METAL DETECTING AND OBSTACLE
AVOIDANCE AUTONOMOUS
ROBOT
OVERVIEW Objective Expected output Hardware and software Requirements Module description Advantages and Disadvantages References
OBJECTIVE The main objective of our project is to build a
robotic vehicle that can sense metals ahead of it and to pick it and place it in a pre-estimated place.
Expected OutputIt scans the nearby area for obstacles.If no obstacle is detected ,Robot moves
forward while scanning for metals.If metals are detected, it collects them.
Hardware & Software Requirements Hardware Software
Robot Chassis Arduino IDEDC motors Fritzing
Motor Driver MS-PowerpointArduino Uno
Ultrasonic sensorServo MotorsCastor wheel
Pvc pipes, round blockInductive proximity sensor(M30)
ElectromagnetBatteries
Ultrasonic sensor
Metal Detector
Electromagnet
Motor Driver
H-Bridge
Motor
Motor
ARDUINOC
Arduino
Uno
BLOCK DIAGRAM
Circuit Diagram
The project is divided into modules for better understanding of the circuit. The modules include
Arduino Uno Microcontroller BoardMotor Control DriverMetal DetectorUltrasonic Sensor
Motor Control Driver It is a dual H-bridge
driver designed to drive dc motors.
It controls the speed and direction of each DC motors independently using the micro controller.
It uses L293D IC to control the dc motor
It is powered by an external power supply of 5v to 12v.
Operation of Motor Driver L293D has 2 sets of arrangements
where one set has input 1 and output 2 and other set has input 3,input 4,output 3 and output 4
If enable 1 and pin number 2 are high leaving pin number 7 as low then motor rotates in forward direction, vice-versa for reverse direction.
If enable 2 and pin number 10 are high leaving pin 15 as low then motor rotates in forward direction, vice-versa for reverse direction.
Microcontroller CPU
RAM ROM
I/OPORTS
TIMER
SerialCom Ports
It is a smaller computer
It has on-chip RAM,ROM,I/O ports
Arduino Uno MicrocontrollerMicrocontroller - Atmega328Operating voltage - 5vPin count - 28Input Voltage - 7-12vDigital I/O pins - 14(6 pwm)Analog Input Pins - 6 Current per I/O pins - 40mACurrent for 3.3 v pins - 50mAFlash memory - 32KBSRAM - 2KBEEPROM - 1KBClock Speed - 16 MHz
Ultrasonic SensorUltrasonic sensor generates
high frequency sound waves and evaluate the echo which is received back by the sensor.
It measures the time interval between sending and receiving the echo to determine the distance to an object.
It detects the distance of the closest object in front of the sensor(from 2cm to 3m).
Servo MotorsIt is used to mount ultrasonic sensor.2 servo motors are used to control the arm. It has 3 pinsVcc, ground, control signal.
Arm ControlTwo servo motors are used to control the arm.Sweep Servo motor is used to scan metals .Flip Servo motor is used to pick the metals.
Metal Detector
It is an inductive proximity sensor.
It consists of 3 pins.
Vcc (pink),Ground(blue),control(black)
electromagnetIt is a 1.5 kg lifting
electromagnet.It has two pins.It is controlled by H-bridge.
ADVANTAGESProvide safety to the bomb disposal squad by
providing an extra line of defence.Reduced amount of operator errors.Can be made to perform even the most
dangerous tasks without concern.Can operate without human assistance(i.e.
autonomous)
DISADVANTAGES
Precise programming needed.It doesn’t possess pre-programmed path.Robot doesn’t distinguish between small and
large pieces of metal.Limited stability
IMPROVEMENTSStability can be improved by using 4 wheel
configuration.Live video feedback could be implemented.Chain drive can be used to improve the
motion of robot in terrain.
FLOWCHART
Referencehttp://www.arduino.cc
THANK
YOU
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