db 0a1h

db 61h

db 51h

db 91h

STEP_M3:

db 19h

db 15h

db 16h

db 1ah

db 19h

db 15h

db 16h

db 1ah

;>

ORG 0800H

STEP_M21:

db 9ah

db 56h

db 65h

db 0a9h

db 9ah

db 56h

db 65h

db 0a9h

STEP_M31:

db 0a9h

db 65h

db 56h

db 9ah

db 0a9h

db 65h

db 56h

db 9ah

ORG 0A00H

STEPF_M2:

db 0a1h

db 61h

db 51h

db 91h

db 0a1h

db 61h

db 51h

db 91h

STEPF_M3:

db 19h

db 15h

db 16h

db 1ah

db 19h

db 15h

db 16h

db 1ah

ORG 0C00H

db 9Fh

db 5Fh

db 6Fh

db 0AFh

db 9Fh

db 5Fh

db 6Fh

db 0AFh

ORG 0C20H

db 0AFh

db 6Fh

db 5Fh

db 9Fh

db 0AFh

db 6Fh

db 5Fh

db 9Fh

END

CHAPTER – 11

HARDWARE DETAILS

The IC’s and other important components used in this project work,

procured from the Hyderabad Electronics Market. The details or data sheets

of the IC’s are down loaded from the Internet. The following are the web

sites that can be browsed for collecting the data sheets.

1. www. Texas Instruments.com

2. www. National semiconductors.com

3. www. Fairchild semiconductors.com

The following are the IC’s and other important components used in this

project work

(1) 89C51 Microcontroller Chip

(2) IRZ44 International Rectifier

(3) 555 Timer IC

(4) LM 567C Tone Decoder IC

(5) Voltage Regulator

(6) BC 547 NPN Epitaxial Silicon Transistor

(7) Relay (8) Stepper Motor (9) LDR

(10) CD 4011

The required PCB’S (Printed Circuit boards) for the project work

fabricated by COSMIC CIRCUITS, Kushaiguda Industrial Estate, Hyderabad.

Kushaiguda Industrial Estate is very famous for fabricating the Industrial

grade PCB’s.

CHAPTER-12 IN ACROBAT READER

CHAPTER - 17

CONCLUSIONS & REFERENCES

The Project elapsed great, the timetable was almost true, only

approximate 1 day later with the finished design than we planned. The project

was a little more difficult than I expected from the beginning, but already when

we got the assignment I had an idea to solve the problem, but after some

hour’s work, and no positive result, I was almost quitting the idea. After a little

time more we got the detector part to work so it was sensitive enough. The

frequency detector was mounted and it worked great even the average part.

We tried to make another detector to see if it could be more sensitive,

and if the first failed, we had another horse to carry on with. Actually it ended

up with almost 2 different working detectors, the second wasn’t finished when

we need to stop and finish the report. But since it is an analogue project I

decided to describe the second detector also. Our team worked out the

project without big conflicts. But if the knowledge of designing circuits and

build circuit was almost at the same level in the group, the time used to make

the product could be reduced. I mean one in the group maybe would have

gained more if he had joined the basic level.

Our advice to juniors that this project can be implemented by you with lots of

modifications. As we have less time we have performed using some

detectors, you try with some other detector and make this project more

extraordinary.

REFERENCES:

The following are the references made during design, development and

fabrication of the project work “Autonomous Search Vehicle using Wireless

Video Camera”

(1). Basic electronics By: GROB

(2). Mechatronics – Electronic Control Systems in Mechanical and electrical

Engineering – By: W. Bolton

(3) Electronic Circuit guide book – Sensors – By JOSEPH J.CARR

(4) The 8051 Micro-controller Architecture, programming & Applications

By: Kenneth J. Ayala

(5) Mechanism and Machine Theory By: J.S. Rao, R.V. Dukkipati

(6) Practical transistor circuit design and analysis

By: GERALD E. WILLIAMS

(7). Robotic Engineering an Integrated Approach

By: Richard D. Klafter, Thomas A. Chmiclewski, and Michael Negin

(8) Programming and Customizing the 8051 Micro-controller By: Myke Predko

(9) The concepts and Features of Micro-controllers - By: Raj Kamal

(10) Digital and Analog Communication System By: K. sam Shanmugam

(11) Digital Electronics. By JOSEPH J.CARR

(12). Electronics for you Monthly Magazine

(13). Practical Electronics “ “

(14). Elector India “ “

In addition to the above books, most of the information collected from

the Internet. The following are the references.

[Arki99] “Behavior-Based Robotics,” Arkin, R., ISBN 0-262-01165-4 ,MIT Press, 1999.

BySi98] Byrne, J.Singh, S.,”Precise Image Segmentation for Forest Inventory,” CMU-RI-TR-98-14, Carnegie Mellon University, 1998.

[Clar99], Clark, S.,”Autonomous Land Vehicle Navigation Using Millimetre Wave Radar,” Ph.D. thesis, The University of Sydney January, 1999.

[ChAl93] Chatila, R., Alami, R., Lacroix, S., Perret, J., Proust, C., “Planet Exploration by Robots: From Mission Planning to Autonomous Navigation,” In Proc. Intl. Conf. Advanced Robotics, pp. 91-96, Tokyo, Japan, November 1993.

[ChIb99] Cherif, M., Ibanez-Guzman, J., Laugier, C., Goh, T., "Motion Planning for an All-Terrain Autonomous Vehicle," Int. Conf. on Field and Service Robotics, Pittsburgh, PA, USA, August, 1999.

[ChLa95] Cherif, M., Laugier, C., ”Motion Planning of Autonomous Off- Road Vehicles Under Physical Interaction Constraints,'' IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1687-1693, Nagoya, Japan, 1995. [DrSa01] Driankov, D., Saffiotti, A. (Eds), “Fuzzy Logic Techniques for “Autonomous Vehicle Navigation,” Springer-Verlag [DuJe00] Dudek, G., Jenkin, M., “Computational Principles of Mobile Robotics,” Cambridge University Press, 2000, p69.

[Durr91] Durrant-Whyte, H., “An autonomous Guided Vehicle for Cargo handling,” International Journal of Robotics Research, 15(5) pages 407-440, 1991.[HeKr93] Hebert, M. Krotkov, E. “3-D Measurements from ImagingLaser Radars. Intl. J. Image and Vision Computing,” 10(3):170-178,April 1992. Antibes, France, September 1993.·