ICFYCC ROBOT FOR INDUSTRIAL SAFETY (I CAN FOLLOW YOU CAN CONTROL ROBOT) TEAM MEMBERS: MANOJKUMAR.R, ARAVINTH.M.

Email-id: manojkumarr161@gmail.com. COLLEGE: PANIMALAR ENGINEERING COLLEGE (EIE DEPARTMENT), ANNA UNIVERSITY, CHENNAI. ABSTRACT: ICFYCC is a dual purpose robot which can be a line follower and also a RF remote controlled robot. Since the robot can be a line follower, it can be used for providing the tools to some of the hazardous manufacturing areas where manual intervention is difficult in industries. At the same time the robot can also be a remote controlled (RF) so we can save the costlier tools from damaging when industries undergo any accidents and it can be extend to its application for various purposes such as surveillance. For robot model a AT89C51 micro controller for line follower purpose and HD12D, HD12E for RF controlling is used. Assembly language is used for programming the microcontroller. . LINE FOLLOWER OPERATION: Line-following robots are commonly used in manufacturing plants where the manual intervention and error is under serious consideration. These move on a specified path to pick the components from specified locations and take them to desired locations. Basically, a line-following robot is a self-operating robot that detects and follows a line drawn on the floor. The path to be taken is indicated by a black line on a white surface. The control system used must sense the line and man oeuvre the robot to stay on course while constantly correcting the wrong moves using feedback mechanism, thus forming a simple yet effective closed-loop system

BLOCK DIAGRAM: The block diagram of the ICFYCC is shown below. It consists of three pairs of infrared sensors, three voltage comparators, micro controller and a motor driver. The robot is built using microcontroller AT89C51 (used as the decision-making device), motor driver L293D, operational amplifier LM324 (comparator), infrared sensor and a few discrete components.

In the circuit, the sensors (infrared sensors) are used to detect the black strip on a white background. The sensor output is fed to the microcontroller, which takes the decision and gives appropriate command to motor driver L293D so as to move the motor accordingly. Sensor. The sensor senses the light reflected from the surface and feeds the output to the comparator. When the sensor is above the black background the light falling on it from the source reflects to the sensor, and when the sensor is above the black background the light from the source doesnt reflect to it. The sensor senses the reflected light to give an output, which is fed to the comparator. Comparator. The comparator compares the analogue inputs from sensors with a fixed

reference voltage. If this voltage is greaterthan the reference voltage the comparator outputs a low voltage, and if it is smaller the comparator generates a high voltage that acts as input for the decision-making device (microcontroller). Motor driver. The current supplied by the microcontroller to drive the motor is small. Therefore a motor-driver IC is used. It provides sufficient current to drive the motor. Microcontroller. The microcontroller is programmed to make the robot move forward, turn right or turn left based on the input coming from the comparator. The outputs of the microcontroller are fed to the motor driver.

WORKING: At the start, when the robot is at point A, sensors T1 and T2 are above the black surface and port pins P3.0 and P3.1 of the microcontroller receive logic 0. As a result, the robot moves forward in straight direction. At point B, a left turn is encountered,

and the left sensor comes above the black surface, whereas the right sensor remains above the black surface. Port pin P3.0 of the microcontroller receives logic 1 from the left sensor and port pin P3.1 receives logic 0 from the right sensor. As a result, the left motor stops and the right motor rotates, to

make the robot turn left. This process continues until the left sensor comes above the black background. Similarly, at point C, where a right turn is encountered, the same procedure for right

turn is executed. When both the sensors are at the black surface, the robot should stop. The output of the microcontroller (IC2) depends on the inputs received at its port pins P3.0 and P3.1 as shown in table.

RF REMOTE CONTROLLED OPERATION: The easiest solution would be to take a cheap wireless toy car take out its receiver module along with its remote and use them in our robot. The other way round is this to make your own RF remote . We will be using ASK (Amplitude Shift Keying) based Tx/Rx (transmitter/receiver) pair operating at 433 MHz. The transmitter module accepts serial data at a maximum of XX baud rate. It can be directly interfaced with a microcontroller or can be used in remote control applications with the help of encoder/decoder ICs. Now in order to control say a dc motor, we require 2 bits of information (switching it on/off) while we need 4 bits of information to control 2 motors. HT12E and HT12D are 4 channelencoder/decoder ICs directly compatible with the specified RF module. The schematic is as shown below.

In order to drive motors, we would need to connect a suitable motor driver at the output of the decoder IC. The motor driver circuit can consist of a relay, transistorized H-Bridge ormotor driver ICs like the L293D, L298 etc. The example above shows the receiver section using the HT-12D decoder IC for a 4-bit RF remote control system. Similarly the transmitter and receiver module can also use the Holtek 8-bit HT640/HT-648L remote control

encoder/decoder combination for an 8bit RF remote control system.

4 CHANNEL ENCODER HT12E:

Features Operating voltage 2.4V~5V for the HT12A 2.4V~12V for the HT12E Low power and high noise immunity CMOS technology Low standby current: 0.1_A (typ.) at VDD=5V HT12A with a 38kHz carrier for infrared transmission medium Minimum transmission word Four words for the HT12E One word for the HT12A Built-in oscillator needs only 5% resistor

Data code has positive polarity Minimal external components HT12A/E: 18-pin DIP/20-pin SOP package General Description The 212 encoders are a series of CMOS LSIs for remote control system applications. They are capable of encoding information which consists of N address bits and 12N data bits. Each address/data input can be set to one of the two logic states. The programmed addresses/data are transmitted together with the header bits via an RF or an infrared transmission medium

upon receipt of a trigger signal. The capability to select a TE trigger on the HT12E or a DATA trigger on the HT12A further enhances the application flexibility of the 212 series of encoders. The HT12A additionally provides a 38kHz carrierfor infrared systems.

4 CHANNEL DECODER HT12D:

Features Operating voltage: 2.4V~12V Low power and high noise immunity CMOStechnology Low standby current Capable of decoding 12 bits of information Binary address setting Received codes are checked 3 times

Address/Data number combination HT12D: 8 address bits and 4 data bits HT12F: 12 address bits only Built-in oscillator needs only 5% resistor Valid transmission indicator Easy interface with an RF or an infrared transmissionmedium

Minimal external components Pair Holtek

with s

212 series of encoders 18-pin DIP, 20-pin SOP package General Description The 212 decoders are a series of CMOS LSIs for remote control system applications. They are paired with Holtek s 212 series of encoders. For proper operation, a pair of encoder/decoder with the same number of addresses and data format should be chosen. The decoders

receive serial addresses and data from a programmed 212 series of encoders that are transmitted by a carrier using an RF or an IR transmission medium. They compare the serial input data three times continuously with their local addresses. If no error or unmatched codes are found, the input data codes are decoded and then transferred to the output pins. The VT pin also goes high to indicate a valid transmission. The 212 series of decoders are capable of decoding informations that consist of N bits of address and 12_Nbits of data. Of this series, the HT12D is arranged to provide 8 address bits and 4 data bits, and HT12F is used to decode 12 bits of address information.