Remote Controlled Metal Detecting Robot with

Remote Image Transmission

Mini-project
Submitted in partial fulfllment of the requirements for the award of the degree
of
BACHELOR OF TECHNOLOGY
In
Electronics and Communication Engineering
By
D!"AR!HA #$%D&'A$(()*
G+ANDANA#$%D&'A$(,,*
-nder t.e guidance o/
0r ! B.arga1 2umar
Assistant "ro/essor
De3artment o/ Electronics 4 Communication Engineering
!RIDE+I 5O0EN6! ENGINEERING COLLEGE
#A//iliated to 7a8a.arlal Ne.ru Tec.nological -ni1ersity9 Hydera:ad*
+N"ALLY9 GANDI"ET9 RRDI!T;,$$ $%,
7une &$'$
i
!RIDE+I 5O0EN6! ENGINEERING COLLEGE
#A//iliated to 7a8a.arlal Ne.ru Tec.nological -ni1ersity9 Hydera:ad*
+N"ALLY9 GANDI"ET9 RRDI!T;,$$ $%,
De3artment o/ Electronics 4 Communication Engineering
BONAFIDE CERTIFICATE
Certified that the project <Remote Controlled Ro:ot 8it. Remote Image Transmission= is the
bonafide work of D!"AR!HA #$%D&'A$(()* and G+ANDANA #$%D&'A$(,,*9 who carried out the
project under my supervision from May to June in partial fulfillment of the requirements for the award
of B.Tech Electronics 4Communication Engineering to Jawaharlal Nehru Technoloical !niversity"
#yderabad.
Certified further" that to the best of my knowlede the work reported here in does not form part
of any dissertation on basis of which a deree was conferred on an earlier occasion on this or any other
candidate.
Internal Guide Head o/ t.e De3artment
Mr.$.Bharav %umar. &r.'. ()J)$(**
)ssistant +rofessor +rofessor , #-&
&epartment of *C* &epartment of *C*

ii
DECLARATION
The project entitled <RE0OTE CONTROLLED 0ETAL DETECTING ROBOT 5ITH
I0AGE TRAN!0I!!ION= is a record of the bonafide work undertaken by us towards partial
fulfillment of the award of &eree of Bac.elor o/ Tec.nology. The results in this project work have not
been submitted to any other !niversity or .nstitute for the award of any &eree or &iploma.

D!"AR!HA #$%D&'A$(()*
G+ANDANA #$%D&'A$(,,*
iii
AB!TRACT
+ath /inder was sent to Mars in 0112. This was achievement a reat which detected the secrets
of 3Mars4. This project deals with (/ controlled robot. This robot prototype for the 3+ath /inder4.
This robot is controlled by a (/ remote. This can be moved forward and reverse direction usin
eared motors of 56(+M. )lso this robot can take sharp turnins towards left and riht directions. This
project uses )T21$78 MC! as its controller. ) hih sensitive induction type metal detector is desined
usin colpitts oscillator principle and fi9ed to this robot. )lso a wireless camera with voice is interfaced
to the kit.
:hen the robot is movin on a surface" the system produces a beep sound when metal is
detected. This beep sound will be transmitted to remote place. $imultaneously the imaes around the
robot will be transmitted to remote place. !ser can monitor the imaes and metal detection alarms on
Television.
The (/ modules used here are $TT;<== M#> Transmitter" $T(;<== M#> (eceiver" #T5<6 (/
*ncoder an #T5<2 (/ &ecoder. he three switches are interfaced to the (/ transmitter throuh (/
*ncoder. The encoder continuously reads the status of the switches" passes the data to the (/ transmitter
and the transmitter transmits the data.
This project uses 1? battery. This project is much useful for mines detection and surveillance
applications
iv
AC2NO5LEDGE0ENT
/irst and foremost" our sincere thanks to "ro/ Y RA7A!REE" +rincipal and #ead of the
department of *lectronics and Communication *nineerin" $ridevi :omen@s *nineerin Collee"
?.N.+ally" #yderabad for providin this opportunity to carry out the present project work and for her
encouraement and advice durin the course of this work.
:e indebted to our internal project uide 0r!BHARGA+ 2-0AR" )ssistant +rofessor of
*lectronics and Communication *nineerin" for his e9cellent uidance" constant inspiration and
encouraement in the completion of this dissertation.
:e would like to e9press our thanks to all the /aculty members" $taff of &epartment of
*lectronics , Communication *nineerin" who have rendered valuable help in makin this project a
successful one.
D!"AR!HA
G+ANDANA
v
LI!T OF TABLE!
Ta:le No Name o/ t.e Ta:le "age No
=.0. +in &escription of #T5<6A *ncoder 06
=.8 +in &escription of #T5<2A &ecoder 08
<.0. )lternate /unctions of port = 07
7.0. -peration of #;Bride 0B
vi
LI!T OF FIG-RE!
Figure No Name o/ t.e Figure "age No
=.0 (eulated +ower $upply 7
=.8 /ull :ave Bride (ectifier 5
=.= Circuit &iaram and respective output
:aveforms of Capacitive /ilter 5
=.< (/ Transmitter $TT;<==M#> B
=.7 Transmitter circuit B
=.5 #T5<6 *ncoder 1
=.B (/ (eceiver $T(;<==M#> 06
=.2 +in &iaram of (/ (eceiver $T(;<==M#> 00
=.1 #T5<2A &ecoder 08
<.0 Block &iaram of )T21C70 0<
<.8 +in &iaram of )T21C70 07
7.0 Craphical (epresentation of #;Bride 05
5.0 Metal &etectin circuit 02
B.0 Block &iaram of (/ Transmitter D(emoteE 86
B.8 Block &iaram of (/ (eceiver D(emoteE 80
06.0 (/ (eceiver $ection D(obotE 82
06.8 (/ Transmitter $ection D(emoteE 82
vii
INDE>
CHA"TER TO"IC "AGE NO
0 +(-J*CT -?*(?.*: 0

8 :.(*A*$$ C-MM!N.C)T.-N 8
8.0. (adio /requency;its necessity 8
8.0.0. Brief &escription of (/ 8
8.0.8. +roperties of (adio /requency =
= (*F!.(*M*NT$ /-( (/ C-MM!N.C)T.-N <

=.0 +ower $upply <
=.8 (eulated +ower $upply <
=.= &iode (ectifier; /ull wave bride rectifiers 7
=.< Capacitive /ilter 5
=.7 (/ Transmitter $TT;<==M#> B
=.7.0. )bout the Transmitter 2
=.7.8. /eatures 2
=.7.=. +in &escription 2
=.5 Basic )pplication circuit of #T5<6 *ncoder 1
=.B (/ (eceiver $T(;<==M#> 06
=.B.0. +in &escription 00

=.2 Basic )pplication circuit of #T5<2A &ecoder 08
< M.C(-C-NT(-AA*( 0=
<.0. Ceneral &escription 0=
viii
<.0.0 /eatures of )TM*A 21C70 Microcontroller 0=
<.0.8 Block &iaram )TM*A 21C70 Microcontroller 0<
<.0.= +in &iaram )TM*A 21C70 Microcontroller 07
<.0.< +in &escription of )TM*A 21C70 Microcontroller 07
7 #;B(.&C* 0B
5 M*T)A &*T*CT-( 01
B :.(*A*$$ C)M*() /-( .M)C* T()N$M.$$.-N 86
B.0. (/ Transmitter D(emoteE Block &iaram 86
B.8. (/ (eceiver D(emoteE Block &iaram 80

2 :-(%.NC -/ T#* +(-J*CT 88
2.0. (/ Transmitter D(emoteE 88
2.8. (/ (eceiver D(obotE 8=
1 +(-C()MM.NC T#* /A)$# DC-&*E 87
1.0. +rorammin )lorithm 87

1.8. +roject Code 85
06 (*$!AT$ 82
)&?)NT)C*$ )N& &.$)&?)NT)C*$ 81
A.M.T)T.-N$ =6
)++A.C)T.-N$ =0
C-NCA!$.-N$ =8
(*/*(*NC*$ ==
ix
CHA"TER '
"RO7ECT O+ER+IE5
The aim of this project is to control the operation of movement of a remote controlled robot to
detect metals and to view the imaes surroundin the robot.
The main objectives of this project are to use radio frequency bands.
The movement of robot is controlled by the transmission of sinals throuh air.
The receiver senses these sinals from the air..
This mini project makes use of the transmitter and receiver at <==M#> that is available at low
cost hence makin it very complicated.
The (adio /requency based control proves to be more advantaeous compared to the .nfrared
(ed based control that limits the operatin rane to only a few meters of distance.
:hen the robot is movin on a surface" the system produces a beep sound when metal is
detected. This beep sound will be transmitted to remote place. $imultaneously the imaes around
the robot will be transmitted to remote place. !ser can monitor the imaes and metal detection
alarms on Television.
x
CHA"TER &
5IRELE!! CO00-NICATION
:ireless communication" as the term implies" allows information to be e9chaned between two
devices without the use of wire or cable. ) wireless keyboard sends information to the computer without
the use of a keyboard cableG a cellular telephone sends information to another telephone without the use
of a telephone cable. Chanin television channels" openin and closin a arae door" and transferrin
a file from one computer to another can all be accomplished usin wireless technoloy. .n all such cases"
information is bein transmitted and received usin electromanetic enery" also referred to as
electromanetic radiation. -ne of the most familiar sources of electromanetic radiation is the sunG other
common sources include T? and radio sinals" liht bulbs and microwaves.
&' Radio Fre?uency;its necessity
(adio frequency is a frequency or rate of oscillation within the rane of about =#> to =66 C#>.
This rane corresponds to frequency of alternatin current electrical sinals used to produce and detect
radio waves.$ince most of this rane is beyond the vibration rate the most mechanical systems can
respond to" (/ usually refers to oscillations in electrical circuits. (/ is widely used because it does not
require any line of siht" less distortions and no interference. *9amples include" Cordless and cellular
telephone" radio and television broadcast stations" satellite communications systems" and two;way radio
services all operate in the (/ spectrum.
&'' Brie/ Descri3tion o/ RF
(adio frequency Dabbreviated (/E is a term that refers to alternatin current D)CE havin
characteristics such that" if the current is input to an antenna" an electromanetic D*ME field is enerated
suitable for wireless broadcastin andHor communications. These frequencies cover a sinificant portion
of the electromanetic radiation spectrum" e9tendin from nine kilohert> D1 k#>E"the lowest allocated
xi
wireless communications frequency DitIs within the rane of human hearinE" to thousands of
iahert>DC#>E.
:hen an (/ current is supplied to an antenna" it ives rise to an electromanetic field that
propaates throuh space. This field is sometimes called an (/ fieldG in less technical jaron it is a
Jradio wave.J )ny (/ field has a wavelenth that is inversely proportional to the frequency.
)s the frequency is increased beyond that of the (/ spectrum" *M enery takes the form of
infrared D.(E" visible" ultraviolet D!?E" K rays" and amma rays. E" K rays" and amma rays. Many types
of wireless devices make use of (/ fields.$ome wireless devices operate at .( or visible;liht
frequencies" whose electromanetic wavelenths are shorter than those of (/ fields.
&'& "ro3erties o/ Radio Fre?uency
*lectrical currents that oscillate at (/ have special properties not shared by direct current
sinalsL
0. -ne such property is the ease with which it can ioni>e air to create a conductive path throuh
air. This property is e9ploited by Ihih frequencyI units.
2. )nother special property is an electromanetic force that drives the (/ current to the surface of
conductors" known as the skin effect.
xii
CHA"TER )
RE@-IRE0ENT! FOR RF CO00-NICATION
(/ communication is required for the transmission of radio waves from (/ transmitter DremoteE
to (/ receiver DrobotE to enable the movement of the robot in this project. The basic requirements for the
(/ communication used in this project are as followsL
+ower supply
(/ Transmitter
(/ (eceiver
*ncoder and &ecoder
Microcontroller
)' "o8er !u33ly
The input to the circuit is applied from the reulated power supply. The a.c. input i.e." 8=6? from
the mains supply is step down by the transformer to 08? and is fed to a rectifier. The output obtained
from the rectifier is a pulsatin d.c voltae. $o in order to et a pure d.c voltae" the output voltae from
the rectifier is fed to a filter to remove any a.c components present even after rectification. Now" this
voltae is iven to a voltae reulator to obtain a pure constant dc voltae.
)& Regulated "o8er !u33ly
) variable reulated power supply" also called a variable bench power supply" is one where you
can continuously adjust the output voltae to your requirements. ?aryin the output of the power supply
is the recommended way to test a project havin doubled checked parts placement aainst6M circuit
xiii
drawins and the parts placement uide. Most diital loical circuits and processors need a 7 volt power
supply . to use these parts we need to build a reulated 7 volt source . !sually you start with an
unreulated power supply ranin from 1 volts to 8< volts &C. To make a 7 volt power supply" we use a
AMB267 voltae reulator .C D.nterated circuitE . the .C is shown below .


/iure =.0L (eulated +ower $upply
The AMB267 is simple to use. you simply connect the positive lead of your unreulated &C
power supply Danythin from 1 ?&C to 8< ?&C E to the .nput pin " connect the neative lead to the
Common pin and then when you turn on the power " you et a 7 volt supply from the -utput pin.
)) Diode recti/ier; Full 8a1e :ridge recti/ier
The need for a centre tapped power transformers is eliminated in the bride rectifier .it contains
four diodes &0 " &8 " &= and &< connected to from bride as shown below.

/iure =.8L /ull wave bride rectifier
xiv
The a. c. supply to be rectified is applied to the diaonally opposite ends of the bride throuh
the transformer. Between other two ends of the bride " the load resistance (A is connected .
)( Ca3acitor Filter
) capacitive filter helps in reducin the ripples. ) capacitive filter is shown below.
/iure =.=L Circuit &iaram and the respective output waveforms of Capacitive /ilter
xv
), RF Transmitter !TT;())0HA

/iure =.<L (/ Transmitter $TT;<==M#>


/iure =.7L Transmitter circuit
xvi
),' A:out t.e TransmitterB
The $TT;<== is ideal for remote control applications where low cost and loner rane is
required.
The transmitter operates from a0.7;08? supply" makin it ideal for battery;powered applications.
The transmitter employs a $):;stabili>ed oscillator" ensurin accurate frequency control for
best rane performance.
The manufacturin;friendly $.+ style packae and low;cost make the $TT;<== suitable for hih
volume applications.
),& FeaturesB
<==.18 M#> /requency
Aow Cost
0.7;08? operation
),)"in Descri3tionB
CN&L Transmitter round;Connect to round plane.
&)T)L &iital data input. This input is CM-$ compatible and should be driven with CM-$
level inputs.
?CCL -peratin voltae for the transmitter. ?CC bypassed with should be a .60u/ ceramic
capacitor and filtered with a <.Bu/ tantalum capacitor. Noise on the power supply will derade
transmitter noise performance.
)NTL 76ohm antenna output. The antenna port impedance affects output power and harmonic
emissions.
xvii
)C Basic A33lication circuit o/ HTC($ Encoder
The encoder parallel bit data into serial bit data i.e" the antenna in the transmitter transmits the
sinal to the receiver" which is of sinle bit throuh the medium of air.
/iure =.5L #T5<6 *ncoder
xviii
Table =.0L +in description D#T5<6 *ncoderE

)% RF Recei1er !TR;())0HA


xix
/iure =.BL (/ (eceiver $T(;<==M#>
The data is received by the (/ receiver from the antenna pin and this data is available on the data
pins. Two &ata pins are provided in the receiver module. Thus" this data can be used for further
applications.
/iure =.2L +in diaram of (/ (eceiver $T(;<==M#>
)%' "in Descri3tionB
)NT; )ntenna input.
CN&;(eceiver Cround. Connect to round plane.
?CC; ?CC pins are electrically connected and provide operatin voltae for the receiver. ?CC
can be applied to either or both. ?CC should be bypassed with a .0N/ ceramic capacitor. Noise
on the power supply will derade receiver sensitivity.
&)T);&iital data output. This output is capable of drivin one TTA or CM-$ load. .t is a
CM-$ compatible output.
xx
)D Basic A33lication circuit o/ HTC(DL Decoder
/iure =.1L #T5<2A &ecoder
$imilarly" as the transmitter requires an encoder" the receiver module requires a decoder. The
decoder used is HTC(DL from HOLTE2 !E0ICOND-CTOR INC
Table =.8L +in &escription D#T5<2A &ecoderE

xxi
CHA"TER (
0ICROCONTROLLER
(' General Descri3tion
The )T21C70 is a low;power" hih;performance CM-$ 2;bit microcomputer with <% bytes of
/lash prorammable and erasable read only memory D+*(-ME. The device is manufactured usin
)tmel@s hih;density nonvolatile memory technoloy and is compatible with the industry;standard
MC$;70 instruction set and pin out. The on;chip /lash allows the proram memory to be reprorammed
in;system or by a conventional nonvolatile memory prorammer. By combinin a versatile 2;bit C+!
with /lash on a monolithic chip" the )tmel )T21C70 is a powerful microcomputer which provides a
hihly;fle9ible and cost;effective solution to many embedded control applications.
('' Features o/ AT0EL DEC,' 0icrocontroller
Compatible with MC$;70O +roducts
<% Bytes of .n;$ystem (eprorammable /lash Memory
*nduranceL 0"666 :riteH*rase Cycles
/ully $tatic -perationL 6 #> to 8< M#>
Three;level +roram Memory Aock
082 9 2;bit .nternal ()M
=8 +rorammable .H- Aines
Two 05;bit TimerHCounters
$i9 .nterrupt $ources
xxii
+rorammable $erial Channel and Aow;power .dle and +ower;down Modes
('& BlocF Diagram AT0EL DEC,' 0icrocontroller
/iure <.0L Block &iaram of )T21C70 microcontroller
xxiii
(') "in Diagram AT0EL DEC,' 0icrocontroller
/iure <.8L +in &iaram of )T2170 microcontroller
('( "in Descri3tion o/ AT0EL DEC,' 0icrocontroller
?CCL +in <6 provides supply voltae to the chip. The voltae source is P7?.
CN&L +in 86 is the round.
xxiv
KT)A0 and KT)A8L KT)A0 and KT)A8 are the input and output" respectively" of an invertin
amplifier that can be confiured for use as an on;chip oscillator. *ither a quart> crystal or
ceramic resonator may be used. To drive the device from an e9ternal clock source" KT)A8
should be left unconnected while KT)A0 is driven" as shown in the below fiure. There are no
requirements on the duty cycle of the e9ternal clock sinal" since the input to the internal
clockin circuitry is throuh a divide;by;two flip;flop" but minimum and ma9imum voltae hih
and low time specifications must be observed.
(*$*TL +in1 is the reset pin. .t is an input and is active hih. !pon applyin a hih pulse to this
pin" the microcontroller will reset and terminate all the activities. This is often referred to as a
power;on reset.
*) D*9ternal accessEL +in =0 is *). .t is an active low sinal. .t is an input pin and must be
connected to either ?cc or CN& but it cannot be left unconnected.
+$*N D+roram store enableEL This is an output pin.
)A* D)ddress latch enableEL This is an output pin and is active hih.
+orts 6" 0" 8 and =L The four ports +6" +0" +8 and += each use 2 pins" makin them 2;bit ports.
)ll the ports upon (*$*T are confiured as input" since +6;+= have value //# on them.
Table =L )lternate /unctions of port =
xxv
The assembly lanuae proram is written and this proram has to be dumped into the microcontroller
for the hardware kit to function accordin to the software. The proram dumped in the microcontroller is
stored in the /lash memory in the microcontroller.

CHA"TER ,
H;BRIDGE
)n #;bride is an electronic circuit which enables &C electric motors to be run forwards or
backwards. These circuits are often used in robotics. #;brides are available as interated circuits" or
can be built from discrete components.
/iure 7.0L Craphical representation of #;Bride
)n #;bride is built with four switches Dsolid;state or mechanicalE. :hen the switches $0 and $<
Daccordin to the first fiureE are closed Dand $8 and $= are openE a positive voltae will be applied
across the motor. By openin $0 and $< switches and closin $8 and $= switches" this voltae is
reversed, allowin reverse operation of the motor
xxvi
The #;Bride arranement is enerally used to reverse the polarity of the motor" but can also be
used to IbrakeI the motor" where the motor comes to a sudden stop" as the motors terminals are shorted"
or to let the motor Ifree runI to a stop" as the motor is effectively disconnected from the circuit.
The followin table summari>es operation Q
Table <L -peration of #;Bride
xxvii
CHA"TER C
0ETAL DETECTOR
The simplest form of a metal detector consists of an oscillator producin an alternatin current that
passes throuh a coil producin an alternatin manetic field. .f a piece of electrically conductive metal
is close to the coil" eddy currents will be induced in the metal" and this produces an alternatin manetic
field of its own. .f another coil is used to measure the manetic field Dactin as a manetometerE" the
chane in the manetic field due to the metallic object can be detected.
xxviii
/iure 5.0L Metal &etectin circuit
CHA"TER %
5IRELE!! CA0ERA 5ITH +OICE TRAN!0I!!ION
The portable small;si>ed camera has the ball;point pen appearance" photoraphin a particular
location in secret is possible without e9posure to others. The camera circuit part is connected to a
wireless transmission device for outputtin a sinal by a cable. ) wireless receivin device at a remote
location from the wireless transmission device receives a sinal of the wireless transmission device for
outputtin or recordin.
%' RF Transmitter #Remote* BlocF Diagram
xxix
SW1
SW2
SW3
SW4
RF
Encoder
HT640
RF
Transmitt
er
STT - 433

/iure B.0L Block &iaram of (/ Transmitter D(emoteE
%& RF Recei1er #Remote* BlocF Diagram
xxx
RF Receiver
RF
ecoder
!"#$1
%#&
H-
'rid(e
H-
'rid(e
)eared
%otor - *
)eared
%otor - **

+o,er - .n
RESET

%eta/
etector
Wire/ess #amera ,ith voice
transmission
/iure B.8L Block &iaram of (/ (eceiver D(emoteE
CHA"TER D
5OR2ING OF THE "RO7ECT
This project D(emote Controlled Metal &etectin (obot with .mae TransmissionE consists of
two sections;Transmitter section D(emoteE and (eceiver section D(obotE.
D' RF Transmitter #Remote*
.n the transmitter section DremoteE" we have the followin componentsL
/our switches
(/ encoder D#T5<6AE
(/ transmitter D$TT;<==M#>E
There are four switches for the movement of the robot in various directions like forward"
backward" left and riht. These four switches are connected to the (/ encoder . The (/ encoder is then
connected to (/ transmitter" which is thereby connected to the antenna for the transmission of the radio
waves.
&ependin on the switch that is been pressed Dleft" riht" forward" and backwardE" the diital data
from the switches is transferred to the (/ encoder" which encodes this diital data into (/ sinals and
transmits to the (/ transmitter. This transmitter transmits the (/ waves to the receiver DrobotE throuh
the antenna.
xxxi
D& RF Recei1er #Ro:ot*
The receiver section consists of the followin componentsL
(/ receiver D$T(;<==M#>E
(/ decoder D#T5<2AE
Microcontroller D)T21C70E
#;Bride
Ceared motors of 56(+M
Metal detectin circuit
:ireless camera
.n this receiver section" the (/ receiver is connected to the (/ decoder. This decoder is
connected to the microcontroller" which is" in turn" connected to the #;Bride. This #;Bride is
connected to the eared motors of the robot. Metal detectin circuit is also other separate sub;section on
the receiver part. The wireless camera is placed separately on the receiver section to view the
surroundins.
:hen the radio waves are transmitted from the transmitter DremoteE to the receiver DrobotE" these
waves are received by the (/ receiver throuh the receiver antenna. /rom the (/ receiver the sinals are
sent to (/ decoder" which decodes these sinals into diital data. This diital data is sent to the
xxxii
microcontroller" which" dependin on the code written in it" enables either the upper #;Bride or lower
#;Bride. This #;Bride correspondinly activates the specified eared motors DCeared Motors;. or
Ceared motors;..E. +ower set Qreset button is used for activatin the receiver section. Metal detectin
circuit is other sub;section on the receiver part.
)s the robot moves in any specified direction and if a metal is been placed on the path of the
robot." the inductin coil present at the lower side of the receiver section" which acts as a metal
detectin coil" will detect the metal and activates the bu>>er sound on the receiver section. The metal
detection processes oes on by induction of eddy currents in the metal due to the variation in the
manetic fields of the two components;coils and metal.
The wireless camera is placed to view the imaes surroundin the robot to locate the position of
the metal bein detected. The imaes can be viewed on a television at the user location. :hen the robot
moves the camera also moves as per the adjustment of the camera on the receiver section. This provides
the view of the location of the robot. :henever the metal is detected" which we can be aware by the
sound of the bu>>er on the receiver section" we view the location of the mine with the help of the
surroundin view provided by the camera throuh a television placed at our location. This feature makes
the project more specific in applications like for metal detectin and other applications
xxxiii
CHA"TER E
"ROGRA00ING THE FLA!H #CODE*
The )T21C70 is normally shipped with the on;chip /lash memory array in the erased state Dthat
is" contents R //#E and ready to be prorammed. The prorammin interface accepts either a hih;
voltae D08;voltE or a low;voltae D?CCE proram enable sinal. The low;voltae prorammin mode
provides a convenient way to proram the )T21C70 inside the user@s system" while the hih;voltae
prorammin mode is compatible with conventional third party /lash or *+(-M prorammers. The
)T21C70 is shipped with either the hih;voltae or low;voltae prorammin mode enabled.
E' "rogramming Algorit.mB
Before prorammin the )T21C70" the address" data and control sinals should be set up
accordin to the /lash prorammin mode table. To proram the )T21C70" the followin steps should
be consideredL
0. .nput the desired memory location on the address lines.
8. .nput the appropriate data byte on the data lines.
=. )ctivate the correct combination of control sinals.
<. (aise *)H?++ to 08? for the hih;voltae prorammin mode.
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7. +ulse )A*H+(-C once to proram a byte in the /lash array or the lock bits. The byte;write cycle
is self;timed and typically takes no more than 0.7 ms.
5. (epeat steps 0 throuh 7" chanin the address and data for the entire array or until the end of the
object file is reached.
E& "roGect CodeB
SincludeTre78.hU
Sdefine rfdata +0
void stopDvoidEG
void forwardDvoidEG
void leftDvoidEG
void rihtDvoidEG
void backwardDvoidEG
void mainDE
0
r1data20x34
+6R6G
+=R6G
whileD0E
0
xxxv
ifDrfdataRR696fE
0
whileDrfdataRR696f5
0
stopDEG
6
6
ifDrfdataRR696eE
0
forwardDEG
V
V
void forwardDvoidE
W
+6R69C)G
+=R6L
V
The present project is implemented on %eil !vision. .n order to proram the device" proload tool
has been used to burn the proram onto the microcontroller.
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CHA"TER '$
RE!-LT!
/iure 06.0L (/ (eceiver $ection
D(obotE

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/iure 06.8L (/ Transmitter $ection D(emoteE
AD+ANTAGE! AND DI!AD+ANTAGE!
Ad1antages:
' No line of siht is needed.
& Not blocked by common materialsL .t can penetrate most solids and pass throuh walls.
) Aoner rane.
( .t is not sensitive to the lihtG.
, .t is not much sensitive to the environmental chanes and weather conditions.
Disad1antagesB
1. .nterferenceL communication devices usin similar frequencies ; wireless phones" scanners" wrist
radios and personal locators can interfere with transmission
8. Aack of securityL easier to JeavesdropJ on transmissions since sinals are spread out in space
rather than confined to a wire
=. #iher cost than infrared
<. /ederal Communications CommissionD/CCE licenses required for some products
7. Aower speedL data rate transmission is lower than wired and infrared transmission
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LI0ITATION!
Aimitations in this project are
0. :hile workin on this project" we had a difficulty of adjustin the (/ frequency for our project.
8. :e had to tune the frequency in the (/ rane in such a way that the frequency used in our
project should not be used anywhere in the closer vicinity of the project.
=. Therefore we had to tune the frequency rane between =<6M#> to <07M#>.
<. /inally we had rectified the problem by settin the frequency at =2<.1M#>.
7. #ih cost and hih tech features are additional constraints in usin robots for
deminin.
5. The knowlede required to operate a machine may not match the skill level of the demines"
many of whom are drawn from the local public.
B. The main limitations of this robot areL
a. Not suitable for difficult terrain
b. #ard to naviate
c. Blast;resistant wheels are unsuited to very soft round" and
d. The inability of the robot with its particular wheel confiuration and available
power to have enouh torque to et out of a hole after a mine blast.
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2. .n addition" cost of maintenance" spare parts and its availability are critical parameters too. :hile
current technoloy may be slihtly effective" it is far too limited to fully address the hue mine.
1. #ere two main steps can be distinuishedL first the presence of an object
must be detected" and secondly this object has to be identified as bein a mine or other.
Critical to deminin is the ability to distinuish framents or stones from the taret material.
A""LICATION!
0. Mines detection
This remote controlled metal detectin robot with imae transmission can be used for
detection of mines in remote and others places also with an imae view throuh the television" to
know the location of the mine. $ince whenever this robot passes throuh a mine" it detects the
mine and produces a bu>>er sound and thereby the location of the mine can be traced out by the
television used.
8. $urveillance appliances.
:ith the help of microcontroller" remote and other intellient control technoloies
embedded in the project offer the end user to easily access reater control of their products. The
use of a camera helps to view the location under control. the project@s various surveillance
appliances include the monitorin of the robot and thereby the view of the camera so as to
observe the location bein detected.
x/
CONCL-!ION
This project presents a metal detectin robot usin (/ communication with wireless audio and
video transmission and it is desined and implemented with )tmel 21C70 MC! in embedded system
domain.
The robot is moved in particular direction usin switches and the imaes are captured alon with
the audio and imaes are watched on the television .*9perimental work has been carried out carefully.
The result shows that hiher efficiency is indeed achieved usin the embedded system. The proposed
method is verified to be hihly beneficial for the security purpose and industrial purpose.
The mine sensor worked at a constant speed without any problem despite its e9tension" meetin
the specification required for the mine detection sensor. .t contributed to the improvement of detection
rate" while enhancin the operability as evidenced by completion of all the detection work as scheduled.
The tests demonstrated that the robot would not pose any performance problem for installation of the
mine detection sensor. -n the other hand" however" the tests also clearly indicated areas where
improvement" modification" specification chane and additional features to the robot are required to
serve better for the intended purpose. ?aluable data and hints were obtained in connection with such
issues as control method with the mine detection robot tilted" merits and drawbacks of mountin the
sensor" cost" handlin the cable between the robot and support vehicle" maintainability" serviceability
and easiness of adjustments. These issues became identified as a result of our enineers conductin both
x/i
the domestic tests and the overseas tests by themselves" and in this respect the findins were all the more
practical.
REFERENCE!
Te9t BooksL
X0Y (aj %amal" 3*mbedded $ystems4" +earson *ducation +ublications" 866B.
X8Y Ma>>idi" 32670 Microcontroller and *mbedded $ystems4" +rentice #all
+ublications" 8nd *dition" 8667.
X=Y *dwin $.Crosvenor and Moran :esson"4)le9ander Craham BellL The Aife and
Times of the Man :ho .nvented the Telephone 3" New 'ork" )brams" 011B.
Maa>ines:
X0Y *lectronics for you
X8Y *lectrikindia
:eb portalL
X0Y www.howstuffworks.com.
X8Y httpLHHwww.atmel.comHdynHresourcesHprodZdocumentsHdoc6857.pdf.
X=Y www.intechopen.comHdownloadHpdfHpdfsZidH52.pdf.
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