Metal Detector Robotic Vehicle

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Introduction
 Here is a war field land rover that alerts on sensing planted land
mine ahead controlled remotely using the RF mode primarily.
 The RF remote control has the advantage of adequate range (up to
200 meters with proper antennae) besides being Omni-directional.
 On the other hand, an IR remote would function over a limited range
of about 5 meters, and the remote transmitter has to be oriented
towards the receiver module quite precisely.
 However, the cost involved in using RF modules is much higher than
of IR components and as such, we have included the replacement
alternative of RF modules with their IR counterparts for using the IR
remote control.

Transmitter

Receiver

Working Process
 The project uses HT12E Encoder which converts 4 bit data to serial
output which is then fed to the RF module for transmitting the same to
be received by the receiver of RF module.
 Then the output of which is fed to HT12D the serial decoder IC, next the
output of which is fed to controller pin 1-4.
 The transmitting end MC is connected to a set of pushbutton switches.
Thus, while a particular button is pressed the program executed delivers
corresponding 4-bit data that are then transmitted serially.
 The data so received at the receiver end of port 1 operates the motor
through motor driver IC L293D as required being interfaced from the
Microcontroller output port 2.

 The transmitter is powered by a 6v battery in series with a silicon
diode to develop finally required voltage for microcontroller circuit.
 The receiver is powered by a 12v battery in series with a silicon diode
to protect the circuits from the accidental reverse battery
connection.
 5V DC out of the 12V available from regulator IC 7805 is fed to the
controller, decoder, and the motor driver IC L293D pin 8 for the
operation of the motor.
 A metal detector circuit is used that uses a tuned circuit comprising
of a coil.
Working Process (Continue…)

 Two capacitor’s C2 and C3 determining a particular resonant frequency of
the oscillator by Q4. The sensitivity of which is adjusted by a potentiometer
of 5k.
 The output of this resonant circuit is fed to Q2 which quarter in emitter
follower configuration with appropriate filtering to forward bias Q3 that
forces Q4 to be not in condition stage thus the buzzer connected from
positive supply to the collector of Q4 does not get any power so doesn’t
sound.
 While any metal object is encountered by the coil the resonance frequency
drifts away that remove’s the drive voltage to Q3, which in turn switches on
the Q4 for the buzzer to get power and sound accordingly together with the
L, LED growing to indicate the presence of the metallic object.
Working Process (Continue…)

 8K Bytes of In-System Programmable (ISP) Flash
Memory.
 4.0V to 5.5V Operating Range.
Crystal Frequency 11.0592MHZ.
 Three-level Program Memory Lock.
 256 x 8-bit Internal RAM.
 32 Programmable I/O Lines.
 Three 16-bit Timer/Counters.
AT89S52
Micro controller

CPU
On-chip
RAM
On-chip
ROM for
program
code
4 I/O
Ports
Timer 0
Serial
PortOSC
Interrupt
Control
External interrupts
Timer 1
Timer/Count
er
Bus
Control
TxD RxDP0 P1 P2 P3
Address/Data
Counter
Inputs
Block diagram of MC

MC components explanation
ROM:
 A code of 4K memory is incorporated as on-chip ROM in 8051.
RAM:
 The 8051 microcontroller is composed of 128 bytes of internal RAM.
Interrupt Control:
 An event which is used to suspend or halt the normal program
execution for a temporary period of time in order to serve the
request of another program or hardware device is called an
interrupt.

Parallel Input/Output Ports:
PORT P0: When there is no external memory present, this port acts as
a general purpose input/output port.
PORT P1: This port is used for various interfacing activities.
PORT P2: This port can be used as a general purpose port when there
is no external memory but when external memory is present it works
in conjunction with PORT PO as an address bus.
PORT P3: PORT P3 behaves as a dedicated I/O port.

Address Bus:
 A bus is group of wires using which data transfer takes place
from one location to another within a system.
Timers and Counters:
 Synchronization among internal operations can be achieved with
the help of clock circuits which are responsible for generating
clock pulses.
 Internal operations can be synchronized using clock circuits
which produce clock pulses.

Pin diagram of 8052

8052 pin diagram explanation
Port 0(p0.0 to p0.7):
 It is 8-bit bi-directional I/O port. It is bit/ byte addressable. During
external memory access, it functions as multiplexed data and low-
order address bus AD0-AD7.
Port 1 (p1.0 to p1.7):
 It is 8-bit bi-directional I/O port. When logic '1' is written into port
latch then it works as input mode. It functions as simply I/O port
and it does not have any alternative function.

8052 pin diagram explanation
Port 2 (p2.0 to p2.7):
 It is 8-bit bi-directional I/O port. It is bit/ byte addressable.
Port 3(p3.0 to port 3.7):
 It is 8-bit I/O port. In an alternating function each pins can be used
as a special function I/O pin.
RESET:
 It is active high I/P signal. It should be maintained high for at least
two machine cycle while oscillator is running then 8051
microcontroller resets.

Motor driver IC
 L293D is a dual H-bridge motor driver integrated circuit (IC).
 Motor drivers act as current amplifiers since they take a low-
current control signal and provide a higher-current signal.
 This higher current signal is used to drive the motors.
 L293D contains two inbuilt H-bridge driver circuits. In its
common mode of operation, two DC motors can be driven
simultaneously, both in forward and reverse direction.

Motor driver ic diagram

Operation of motor driver
 L293D has 2 set of arrangements where one set has input 1, input
2, output 1 and output 2 and other set has input 3, input 4,
output 3 and output 4, according to block diagram if pin no 2 & 7
are high then pin no 3 & 6 are also high.
 If enable 1 and pin number 2 are high leaving pin number 7 as
low then the motor rotates in forward direction.
 If enable 2 and pin number 10 are high leaving pin number 15 as
low then the motor rotates in forward direction.

30 pF
30 pF
8.2
K
10 uF
+
11.0592
MHz
EA/VP
PX1
X2
RST
31
19
18
9
Power on Reset circuit

 The circuit uses HT 12E, HT 12D encoder and decoder.
 433MHz ASK transmitter and receiver is used for the remote control.
RF remote control

 Range in open space(Standard Conditions) : 100 Meters
 RX Receiver Frequency : 433 MHz
 RX Typical Sensitivity : 105 Dbm
 RX Supply Current : 3.5 mA
 RX IF Frequency : 1MHz
 Low Power Consumption
 Easy For Application
 RX Operating Voltage : 5V
 TX Frequency Range : 433.92 MHz
 TX Supply Voltage : 3V ~ 6V
 TX Out Put Power : 4 ~ 12 Dbm
Features of RF

 The HT 12E Encoder ICs are series of CMOS LSIs for Remote Control
system applications. They are capable of Encoding 12 bit of information
which consists of N address bits and 12-N data bits.
 The HT 12D ICs are series of CMOS LSIs for remote control system
applications.
 This ICs are paired with each other. For proper operation a pair of
encoder/decoder with the same number of address and data format
should be selected.
 The Decoder receive the serial address and data from its corresponding
decoder, transmitted by a carrier using an RF transmission medium and
gives output to the output pins after processing the data.
RF encoder & decoder

 The operation of metal detectors is based upon the
principles of electromagnetic induction.
 The single-coil detector is the one used in a real metal
detector.
 A pulsing current is applied to the coil, which then induces a
magnetic field.
 When the magnetic field of the coil moves across metal,
such as the coin, the field induces eddy currents in the coin.
 The eddy currents induce their own magnetic field, which
generates an opposite current in the coil, which induces a
signal indicating the presence of metal.
Metal detector

Software requirements
 Keil an ARM Company makes C compilers, macro assemblers,
real-time kernels, debuggers, simulators, integrated
environments, evaluation boards, and emulators for
ARM7/ARM9/Cortex-M3, XC16x/C16x/ST10, 251, and 8051 MCU
families.
 Compilers are programs used to convert a High Level Language to
object code. Desktop compilers produce an output object code
for the underlying microprocessor, but not for other
microprocessors.

Advantages
 The detection and removal of landmines can be achieved by using
metal detection robot.
 This Metal Detector Robotic Vehicle System is used for locating and
detecting landmines very effectively and efficiently.
 This system can be operated easily.
 It is used for finding the landmines in a short period, a necessary
worldwide concern at present.
 It can move on natural ground surfaces including roads and tracks in
a same manner to a human operator.

Conclusion
 The Metal Detector Robotic Vehicle is used to find the landmine
when the robot moves on the earth.
 The main purpose of this system is to detect and remove the
landmines in a short span of time and sense the metals ahead of it.
 This project can be improved by mounting a wireless camera on the
robot, and the operator can control the movement of the robot
easily by visualizing it on a screen.

Metal Detector Robotic Vehicle

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Metal Detector Robotic Vehicle