Synopsis Self-Collision detector Robot

We present a self-collision detection Robot suitable defending any collision. Preventing selfcollisions is vital for the safe operation of robots .We will use the IR sensors to detect the collision. We will use the 3 sensors for detecting the collision. Its an Intelligent Robot Which detect the collision and Change Its Path Automatically.

Sensor 1 Microcontrol ler (Control Unit) Sensor 3 Motor Control Unit

Powe r Supp ly

Sensor 2

To Control The Robot we will use the Misrocontroller 89c51 which is a is a low-power, highperformance CMOS 8-bit microcomputer with 4K bytes of Flash programmable and erasable read only memory (PEROM). The AT89C51 provides the following standard features 4K bytes of Flash, 128 bytes of RAM, 32 I/O lines, two 16-bit timer/counters, a five vector two-level interrupt architecture, a full duplex serial port, on-chip oscillator and clock circuitry.

The Basic Circuit For the 89C51 microcontroller.

For the sensors we will the 324 opamp IC The LM124 series consists of four independent, high gain, internally frequency compensated operational amplifiers which were designed specifically to operate from a single power supply over a wide range of voltages. Operation from split power supplies is also possible and the low power supply current drain is independent of the magnitude of the power supply voltage. The Simple Sensor detecting Opamp Circuit:-

And for the DC gear motor control we will use the L293D IC which is a DC motor driver IC. The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V. Both devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as other high-current/high-voltage loads in positive-supply applications. For Driving the DC motor the basic circuit using L293D:-