Team 2 Ece B RF Controlled Metal Detecting Robot

RF CONTROLLED METAL DETECTING ROBOT
A Project Report Submitted in partial fulfillment of the requirements

For the degree of
BACHELOR OF TECHNOLOGY
IN
ELECTRONICS AND COMMUNICATION ENGINEERING
Submitted By
K.MEGHANA 18JN5A0429
S.GEETHAMBICA 17JN1A0450
D.S.V.VANDANA 17JN1A0469
M.V.S. L.S. KUMARI 18JN5A0412
O. JYOTHI 17JN1A0474
Under the Esteemed Guidance of
Mrs. S.ANITHA, M.TECH
Associate Professor, Department of ECE
DEPARTMENT OF ELECTRONICS AND COMMUNICATION

ENGINEERING
KAKINADA INSTITUTE OF ENGINEERING & TECHNOLOGY
FOR WOMEN
(Approved by AICTE & Affiliated to J.N.T.U.K, Kakinada)
YANAM ROAD, KORANGI - 533 461
2017- 2021
DEPARTMENT OF ELECTRONICS AND COMMUNICATION
ENGINEERING
KAKINADA INSTITUTE OF ENGINEERING & TECHNOLOGY
FOR WOMEN
(Approved by AICTE & Affiliated to J.N.T.U.K, Kakinada)

YANAM ROAD, KORANGI - 533 461
CERTIFICATE
This is to certify that the Project entitled “RF CONTROLLED METAL
DETECTING ROBOT” is submitted by K.MEGHANA, S.GEETHAMBICA,

D.VANDHANA, M.SURYAKUMARI, O.JYOTHI in partial fulfillment of the
requirement for the award of the degree of BACHELOR OF TECHNOLOGY in
ELECTRONICS AND COMMUNICATION ENGINEERING in Kakinada Institute of
Engineering & Technology for women is affiliated to Jawaharlal Nehru technological
university, Kakinada is a record of a Bonafide work carried out by them under my
guidance and supervision.
The results embodied in this thesis have not been submitted to another
university or institute for the award of any degree or diploma.
Project Guide Head of the Department
Mrs. S.ANITHA, M.TECH Ms. P.LATHA, M.TECH

(Assistant professor) (Assistant professor)
Department of ECE Department of ECE
External Examiner
ACKNOWLEDGEMENT
It gives us immense pleasure to acknowledge all those who helped us throughout
in making this project a great success.
With profound gratitude we thank Mr. Y.RAMA KRISHNA, M. Tech, MBA,
Principal, Kakinada Institute of Engineering and Technology, for her timely suggestions
which helped us to complete this project work successfully.
Our sincere thanks and deep sense of gratitude to Ms. P.LATHA, M. Tech, Head
of the Department ECE, for his valuable guidance, in completion of this project
successfully. We express a great pleasure to acknowledge my profound sense of
gratitude to our project guide Mrs. S.ANITHA, M. Tech, Assistant Professor in ECE
Department for this valuable guidance, comments, suggestions and encouragement
throughout the course of this project.
We are thankful to both Teaching and Non-Teaching staff of ECE department for
their kind cooperation and all sorts of help bringing out this project work successfully.
K.MEGHANA - 18JN5A0429
S.GEETHAMBCA - 17JN1A0450
D.S.V.VANDANA - 17JN1A0469
M.V.S.L.S.KUMARI - 18JN5A0412
O. JYOTHI - 17JN1A0474
DECLARATION
We here by declared that the work which is being preserved in the dissertation
entitled “RF CONTROLLED METAL DETECTION ROBOT” submitted towards the
partial fulfilment of the requirement for the award of the degree of bachelor of
technology, Kakinada institute of engineering and Technology, korangi in an authentic
record of supervision of MRS. S.ANITHA, M. Tech, assistant Professor, Department
of Electronics and Communication Engineering, Kakinada institute of engineering and
Technology, korangi.
This work has not been previously submitted to any other Institution or University
or Institute for the award of any degree or diploma.
K.MEGHANA - 18JN5A0429
S.GEETHAMBCA - 17JN1A0450
D.S.V.VANDANA - 17JN1A0469
M.V.S.L.S.KUMARI - 18JN5A0412
O. JYOTHI - 17JN1A0474
ABSTRACT
The project is intended to cultivate a robotic vehicle that can sense metals ahead of it on its path
similar to detecting land mines. The robot is controlled by a remote using RF technology. It
consists of a metal detector circuit interfaced to the control unit that alarms the user behind it
about a doubted land mine ahead. An 8051 series of microcontroller is used for the preferred
operation. For controlling the movement of robot either to forward, backward & right or left
commands are sent to the receiver by using push buttons of the transmitter. At the receiving end
two motors are interfaced to the microcontroller where they are used for the movement of the
vehicle. The RF transmitter acts as a RF remote control that has the advantage of sufficient range
(up to 200 meters) with proper antenna, while the receiver decodes before serving it to another
microcontroller to drive DC motors via motor driver IC for necessary work. A metal detector
circuit is attached on the robot body and its operation is carried out automatically on sensing any
metal underneath.
I
TABLE OF CONTENTS
CONTENTS PAGE NO
CHAPTER 1: INTRODUCTION 1-8

1.1 Introduction to project 1
1.2 Literature survey 2
1.3 Radio Frequency 4
1.4 RF Applications 4
1.5 RF Technology 4
1.6 Future of RF Technology 6
1.7 Keywords 6
1.8 Arduino 6
1.9 RF Technology 7
1.10 Micro Controller 7
1.11 Metal Detector 7
1.12 Buzzer 7
1.13 Advantages 8
CHAPTER 2: RF CONTROLLED
METAL DETECTION ROBOT 9 - 24
2.1 Arduino 9
2.2 Technical Specifications 9
2.3 Arduino Pin Description 10
2.4 USB Current Protection 14
2.5 Physical Characteristics 14
2.6 Power Supply 14
2.7 Transformers 15
2.8 Rectifier 16
2.9 LCD Module 21
2.10 Commands used in LCD 23
2.11 Applications 24
II
CHAPTER 3: IMPLEMENTATION 25- 38
3.1 Purpose 25
3.2 Block diagram of remote section 25
3.3 Description 26
3.4 L293D Motor Driver 26
3.5 Metal detector 31
3.6 Motors 32
3.7 Buzzers 32
3.8 Keypad 33
3.9 RF Module 34
CHAPTER 4 : SOFTWARE REQUIREMENTS 39 - 45

4.1 Arduino IDE 39
4.2 Arduino Installation 39
4.3 Development Process 42
4.4 Basic Arduino Command Library 43
4.5 Procedure 44
CHAPTER 5: RESULTS 46- 54

5.1 Schematic Working Model 48
Conclusion 50
Future scope 51
Appendix 52
References 55
III
LIST OF FIGURES
FIG.NO FIGURE NAME Page No
2.1 ARDUINO UNO BOARD 10

2.2 BLOCK DIAGRAM OF POWER SUPPLY 15
2.3 TRANSFORMER 16
2.4 HALFWAVE RECTIFIER 17
2.5 BRIDGE TYPE FULL WAVE RECTIFIER 18
2.6 CENTER TAPPED FULL WAVE RECTIFIER 18
2.7 THREE TERMINAL VO LTAGE REGULATOR 20
2.8 2X 16 LINE ALPHANU MERIC LCD DISPLAYS 22
2.9 BLOCK DIAGRAM OF LCD MODULE 23
3.1 BLOCK DIAGRAM OF ROBOT 25
3.2 BLOCK DIAGRAM OF R EMOTE SECTION 26
3.3 PIN DESCRIPTION OF DIL16 27
3.4 CIRCUIT DIAGRAM OF DIL16 28
3.5 CIRCUIT DIAGRAM OF METAL DETECTOR 31
3.6 MOTOR 32
3.7 PIN DIAGRAM OF RF TRANSMITTER AND RECEIVER 35
3.8 PIN DISCRIPTION OF HT12E 36
3.9 PIN DISCRIPTION OF HD12D 37
4.1 ARDUINO INSTALLATION 40
4.2 UPDATING OF DRIVER SOFTWARE 40
4.3 INSTALLATION OF ARDUINO IDE 41
4.4 NOTIFICATION SCREEN OF ARDUINO 42
5.1 OUTPUT DATA FROM THE ROBOT 46
5.2 SCHEMATIC WORKING MODEL 46
5.3 TRANSMITTER 47
5.4 LCD DISPLAsY 47
IV
RF controlled metal detection robot
CHAPTER - 1
INTRODUCTION
1.1 INTRODUCTION TO PROJECT:
This metal detector alert monitoring system we have made because in the
consideration of the critical requirements in relation to foreign body prevention and
detection, the designing of a metal detector robot vehicle can be done by using any
micro-controller. The proposed system comprises a transmitter (Tx) and receiver (Rx)
circuit. Here is a war field land rover that alerts on sensing planted land mine ahead
and it is useful for finding metal inclusions hidden within objects, or metal objects
buried underground. They often consist of a handheld unit with a sensor probe which
can be the change in the magnetic field due to the metallic object can be detected
The project is intended to cultivate a robotic vehicle that can sense metals ahead of it
on its path similar to detecting land mines. The main purposes of this project are to use
radio frequency bands for remote control of robot using Radio Frequency technology. It
comprises of a control unit along with a metal detector circuit that produces alarm sound
to warn the user behind it about a doubted land mine ahead. An 8051 series of
microcontroller is used for the preferred operation. As this uses radiofrequency signals for
the movement of robot, transmitter circuit transmit signals through air and the receiver
communicate to the transmitter through these signals from the air. This robotic vehicle
makes use of the transmitter and receiver at 433MHz i.e.at radiofrequency that is available
at low cost hence making it very beneficial. The Radio Frequency based control is more
useful as compared to the Infrared based control that limits the operating range to only a
few meters of distance. Commands for controlling the movement of the robot either to
move forward, backward and left or right etc. are sent to the receiver circuit by using push
buttons of the transmitter circuit. For the movement of the vehicle, at the receiving end two
motors are interfaced to the microcontroller. The RF transmitter acts as a RF remote control
that has the advantage of sufficient range (up to 200 meters) with proper antenna, while the
receiver decodes before serving it to another microcontroller to drive DC motors via motor
driver IC for necessary work. A metal detector circuit is attached on the robot body and its
operation is carried out automatically on sensing any metal beneath. The instant the robot
KIETW ECE Page no 1

senses this metal it produces an alarm sound through buzzer. This is to aware the operator
about a probable metal (eg: land mines or presence of metals) onward on its path. Further
the project can be enhanced by mounting a wireless camera on the robot so that the images
around the robot will be transmitted to remote place and user can monitor the images and
metal detection alarms on Television.
1.2 LITERATURE SURVEY:
Metal detectors are fascination machines. Many of the people who use them are just
as enthusiastic about extolling the virtues of their favorite metal detector as they are about
setting off in search of buried treasure. This is the primary means by which we determine
how well we are doing our jobs, and what sort of things we need to do better. Sometimes
though, communication is difficult. The most commonly used metal detection technology
is very low frequency (VLF), also known as induction balance. In this type of metal
detector, there are two rings: an outer coil called the transmitter coil and an inner coil called
the receiver coil. The transmitter coil has an electric current running through it, which
creates an electromagnetic field. This magnetic pulse interacts with any conductive object
it passes over, causing that object to create a weaker magnetic field of its own; it is this
magnetic pulse from the object that the receiver coil senses. The receiver coil is shielded
from the transmitter coil's magnetic field, but can pick up magnetic pulses sent by other
objects. The receiver coil amplifies these frequencies and sends them to the control box for
analysis. Millions of landmines are still buried under the ground surface all over the world
causing threats to the lives and economy of mine-affected nations. Humanitarian landmine
detection and removal has become a serious global issue. In order to make this mission
successful, landmine detection and removal rate should be nearly 100%. The manual
landmine detection and removal is still carried out for reasons of the reliability, however it
is very slow method. In addition, the detection rate is very poor and at the same time, it is
very dangerous for the life of the operating personnel. Our research team has developed a
robot assisted mine detection method that is safe, more accurate and faster than manual
method.
KIETW ECE Page no 2

Metal detectors are considered as the most reliable sensors for mine detection work.
However, landmine detection performance of the metal detectors is highly dependent on
the distance between the sensor heads and the buried landmines. Therefore, the landmine
detection performance of the metal detectors could be substantially improved if the gap
and attitude of the sensor heads can be controlled. In case of robots assisted land mine
detection, this function can be performed in a convenient manner where the sensor heads
should accurately follow the ground surface maintaining almost uniform gap between the
ground surface and the sensor heads by controlling the gap and attitude of the sensor heads.
Few mine detection robots that have the capability to recognize ground surface and
can control the gap and attitude of the sensor heads are reported in (Armada, M.A. et al.
2005), (Chesney, R. et al. 2002), (Nonami, K. et al. 2003).
However, to the best of the knowledge of the authors, no research work has been
reported in the literature that quantitatively addressed the relationship between the
landmine detection performance and controlling the gap and attitude of the sensor head to
the ground surface.
In view of the above, authors' research group has developed a Controlled Metal
Detector (CMD) having 3-DOF for any arbitrary positioning of the sensor head. The CMD
system can generate 3-D high-speed mapping of the ground surface and can generate
trajectories of the sensor head with 3-D stereovision camera. 3-D stereo vision is now being
widely used for 3-D mapping and robotics (Clark, F. et al. 2007), (Rochaa, R. et al. 2005),
(Xiao, D., et al. 2004) for their powerful sensing capability than other range sensors.
The CMD system adopts 3-D stereovision camera rather than LASER scanning as a
range sensor because 3-D stereovision camera can capture color information also. Ground
of real minefield may have substantial amount of vegetation. Therefore, some image-
processing algorithm could be applied with the color images captured by the CCD cameras
for recognition of the vegetation to autonomous operation of the CMD in vegetated
minefield in future work.
The trajectories are generated by the CMD in such a manner that any obstacle or
possible impact with the ground can be avoided. The CMD then tracks the generated
KIETW ECE Page no 3

trajectories by a trajectory-tracking controller so that the sensor head can follow the ground
surface. The effectiveness and the impact related to the gap and attitude control on the mine
detection performance of the CMD have been demonstrated by experimental studies.
1.3 RADIO FREQUENCY:
Radio frequency (RF) is a measurement representing the oscillation rate of

electromagnetic radiation spectrum, or electromagnetic radio waves, from frequencies
ranging from 300 gigahertz (GHz) to as low as 9 kilohertz (kHz). With the use of antennas
and transmitters, an RF field can be used for various types of wireless broadcasting and
communications.
1.4 RF APPLICATIONS:
These robots are used in identify landmines.
Robots are used for sense the minerals present in the ground.
These robots are used for detect the bombs.
These can be used in construction industry for situate steel bars present in concrete.
1.5 RF TECHNOLOGY:
Many types of wireless devices make use of RF fields. Cordless and cellphones, radio
and television broadcast stations, Wi-Fi and Bluetooth, satellite communications systems
and two-way radios all operate in the RF spectrum. In addition, other appliances outside of
communications, including microwave ovens and garage door openers, operate at radio
frequencies. Some wireless devices, like TV remote controls, computer keyboards and
computer mice, operate at IR frequencies, which have shorter electromagnetic
wavelengths.
How the radio frequency spectrum is used:
The radio frequency spectrum includes the set of frequencies of the electromagnetic
framework ranging from 30 Hz to 300 GHz. It is divided into several ranges, or bands, and
KIETW ECE Page no 4

given labels, such as low frequency (LF), medium frequency (MF) and high frequency
(HF), for easier identification.
With the exception of the lowest frequency segment, each band represents an increase
of frequency corresponding to an order of magnitude (power of 10). The following table
depicts the eight bands in the RF spectrum, showing frequency and bandwidth ranges. The
super high frequency (SHF) and extremely high frequency (EHF) bands are often referred
to as the microwave spectrum.
RF congestion and interference:
In the United States, radio frequencies are divided into licensed and unlicensed bands.
The Federal Communications Commission (FCC) issues licenses that permit commercial
entities to have exclusive use of a frequency band in a given location. Entities include
frequency modulation (FM) radio, cellular networks, television, military and satellite
communications. Unlicensed frequencies are free for public use but remain a shared
medium.
The competition for bandwidth and channels from internet users has increased
dramatically in recent years, leading to signal issues. In addition, distribution across
frequencies is not equitable. In many locations, it is possible to find broadcasters -- radio
and TV stations -- with their own individual frequencies, while a multitude of sources
compete for space on the unlicensed frequencies.
How cellular networks use RF:
A cellular network typically covers a specific geographical area divided into cells.
Every cell is allocated a set of frequencies that have radio base stations assigned to them.
When a communication such as a cellular phone call is initiated, the device searches for
the closest base station to establish a radio link. When receiving the call, the base station
antenna establishes a connection with the phone. Phones are designed to periodically check
in with the network, making it easier for them to receive a radio signal of substantial quality
from a nearby base station antenna.
KIETW ECE Page no 5

1.6 FUTURE OF RF TECHNOLOGY:
Wireless 5G-enabled devices connect to the internet and telephone networks using
radio waves that go through a nearby antenna. As the upcoming iteration of wireless
broadband network technology, 5G provides peak speeds as high as 10 gigabits per second
(Gbps) for downloads. 5G can operate on low frequencies (below 6 GHz), as well as HF
ranges, commonly known as millimeter waves, or MM waves (higher than 6 GHz). The
higher the frequency, the more likely the user is to experience higher data transfer speeds.
5G networks will, therefore, provide more capacity and will serve as a channel for
internet service providers (ISPS) that can compete with wired internet services. 5G
networks may also facilitate greater connectivity for the internet of things (IoT), smart
cities and advanced manufacturing processes, to name a few.
5G achieves its increased capacity by using up to three different types of cells --

macrocell, small cell and femtocell -- each with unique antenna designs. Some of these
antennas will provide higher speeds, while others will cover longer distances. Because 5G
operates in LF, MF and HF bands, the appropriate hardware depends on the best possible
route for users and their data.
1.7 KEYWORDS:
The basic keywords are given below.
1.8 ARDUINO:
An arduino microcontroller board can be thought of as user friendly, open-source

input-output system. The board is equipped with sets of digital and analog input/output
(I/O) pins that may be interfaced to various expansion boards (shields) and other circuits.
Arduinos (we use the standard Arduino Uno) are built around an AT mega microcontroller
essentially a complete computer with CPU, RAM, Flash memory, and input/output.
KIETW ECE Page no 6

1.9 RF TECHNOLOGY:
Radio frequency (RF) is a measurement representing the oscillation rate of

electromagnetic radiation spectrum, or electromagnetic radio waves, from frequencies
ranging from 300 gigahertz (GHz) to as low as 9 kilohertz (kHz). With the use of antennas
and transmitters, an RF field can be used for various types of wireless broadcasting and
communications.
1.10 ATMEL 89C51 MICROCONTROLLER:
The AT89C51 is a microcontroller having low-power, high performance CMOS 8-bit

microcomputer with 4K bytes of Flash programmable and erasable read only memory
(PEROM). The device is mass-produced using Atmel’s high-density nonvolatile memory
technology and is harmonious with the industry-standard MCS-51 instruction set and pin
out. The program memory is permitted to be reprogrammed in-system or by a conventional
nonvolatile memory programmer by the on-chip flash. By uniting a versatile 8-bit CPU
with Flash on a monolithic chip, the Atmel AT89C51 is a powerful microcomputer which
offers a highly-flexible and cost-effective solution to many embedded control applications.
1.11 METAL DETECTOR:
The metal detector consists of an oscillator which produces an alternating current that
passes through a coil producing an alternating magnetic field and it is the simplest form of
a metal detector. If a piece of electrically conductive metal comes close to the coil, eddy
currents will be induced in the metal, and this develops an alternating magnetic field of its
own. The change in the magnetic field due to the metallic object can be detected by using
another coil to measure the magnetic field (acting as a magnetometer).
1.13 BUZZER:
The piezo buzzer produces sound based on reverse of the piezoelectric effect. The
generation of pressure variation or strain by the application of electric potential across a
piezoelectric material is the underlying principle. These buzzers can be used alert a user of
an event corresponding to a switching action, counter signal or sensor input. They are also
KIETW ECE Page no 7
used in alarm circuits. The buzzer produces a same noisy sound irrespective of the voltage
variation applied to it. It consists of piezo crystals between two conductors. When a
potential is applied across these crystals, they push on one conductor and pull on the other.
This, push and pull action, results in a sound wave. Most buzzers produce sound in the
range of 2 to 4 kHz.
1.14 ADVANTAGES:
These robots are used in identifying landmines
Robots are used to sense the minerals present in the ground.
These robots are used to detect the bombs.
These can be used in construction industry to situate steel bars present in concrete.
They are used in airports and building security to detect the artillery
KIETW ECE Page no 8

CHAPTER – 2
RF CONTROLLED METAL DETECTING ROBOT
2.1 ARDUINO UNO:
The Arduino Uno is a microcontroller board based on the ATmega328 (datasheet). It

has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs,
a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a reset
button. It contains everything needed to support the microcontroller; simply connect it to a
computer with a USB cable or power it with a AC-to-DC adapter or battery to get started.
The Uno differs from all preceding boards in that it does not use the FTDI USB-to-serial
driver chip. Instead, it features the Atmega8U2 programmed as a USB-to-serial converter.
"Uno" means one in Italian and is named to mark the upcoming release of Arduino 1.0. The
Uno and version 1.0 will be the reference versions of Arduino, moving forward. The Uno
is the latest in a series of USB Arduino boards, and the reference model for the Arduino
platform; for a comparison with previous versions, see the index of Arduino boards.
2.2 TECHNICAL SPECIFICATIONS:
Microcontroller ATmega328
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limits) 6-20V
Digital I/O Pins 14 (of which 6 provide PWM output)
Analog Input Pins 6
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA
Flash Memory 32 KB of which 0.5 KB used by bootloader
SRAM 2 KB
EEPROM 1 KB
KIETW ECE Page no 9

Clock Speed 16 MHz
2.3 ARDUINO PIN DESCRIPTION:
Fig. 2.1 ARDUINO UNO BOARD
Power:
The Arduino Uno can be powered via the USB connection or with an external
power supply. The power source is selected automatically. External (non-USB) power can
come either from an AC-to-DC adapter (wall-wart) or battery. The adapter can be
connected by plugging a 2.1mm center-positive plug into the board's power jack. Leads
from a battery can be inserted in the Gnd and Vin pin headers of the POWER connector.
The board can operate on an external supply of 6 to 20 volts. If supplied with less than 7V,
however, the 5V pin may supply less than five volts and the board may be unstable. If using
more than 12V, the voltage regulator may overheat and damage the board. The
recommended range is 7 to 12 volts.
KIETW ECE Page no 10

The power pins are as follows:
VIN: The input voltage to the Arduino board when it's using an external power source (as
opposed to 5 volts from the USB connection or other regulated power source). You can
supply voltage through this pin, or, if supplying voltage via the power jack, access it
through this pin.
5V: The regulated power supply used to power the microcontroller and other components
on the board. This can come either from VIN via an on-board regulator, or be supplied by
USB or another regulated 5V supply.
3V3: A 3.3 volt supply generated by the on-board regulator. Maximum current draw is 50
mA.
GND: Ground pins.
Memory:
The Atmega328 has 32 KB of flash memory for storing code (of which 0,5 KB is
used for the boot loader); It has also 2 KB of SRAM and 1 KB of EEPROM (which can be
read and written with the EEPROM library.
Input Output:
Each of the 14 digital pins on the Uno can be used as an input or output, using pin
Mode(), digital Write(), and digital Read() functions. They operate at 5 volts. Each pin can
provide or receive a maximum of 40 mA and has an internal pull-up resistor (disconnected
by default) of 20-50 kohms. In addition, some pins have specialized functions
Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data. These
pins are connected to the corresponding pins of the ATmega8U2 USB-to-TTL Serial chip
External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a

low value, a rising or falling edge, or a change in value. See the attachInterrupt() function
for details·
PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite () function.
SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication,
which, although provided by the underlying hardware, is not currently included in the
Arduino language.
LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value,
the LED is on, when the pin is LOW, it's off.The Uno has 6 analog inputs, each of which
provide 10 bits of resolution (i.e. 1024 different values). By default they measure from
ground to 5 volts, though is it possible to change the upper end of their range using the
AREF pin and the analogReference() function. Additionally, some pins have specialized
functionality.
I2C: 4 (SDA) and 5 (SCL). Support I2C (TWI) communication using the Wire library.
There are a couple of other pins on the board:
AREF. Reference voltage for the analog inputs. Used with analog Reference().
Reset. Bring this line LOW to reset the microcontroller. Typically used to add a reset
button to shields which block the one on the board.
Communication:
The Arduino Uno has a number of facilities for communicating with a computer,
another Arduino, or other microcontrollers. The ATmega328 provides UART TTL (5V)
serial communication, which is available on digital pins 0 (RX) and 1 (TX). An
ATmega8U2 on the board channels this serial communication over USB and appears as a
virtual com port to software on the computer. The '8U2 firmware uses the standard USB
COM drivers, and no external driver is needed. However, on Windows, an *.inf file is
required..
The Arduino software includes a serial monitor which allows simple textual data to
be sent to and from the Arduino board. The RX and TX LEDs on the board will flash when
data is being transmitted via the USB-to serial chip and USB connection to the computer
(but not for serial communication on pins 0 and 1).

A Software Serial library allows for serial communication on any of the Uno's
digital pins. The ATmega328 also support I2C (TWI) and SPI communication. The
Arduino software includes a Wire library to simplify use of the I2C bus; see the
documentation for details. To use the SPI communication,
Programming:
Arduino Uno can be programmed with the Adriano software (download). Select
"Arduino Uno w/ATmega328" from the Tools > Board menu (according to the
microcontroller on your board). For details, see the reference and tutorials.
The ATmega328 on the Arduino Uno comes preburned with a boot loader that
allows you to upload new code to it without the use of an external hardware programmer.
It communicates using the original STK500 protocol (reference, C header files).
You can also bypass the boot loader and program the microcontroller through the
ICSP (In-Circuit Serial Programming) header; see these instructions for details.
The ATmega8U2 firmware source code is available. The ATmega8U2 is loaded

with a DFU boot loader, which can be activated by connecting the solder jumper on the
back of the board (near the map of Italy) and then resetting the 8U2. You can then use
Atmel's FLIP software (Windows) or the DFU programmer (Mac OS X and Linux) to load
a new firmware. Or you can use the ISP header with an external programmer (overwriting
the DFU boot loader).
Automatic Software Reset:
Rather than requiring a physical press of the reset button before an upload, the
Arduino Uno is designed in a way that allows it to be reset by software running on a
connected computer. One of the hardware flow control lines (DTR) of the ATmega8U2 is
connected to the reset line of the ATmega328 via a 100 Nanofarad capacitor. When this
line is asserted (taken low), the reset line drops long enough to reset the chip. The Arduino
software uses this capability to allow you to upload code by simply pressing the upload
button in the Arduino environment. This means that the boot loader can have a shorter
timeout, as the lowering of DTR can be well-coordinated with the start of the upload.
This setup has other implications. When the Uno is connected to either a computer
running Mac OS X or Linux, it resets each time a connection is made to it from software
(via USB). For the following half second or so, the bootloader is running on the Uno. While
it is programmed to ignore malformed data (i.e. anything besides an upload of new code),
it will intercept the first few bytes of data sent to the board after a connection is opened. If
a sketch running on the board receives one-time configuration or other data when it first
starts, make sure that the software with which it communicates waits a second after opening
the connection and before sending this data.
The Uno contains a trace that can be cut to disable the auto-reset. The pads on either
side of the trace can be soldered together to re-enable it. It's labeled "RESET-EN". You
may also be able to disable the auto-reset by connecting a 110 ohm resistor from 5V to the
reset line.
2.4 USB CURRENT PROTECTION:
The Arduino Uno has a resettable polyfuse that protects your computer's USB ports
from shorts and overcurrent. Although most computers provide their own internal
protection, the fuse provides an extra layer of protection. If more than 500 mA is applied
to the USB port, the fuse will automatically break the connection until the short or overload
is removed.
2.5 PHYSICAL CHARACTERISTICS:
The maximum length and width of the Uno PCB are 2.7 and 2.1 inches respectively,
with the USB connector and power jack extending beyond the former dimension. Three
screw holes allow the board to be attached to a surface or case. Note that the distance
between digital pins 7 and 8 is 160 mil (0.16"), not an even multiple of the 100 mil spacing
of the other pins.
2.6 POWER SUPPLY:
The power supplies are designed to convert high voltage AC mains electricity to a
suitable low voltage supply for electronic circuits and other devices. A RPS (Regulated

Power Supply) is the Power Supply with Rectification, Filtering and Regulation being done
on the AC mains to get a Regulated power supply for Microcontroller and for the other
devices being interfaced to it.
A power supply can by broken down into a series of blocks, each of which performs
a particular function. A d.c power supply which maintains the output voltage constant
irrespective of a.c mains fluctuations or load variations is known as “Regulated D.C Power
Supply”
For example a 5V regulated power supply system as shown below:
Fig. 2.2 BLOCK DIAGRAM OF POWER SUPPLY
2.7 TRANSFORMERS:
A transformer is an electrical device which is used to convert electrical

power from one Electrical circuit to another without change in frequency.
Transformers convert AC electricity from one voltage to another with little loss of
power. Transformers work only with AC and this is one of the reasons why mains
electricity is AC. Step-up transformers increase in output voltage, step-down transformers
decrease in output voltage. Most power supplies use a step-down transformer to reduce the
dangerously high mains voltage to a safer low voltage.
The two lines in the middle of the circuit symbol represent the core. Transformers
waste very little power so the power out is (almost) equal to the power in. Note that as
voltage is stepped down current is stepped up. The ratio of the number of turns on each

coil, called the turn’s ratio, determines the ratio of the voltages. A step-down transformer
has a large number of turns on its primary coil which is connected to the high voltage mains
supply, and a small number of turns on its secondary coil to give a low output voltage.
Fig. 2.3 TRANSFORMER
An Electrical Transformer Turns ratio = Vp / VS = Np/Ns
Power Out= Power InVS X IS=VP XIP
Vp = primary (input) voltage

Np = number of turns on primary coil
Ip = primary (input) current
2.8 RECTIFIER:
A circuit which is used to convert ac to dc is known as RECTIFIER. The process of

conversion ac to dc is called “rectification”
Types of rectifier:
Half wave Rectifier

Full wave rectifier
Bridge type full wave rectifier.
Centre tap full wave rectifier.

Half-wave rectifier:
In half wave rectifier, either the positive or negative half of the AC wave is passed, while
the other half is blocked. Because only one half of the input waveform reaches the output,
it is very inefficient if used for power transfer. Half-wave rectification can be achieved
with a single diode in a one-phase supply, or with three diodes in a three-phase supply.
Fig. 2.4 HALF WAVE RECTIFIER
Full wave rectifier:
Full wave rectifier is available in two ways like center-tapped full-wave rectifier
and bridge full-wave rectifier.
Bridge type full wave rectifier:
The Bridge rectifier is a circuit, which converts an ac voltage to dc voltage using

both half cycles of the input ac voltage. The Bridge rectifier circuit is shown in the figure.
The circuit has four diodes connected to form a bridge. The ac input voltage is applied to
the diagonally opposite ends of the bridge. The load resistance is connected between the
other two ends of the bridge.
For the positive half cycle of the input ac voltage, diodes D1 and D3 conduct,
whereas diodes D2 and D4 remain in the OFF state. The conducting diodes will be in series
with the load resistance RL and hence the load current flows through RL. For the negative
half cycle of the input ac voltage, diodes D2 and D4 conduct whereas, D1 and D3 remain
OFF.
The conducting diodes D2 and D4 will be in series with the load resistance RL and
hence the current flows through RL in the same direction as in the previous half cycle.

Thus a bi-directional wave is converted into a unidirectional wave.
Fig. 2.5 BRIDGE TYPE FULL-WAVE RECTIFIER
Center Tapped Full wave rectifier:
For single-phase AC, if the transformer is center-tapped, then two diodes back-to-
back (i.e. anodes-to-anode or cathode-to-cathode) can form a full-wave rectifier.
Twice as many windings are required on the transformer secondary to obtain the
same output voltage compared to the bridge rectifier above.
For the positive half cycle of the input ac voltage, diodes D1 will conducts, whereas
diodes D2 is in the OFF state. The conducting diodes D1 will be in series with the load
resistance RL and hence the load current flows through RL.
For the negative half cycle of the input ac voltage, diodes D2 will conduct, whereas
diodes D1 is in the OFF state. The conducting diodes D2 will be in series with the load
resistance RL and hence the load current flows through RL.
Fig. 2.6 CENTER TAPPED FULL-WAVE RECTIFIER
Filter:
A Filter is a device which removes the a.c component of rectifier output but allows
the dc component to reach the load.

Capacitor Filter:
We have seen that the ripple content in the rectified output of half wave rectifier is
121% or that of full-wave or bridge rectifier or bridge rectifier is 48% such high
percentages of ripples is not acceptable for most of the applications. Ripples can be
removed by one of the following methods of filtering.
(a) A capacitor, in parallel to the load, provides an easier by –pass for the ripples voltage
though it due to low impedance. At ripple frequency and leave the D.C. to appear at the
load.
(b) An inductor, in series with the load, prevents the passage of the ripple current (due to
high impedance at ripple frequency) while allowing the d.c (due to low resistance to d.c)
(c) Various combinations of capacitor and inductor, such as L-section filter section
filter, multiple section filter etc. which make use of both the properties mentioned in (a)
and (b) above. Two cases of capacitor filter, one applied on half wave rectifier and another
with full wave rectifier.
Filtering is performed by a large value electrolytic capacitor connected across the

DC supply to act as a reservoir, supplying current to the output when the varying DC
voltage from the rectifier is falling. The capacitor charges quickly near the peak of the
varying DC, and then discharges as it supplies current to the output. Filtering significantly
increases the average DC voltage to almost the peak value (1.4 × RMS value).
To calculate the value of capacitor(C),

C = ¼*√3*f*r*Rl
Where,
f = supply frequency,
r = ripple factor,
Rl = load resistance
Note: In our circuit we are using 1000µF hence large value of capacitor is placed to
reduce ripples and to improve the DC component.

Regulator:
Voltage regulator ICs is available with fixed (typically 5, 12 and 15V) or variable
output voltages. The maximum current they can pass also rates them. Negative voltage
regulators are available, mainly for use in dual supplies. Most regulators include some
automatic protection from excessive current ('overload protection') and overheating
('thermal protection'). Many of the fixed voltage regulators ICs have 3 leads and look like
power transistors, such as the 7805 +5V 1A regulator shown on the right.
The LM7805 is simple to use. You simply connect the positive lead of your
unregulated DC power supply (anything from 9VDC to 24VDC) to the Input pin, connect
the negative lead to the Common pin and then when you turn on the power, you get a 5
volt supply from the output pin.
Fig. 2.7 A THREE VOLTAGE REGULATOR
78XX:
The Bay Linear LM78XX is integrated linear positive regulator with three
terminals. The LM78XX offer several fixed output voltages making them useful in wide
range of applications. When used as a Zener diode/resistor combination replacement, the
LM78XX usually results in an effective output impedance improvement of two orders of
magnitude, lower quiescent current. The LM78XX is available in the TO-252, TO-220 &
TO-263package.
Features:
• Output Current of 1.5A
• Output Voltage Tolerance of 5%

• Internal thermal overload protection
• Internal Short-Circuit Limited
• Output Voltage 5.0V, 6V, 8V, 9V, 10V, 12V, 15V, 18V, 24V.
2.9 LCD MODULE:

To display interactive messages we are using LCD Module. We examine an
intelligent LCD display of two lines, 16 characters per line that is interfaced to the
controllers. The protocol (handshaking) for the display is as shown. Whereas D0 to D7th
bit is the Data lines, RS, RW and EN pins are the control pins and remaining pins are +5V,
-5V and GND to provide supply. Where RS is the Register Select, RW is the Read Write
and EN is the Enable pin.
The display contains two internal byte-wide registers, one for commands (RS=0)
and the second for characters to be displayed (RS=1). It also contains a user-programmed
RAM area (the character RAM) that can be programmed to generate any desired character
that can be formed using a dot matrix. To distinguish between these two data areas, the hex
command byte 80 will be used to signify that the display RAM address 00h will be
chosen.Port1 is used to furnish the command or data type, and ports 3.2 to3.4 furnish
register select and read/write levels.
The display takes varying amounts of time to accomplish the functions as listed.
LCD bit 7 is monitored for logic high (busy) to ensure the display is overwritten. Liquid
Crystal Display also called as LCD is very helpful in providing user interface as well as for
debugging purpose. The most common type of LCD controller is HITACHI 44780 which
provides a simple interface between the controller & an LCD. These LCD's are very simple
to interface with the controller as well as are cost effective.

The most commonly used ALPHANUMERIC displays are 1x16 (Single Line & 16
characters), 2x16 (Double Line & 16 character per line) & 4x20 (four lines & Twenty
characters per line).
FIG.2.8 2X16 LINE ALPHA NUMERIC LCD DISPLAY
The LCD requires 3 control lines (RS, R/W & EN) & 8 (or 4) data lines. The
number on data lines depends on the mode of operation. If operated in 8-bit mode then 8
data lines + 3 control lines i.e. total 11 lines are required. And if operated in 4-bit mode
then 4 data lines + 3 control lines i.e. 7 lines are required. How do we decide which mode
to use? It’s simple if you have sufficient data lines you can go for 8 bit mode & if there is
a time constrain i.e. display should be faster than we have to use 8-bit mode because
basically 4-bit mode takes twice as more time as compared to 8-bit mode.
When RS is low (0), the data is to be treated as a command. When RS is high (1),
the data being sent is considered as text data which should be displayed on the screen.
When R/W is low (0), the information on the data bus is being written to the LCD.
When RW is high (1), the program is effectively reading from the LCD. Most of the times
there is no need to read from the LCD so this line can directly be connected to Gnd thus
saving one controller line.

The ENABLE pin is used to latch the data present on the data pins. A HIGH - LOW
signal is required to latch the data. The LCD interprets and executes our command at the
instant the EN line is brought low. If you never bring EN low, your instruction will never
be executed.
Fig. 2.9 BLOCK DIAGRAM OF LCD MODULE
2.10 COMMANDS USED IN LCD:
These are the commands used in LCD.

2.11 APPLICATIONS:
Provide safety to the bomb disposal squad by providing an extra line of defense.
Consistency of performance.
24/7 continuous working.
Reduced amount of operator errors.
Can be made to perform even the most dangerous tasks without concern.

CHAPTER 3
IMPLEMENTATION
3.1 PURPOSE:
The purpose of the project is to detect landmines by using RF technology.
3.2 BLOCK DIAGRAM:
BATTERY BUZZER
MOTOR DRIVERS
LAND MINE MICRO
SENSOR CONTROLLER
UNIT
DECODE MOTORS
(ARDUINO)
RF
RECEIVER
Fig. 3.1 BLOCK DIAGRAM OF ROBOT
3.2 BLOCK DIAGRAM OF REMOTE SECTION:
In our project we can control the robot by using wireless communication i.e. from
Control section (acts as transmitter) we are sending the control signals, then the robot
receives (acts as receiver) the signals, according to the signals being received the direction
of the robot is controlled. According to this project, an RF transmitter is used to transmit
the control signals, which controls the direction of the robot. In the same way, RF receiver

which is placed on the robot receives the RF signals according to which the direction of
the robot is controlled.
Remote Section:
BATTERY
KEYS
RF TRANSMITTER
ENCODER
Fig. 3.2 BLOCK DIAGRAM OF REMOTE SECTION
It also contains an automated unmanned system being designed around a

microcontroller which serves for detecting hazardous parameters such as metal detection.
According to this project, a robot is designed which is made to move all the time. Apart
from this, the system also detects the presence of any metal with the help of a metal
detector. All the devices such as metal detector, motor by which robot is made to move,
buzzer are being interfaced to microcontroller which forms the control unit of the project.
In the standby mode the robot is moved here and there. Whenever any metal is detected by
the metal detector, the same is sensed and is intimated to the user by the microcontroller
using buzzer.
This project finds its place in places where one wants to make the unmanned system
to sense some hazardous condition.
3.4 L293D MOTOR DRIVER:
The L293 is an integrated circuit motor driver that can be used for simultaneous, bi-
directional control of two small motors. Small means small. The L293 is limited to 600
mA, but in reality can only handle much small currents unless you have done some serious
heat sinking to keep the case temperature down. Unsure about whether the L293 will work
with your motor? Hook up the circuit and run your motor while keeping your finger on the

chip. If it gets too hot to touch, you can't use it with your motor. (Note to ME2011 students:
The L293 should be OK for your small motor but is not OK for your gear motor.)
The L293 comes in a standard 16-pin, dual-in line integrated circuit package. There
is an L293 and an L293D part number. Pick the "D" version because it has built in flyback
diodes to minimize inductive voltage spikes. The L293D can be purchased for somewhere
between $2 and $3 (quantity one) from (PN 511-L293D) or (PN 296-9518-5-ND). For
complete information, consult the Unitrode L293 data sheet (PDF file, 626Kb).
A more recent, improved specification, pin-for-pin compatible chip is recommended

for new designs: the TI SN754410NE motor driver. Available from mouser.com, Mouser
part number 595-SN754410NE, $1.88. Data sheet (PDF file, 172Kb).
The pin out for the L293 in the 16-pin package is shown below in top view. Pin 1 is
at the top left when the notch in the package faces up. Note that the names for pin functions
may be slightly different than what is shown in the following diagrams.
Fig. 3.3 PIN DESCRIPTION OF DIL-16
The following schematic shows how to connect the L293 to your motor and the Stamp.

Each motor takes 3 Stamp pins. If you are only using one motor, leave pins 9, 10, 11, 12,
13, 14, and 15 empty.
Fig. 3.4 CIRCUIT DIAGRAM OF DIL-16
Assume you have only one motor connected with the enable tied to Stamp Pin 0, and the
two direction controls tied to Stamp Pins 1 and 2.
ENABLE DIRA DIRB Function
H H L Turn right
H L H Turn left
H L/H L/H Fast stop
Here is a table describing the control pin functions.

And here is a short sample program that exercises the L293.

'L293 demo code. Pin0=enable, Pin1 & Pin2 = direction
'-----bidirectional example
high 0: high 1: low 2

for b0 = 1 to 10
toggle 1: toggle 2: pause 500
next
low 1: low 2
low 0
pause 5000
'-----fast/slow stop example

pause 1000
low 0
pause 5000
pause 1000
low 1
pause 5000
'-----PWM example, full speed for 1 sec, then slow
high 0:high 1:low 2

pause 1000
low 1: pause 1000
high 1
for b0 = 1 to 50

high 0: pause 1
low 0: pause 100
next
low 1
pause 5000
end
You can save on some Stamp pins by connecting the Enable pin to +5V and just using
the direction pins to change directions and turn the motor on and off. That means you
only need two Stamp pins per motor. Put one pin high and the other low for one
direction, reverse the state of the pins for the other direction and put both pins low to
turn the motor off. Or, if you add an inverter IC, run one stamp pin to DIRA and to the
input of the inverter. Run the output of the inverter to DIRB so that it is always in
opposite state as DIRA. This Stamp pin will now give you direction control. Run a
second Stamp pin to the Enable. Use this Stamp pin to turn the motor on or off or to do
PWM speed control
Put your finger on top of the L293 when running the motor to see if it is getting too hot.
The L293 ground goes to both the battery minus and to the Stamp GND.
The L293 has an automatic thermal shutdown which means the chip will stop working
if it gets too hot.
You can use the L293 to drive relays and solenoids. Just connect the relay coil or
solenoid between one of the driver outputs (pins 3, 6, 11, or 14) and ground and turn it
on or off with the control pin (pins 2, 7, 10, 15). This is handy because you could run
one bidirectional motor and two relays using just 4 Stamp pins and a single L293.

3.5 METAL DETECTOR:

The circuit described here is that of a metal detector. The operation of the circuit is
based on super heterodyning principle which is commonly used in superheat receivers.
The circuit utilizes two RF oscillators.
Fig. 3.5 CIRCUIT DIAGRAM OF METAL DETECTOR
The frequencies of both oscillators are fixed at 5.5 MHz The first RF oscillator
comprises transistor T1 (BF 494) and a 5.5MHz ceramic filter commonly used in TV
sound-IF section. The second oscillator is a Colpitt’s oscillator realized with the help of
transistor T3 (BF494) and inductor L1 (whose construction details follow) shunted by
trimmer capacitor VC1. These two oscillators’ frequencies (say Fx and Fy) are mixed in
the mixer transistor T2 (another BF 494) and the difference or the beat frequency (Fx-Fy)
output from collector of transistor T2 is connected to detector stage comprising diodes D1
and D2 (both OA 79). The output is a pulsating DC which is passed through a low-pass
filter realized with the help of a 10k resistor R12 and two 15nF capacitors C6 and C10. It
is then passed to amplifier IC1 (741) via volume control VR1 and the output is fed to a
buzzer. The inductor L1 can be constructed using 15 turns of 25SWG wire on a 10cm (4-

inch) diameter air-core former and then cementing it with insulating varnish. For proper
operation of the circuit it is critical that frequencies of both the oscillators are the same so
as to obtain zero beat in the absence of any metal in the near vicinity of the circuit. The
alignment of oscillator 2 (to match oscillator 1 frequency) can be done with the help of
trimmer capacitor VC1. When the two frequencies are equal, the beat frequency is zero,
i.e. beat frquency=Fx-Fy=0, and thus there is no sound from the loudspeaker. When search
coil L1 passes over metal, the metal changes its inductance, thereby changing the second
oscillator’s frequency. So now Fx-Fy is not zero and the loudspeaker sounds. Thus one is
able to detect presence of metal
3.6 MOTORS:
The direct current (DC) motor is one of the first machines devised to convert
electrical power into mechanical power. Permanent magnet (PM) direct current converts
electrical energy into mechanical energy through the interaction of two magnetic fields.
One field is produced by a permanent magnet assembly; the other field is produced by an
electrical current flowing in the motor windings.
Fig. 3.6 MOTOR
3.7 BUZZERS:
The piezo buzzer produces sound based on reverse of the piezoelectric effect. The
generation of pressure variation or strain by the application of electric potential across a
piezoelectric material is the underlying principle. These buzzers can be used alert a user of

an event corresponding to a switching action, counter signal or sensor input. They are also
used in alarm circuits. The buzzer produces a same noisy sound irrespective of the voltage
variation applied to it. It consists of piezo crystals between two conductors. When a
potential is applied across these crystals, they push on one conductor and pull on the other.
This, push and pull action, results in a sound wave. Most buzzers produce sound in the
range of 2 to 4 kHz. Piezo buzzer is an electronic device commonly used to produce
sound. Light weight, simple construction and low price make it usable in various
applications like car/truck reversing indicator, computers, call bells etc. Piezo buzzer is
based on the inverse principle of piezo electricity discovered in 1880 by Jacques and Pierre
Curie. It is the phenomena of generating electricity when mechanical pressure is applied to
certain materials and the vice versa is also true. Such materials are called piezo electric
materials. Piezo electric materials are either naturally available or manmade. Piezoceramic
is class of manmade material, which poses piezo electric effect and is widely used to make
disc, the heart of piezo buzzer. When subjected to an alternating electric field they stretch
or compress, in accordance with the frequency of the signal thereby producing sound. The
Red lead is connected to the Input and the Black lead is connected to Ground.
3.8 KEYPAD:
A numeric keypad, or numpad for short, is the small, palm-sized, seventeen key
section of a computer keyboard, usually on the very far right. The numeric keypad features
digits 0 to 9, addition (+), subtraction (-), multiplication (*) and division (/) symbols, a
decimal point (.) and Num Lock and Enter keys. Laptop keyboards often do not have a
numpad, but may provide numpad input by holding a modifier key (typically lapelled "Fn")
and operating keys on the standard keyboard.
Particularly large laptops (typically those with a 17 inch screen or larger) may have
space for a real numpad, and many companies sell separate numpads which connect to the
host laptop by a USB connection.
Numeric keypads usually operate in two modes: when Num Lock is off, keys 8, 6, 2,
4 act like an arrow keys and 7, 9, 3, 1 act like Home, PgUp, PgDn and End; when Num
Lock is on, digits keys produce corresponding digits. These, however, differ from the

numeric keys at the top of the keyboard in that, when combined with the Alt key on a PC,
they are used to enter characters which may not be otherwise available: for example, Alt-
0169 produces the copyright symbol. These are referred to as Alt codes.
On Apple Computer Macintosh computers, which lack a Num Lock key, the numeric
keypad always produces only numbers. The num lock key is replaced by the clear key.
3.9 RF MODULE:
The RF module, as the name suggests, operates at Radio Frequency. The
corresponding frequency range varies between 30 kHz & 300 GHz. In this RF system, the
digital data is represented as variations in the amplitude of carrier wave. This kind of
modulation is known as Amplitude Shift Keying (ASK).
Transmission through RF is better than IR (infrared) because of many reasons. Firstly,
signals through RF can travel through larger distances making it suitable for long range
applications. Also, while IR mostly operates in line-of-sight mode, RF signals can travel
even when there is an obstruction between transmitter & receiver. Next, RF transmission
is more strong and reliable than IR transmission. RF communication uses a specific
frequency unlike IR signals which are affected by other IR emitting sources.
Pin Diagram:
Fig. 3.7 PIN DIAGRAM OF RF TRANSMITTER AND RECEIVER
This RF module comprises of an RF Transmitter and an RF Receiver. The

transmitter/receiver (Tx/Rx) pair operates at a frequency of 434 MHz an RF transmitter

receives serial data and transmits it wirelessly through RF through its antenna connected
at pin4. The transmission occurs at the rate of 1Kbps - 10Kbps.
The RF module is often used along with a pair of encoder/decoder. The encoder is
used for encoding parallel data for transmission feed while reception is decoded by a
decoder. HT12E-HT12D, HT640-HT648, etc. are some commonly used encoder/decoder
pair ICs.
Pin Description :
RF Transmitter
Pin
Function Name
No
1 Ground (0V) Ground
2 Serial data input pin Data
3 Supply voltage; 5V Vcc
4 Antenna output pin ANT
RF Receiver
Pin
Function Name
No
2 Serial data output pin Data
3 Linear output pin; not connected NC
8 Antenna input pin ANT
These are the pin descriptions for transmitter and receiver.

HT12E:
HT12E is an encoder integrated circuit of 212 series of encoders. They are paired with
212 series of decoders for use in remote control system applications. It is mainly used in
interfacing RF and infrared circuits. The chosen pair of encoder/decoder should have same
number of addresses and data format.
Simply put, HT12E converts the parallel inputs into serial output. It encodes the 12
bit parallel data into serial for transmission through an RF transmitter. These 12 bits are
divided into 8 address bits and 4 data bits.
Fig. 3.8 PIN DESCRIPTION OF HT12E
HT12E has a transmission enable pin which is active low. When a trigger signal is
received on TE pin, the programmed addresses/data are transmitted together with the
header bits via an RF or an infrared transmission medium. HT12E begins a 4-word
transmission cycle upon receipt of a transmission enable. This cycle is repeated as long as
TE is kept low. As soon as TE returns to high, the encoder output completes its final cycle
and then stops.

Pin Description:
Pin
Function Name
No
1 A0
2 A1
3 A2
4 A3
8 bit Address pins for input
5 A4
6 A5
7 A6
8 A7
10 AD0
11 AD1
4 bit Data/Address pins for input
12 AD2
13 AD3
14 Transmission enable; active low TE
15 Oscillator input Osc2
16 Oscillator output Osc1
17 Serial data output Output
18 Supply voltage; 5V (2.4V-12V) Vcc
HT12D:
Fig. 3.9 PIN DESCRIPTION OF HT12D
HT12D is a decoder integrated circuit that belongs to 212 series of decoders. This series

of decoders are mainly used for remote control system applications, like burglar alarm, car
door controller, security system etc. It is mainly provided to interface RF and infrared
circuits. They are paired with 212 series of encoders. The chosen pair of encoder/decoder
should have same number of addresses and data format.
In simple terms, HT12D converts the serial input into parallel outputs. It decodes the
serial addresses and data received by, say, an RF receiver, into parallel data and sends them
to output data pins. The serial input data is compared with the local addresses three times
continuously. The input data code is decoded when no error or unmatched codes are found.
A valid transmission in indicated by a high signal at VT pin.
.Pin Description:
Pin
Function Name
No
1 A0
2 A1
3 A2
4 A3
8 bit Address pins for input
5 A4
6 A5
7 A6
8 A7
10 D0
11 D1
4 bit Data/Address pins for output
12 D2
13 D3
14 Serial data input Input
15 Oscillator output Osc2
16 Oscillator input Osc1
17 Valid transmission; active high VT
18 Supply voltage; 5V (2.4V-12V) Vcc
HT12D is capable of decoding 12 bits, of which 8 are address bits and 4 are data bits.
The data on 4 bit latch type output pins remain unchanged until new is received.

CHAPTER – 4
SOFTWARE REQUIREMENTS
4.1 ARDUINO IDE:
The Arduino is a family of microcontroller boards to simplify electronic design,

prototyping and experimenting for artists, hackers, hobbyists, but also many professionals.
People use it as brains for their robots, to build new digital music instruments, or to build
a system that lets your house plants tweet you when they’re dry. Arduinos (we use the
standard Arduino Uno) are built around an ATmega microcontroller — essentially a
complete computer with CPU, RAM, Flash memory, and input/output what you will need:
4.2 ARDUINO INSTALLATION:
A computer (Windows, Mac, or Linux). An Arduino-compatible microcontroller
(anything from this guide should work). A USB A-to-B cable, or another appropriate
way to connect your Arduino-compatible microcontroller to your computer (check out
this USB buying guide if you’re not sure which cable to get. Installing the Drivers for
the Arduino Uno (from Arduino.cc). Plug in your board and wait for Windows to begin
its driver installation process.
After a few months the project will fail despite its best efforts. Click on the Start
Menu, and open up the Control Panel. While in the Control Panel, navigate to System
and Security. Next, click on system once the System window is up, open the Device
Manager. Look under Ports (COM & LPT). You should see an open port named
“Arduino UNO (COMxx)”.If there is no COM & LPT section, look under ‘Other
Devices’ for ‘Unknown Device’

Finally, navigate to and select the Uno’s driver file, named

“ArduinoUNO.inf”, located in the “Drivers” folder of the Arduino Software
download (not the “FTDI USB Drivers” sub-directory).
Fig. 4.1 ARDUINO INSTALLATION
Fig 4.2 UPDATING OF DRIVER SOFTWARE
If you cannot see the .int file, it is probably just hidden. You can select the
‘drivers’ folder with the ‘search sub-folders’ option selected instead.

After following the appropriate steps for your software install, we are now
ready to test your first program with your Arduino board.
Launch the Arduino application
Select the type of Arduino board you’re using: Tools > Board > your board
type
Fig. 4.3 INSTALLATION OF ARDUINO IDE
If you disconnected your board, plug it back in

Open the Blink example sketch by going to: File > Examples > 1.Basics >
Blink
Select the serial/COM port that your Arduino is attached to: Tools > Port
>COMxx

Select the serial port that your Arduino is attached to: Tools > Port >xxxxxx
(it’ll probably look something like “/dev/tty.usbmodemfd131” or
“/dev/tty.usbserial-131” but probably with a different number)
Fig. 4.4 NOTIFICATION SCREEN OF ARDUINO
If you’re not sure which serial device is your Arduino, take a look at available
ports, then unplug your Arduino and look again. The one that disappeared is your
Arduino. With your Arduino board connected and the Blink sketch open, press the
‘Upload’ button. After a second, you should see some LEDs flashing on your
Arduino, followed by the message ‘Done Uploading’ in the status bar of the Blink
sketch. If everything worked, the onboard LED on your Arduino should now be
blinking! You just programmed your first Arduino.
4.3 DEVELOPMENT PROCESS:

Here is the process for creating a program to run on your Arduino:
1. Create the sketch in the Arduino software
2. Verify the sketch.
3. Correct any errors that are indicated (like typos or misspelled variable
names)
4. Compile the sketch

5. Upload the resulting program to your Arduino
6. Test your program
7. Rewire or rewrite code as needed
8. Return to Step 2
In the Arduino software, you will notice that 4 and 5 see the same time. You
will probably notice that Steps 3 and 7 are the most frustrating and time consuming.
The first step is to plug the square end of a UN data cable into your Arduino and
the other end into your computer.
Next, start the Arduino program. You firewall may hock it but you need to
give it permission to be allowed through the firewall. Next, you will see the Arduino
development interface
The Sketch is divided into two parts: setup and loop. Consider this their first
guidelines on how to develop a working sketch. The setup portion is where you put
code that needs to run only once. This includes things like setting certain pins to
HIGH, specifying whether a pin should be used as input or output, assigning certain
values to variables, etc. This code will run once each time the Arduino board is
powered up: Decide what commands need to run once, and plan to place them here.
The loop section is the main portion of the code that will keep running until you
power off the Arduino. This is the more challenging part of developing the
algorithm.
4.4 BASIC ARDUINO COMMAND LIBRARY:

PinMode (pin, mode):
The pin number must be an integer value. There are three possible modes INPUT,
OUTPUT. INPUT PULLUP
DigitalWrite (pin, value):
The pin number must be an integer value. The values are either HIGH or LOW
DigitalRead (pin):
The pin number must be an integer value. Will return a value of HIGH or LOW
Analog Output:
As discussed earlier, the Arduino boards include pins for performing analog input
and output. One command is used to set a reference voltage (the value wed as the
maximum range of the input voltage), another is used to read the analog voltage,
and the last is used to write the analog voltage.
Analog reference (type):
You can choose from 5 options.
DEFAULT is going to be 5 volts (on 5V Arduino boards) or 3.3 volts
(on3.3V Arduino boards).
INTERNAL is a built-in reference that varies with the type of processor
INTERNALIVI is a built-in 1.1V reference, but is only available on the
Mega
INTERNAL2V56: is a built-in 2.56V referenced hat is also available only
on The Mega
EXTERNAL: this means that you will use whatever voltage is applied to
the AREF pin for the reference voltage
AnalogRead (pin):
This reads whatever the analog voltage level is at pin. It returns an integer
value representing the voltage reading at the pin
Analog Write (pin, duty cycle):
This command writes a PWM value to the pin the duty cycle is a value between
0. Which means always off, and 255, which means always on. This can be used for
things like stroking a LED light
4.5 PROCEDURE:
The hardware unit for the prototype of the system is represented by block diagram. It
also contains an Arduino microcontroller as the processing unit which get input from the
RF controller from which the user give an instructions for the robot to move in the specific
direction .The metal detector is connected to the robot to detect any metal /landmines or
any other minerals present in the ground .If any metal is detected then it gives an output
indication in a buzzer sound is know the user that metal is detected.

If the metal is not detected then this robot follows the instructions given by the user
from RF controller /RF remote controller

RF CONTROLLED METAL DETECTION ROBOT
CHAPTER – 5
RESULT
FLOWCHART:
START
Connect with RF remote
Press No
push
buttons
Yes
Robot moves
Check for metals in

ground
Change motor directions
If metal No
detected
Yes
Buzzer on
Stop

ALGORITHM:
STEP 1: To start the program.
STEP 2: To connect the robot with the RF remote.
STEP 3: If the push button is pressed then the robot moves or else the robot will stay in
the initial condition.
STEP 4: Check for the Metals or landmines.
STEP 5: If metal detected then the buzzer will ON else changes its direction and
program continues.
STEP 6: STOP.
The robot continuously monitors the ground by detecting any land minis or miners
in it parts and give a buzzer sound and update that the metal is detected. The expected
output and functioning of the robot while pressing the push butt ions is shown in the table
5.1.
Pushbutton/Switches Directions
01 Forward
02 Reverse
03 Left
04 Right
Metal detected Buzzer output
Fig. 5.1 OUTPUT DATA FROM THE ROBOT

5.1 SCHEMATIC WORKING MODEL:
Fig. 5.2 SCHEMATIC WORKING MODEL

The RF controlled metal detecting robot schematic working model is shown in
the figure above.
TRANSMITTER:
Fig. 5.3 TRAMSMITTER

In the above image by pressing the push buttons the moment of the robot will be
controlled by the RF controller which is called as Transmitter.
LCD DISPLAY:
Fig. 5.4 LCD DISPLAY

In the above image it shows the moment of the robot in the display.
APPLICATIONS:
Provide safety to the bomb disposal squad by providing an extra line of defense.
Consistency of performance.
24/7 continuous working.
Reduced amount of operator errors.
Can be made to perform even the most dangerous tasks without concern.
ADVANTAGES:
These robots are used in identifying landmines
Robots are used to sense the minerals present in the ground.
These robots are used to detect the bombs.
These can be used in construction industry to situate steel bars present in concrete.
They are used in airports and building security to detect the artillery.

CONCLUSION
The main goal of this project is to design a robotic vehicle which can sense
metals near to it on its track, and this robot is controlled by RF application. This
project comprises of a metal detector circuit which is interfaced to the control unit
that produces a buzzer sound to the user when a metal object is close to it. A
microcontroller is used for the desire operation. The project is successfully detects
the metal. It can be mainly used in defense applications. It consist of metal detecting
unit, RF for line following. Whenever the metal or explosives are detected it gives
an alarm and also sends the relevant information through LED Display. High
encryption keys are used for the security purpose. After detecting the location
information is also send through this application.
The robot is moved in a particular direction with the help of RF technology,
controlled by remote. Experimental work has been carried out successfully. The
result shows that higher efficiency is achieved using the embedded system. This
proposed method is verified to be highly beneficial for many purposes. The metal
detector worked at a constant speed without any problem. In this project, we also
achieved wireless communication between the robot and the RF application.

FUTURE SCOPE
Further the project can be enhanced by mounting a wireless camera on the robot so
that the images around the robot will be transmitted to remote place and user can monitor
the images and metal detection alarms on Television. This project can be further developed
by enhancing the performance and by adding more features. Further developments in this
project can be an addition of features like the addition of a gas sensor, connecting robotic
arms for pick and place purposes etc.

RF CONTROLLED METAL DETECTION ROBOT
APPENDIX
PROGRAM TO BE RUN ON ARDUINO IDE
int sw1=2;
int sw2=3;
int sw3=4;
int sw4=5;
int m1p=6;
int m1n=7;
int m2p=8;
int m2n=9;
int metal=10;
int buz=11;
void setup()
{
pinMode(sw1, INPUT);
pinMode(sw2,INPUT);
pinMode(sw3,INPUT);
pinMode(sw4,INPUT);
pinMode(m1p,OUTPUT);
pinMode(m1n,OUTPUT);
pinMode(m2p,OUTPUT);
pinMode(m2n,OUTPUT);
pinMode(metal,INPUT);
pinMode(buz,OUTPUT);
}
void loop()
{
int a=digitalRead(sw1); // forw
if(a==1)
{
digitalWrite(m1p,HIGH); // +
digitalWrite(m1n,LOW); // -
}
int b=digitalRead(sw2); // reverse
if(b==1)
{
digitalWrite(m1p,LOW); // +
digitalWrite(m1n,HIGH); // -
}
int c=digitalRead(sw3);
if(c==1);
{
}
int d=digitalRead(sw4);
if(d==1)
{

}
else
{
}
int e= digitalRead(metal);
if (e==1)
{
digitalWrite(buz,HIGH);
}
else
{
digitalWrite(buz,LOW);
}
}

REFERENCES
Nikesh Gondchawar, R. S. Kawitkar, "loT based Smart Agriculture", International
Journal of Advanced Research in Computer and Communication Engineering, vol.
5, no. 6, pp. 2278-1021, June 2016.
 P. Rajalakshmi, S. Devi Mahalakshmi, "IOT Based Crop-Field Monitoring
and Irrigation Automation" in 10th International conference on Intelligent
systems and control (ISCO) 7-8 Jan 2016, published in IEEE Xplore, Nov
2016.
 Tanmay Baranwal, Nitika Pushpendra Kumar Pateriya, "Development of
loT based Smart Security and Monitoring Devices for Agriculture" in 6th
International Conference Cloud System and Big Data Engineering, IEEE,
pp. 978-1-4673-8203-8/16, 2016.
 M.N.Umeh, N.N.Mbeledogu, S.O.Okafor, F.C. Agba, "Intelligent
microcontroller-based irrigation system with sensors", American Journal
of Computer Science and Engineering, vol. 2, no. 1, pp. 1-4, 2015.
 B. N. Getu, N. A. Hamad, H.A.Attia, "Remote Controlling of an
Agricultural Pump System Based on the Dual Tone Multi-Frequency
(DTMF) Technique", Journal of Engineering Science & Technology
(JESTEC), vol. 10, no. 10, October 2015.

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RF CONTROLLED METAL DETECTING ROBOT

A Project Report Submitted in partial fulfillment of the requirements

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

(Approved by AICTE & Affiliated to J.N.T.U.K, Kakinada)

YANAM ROAD, KORANGI - 533 461

(Approved by AICTE & Affiliated to J.N.T.U.K, Kakinada)

DETECTING ROBOT” is submitted by K.MEGHANA, S.GEETHAMBICA,

Project Guide Head of the Department

Mrs. S.ANITHA, M.TECH Ms. P.LATHA, M.TECH

CHAPTER 1: INTRODUCTION 1-8

CHAPTER 4 : SOFTWARE REQUIREMENTS 39 - 45

CHAPTER 5: RESULTS 46- 54

2.1 ARDUINO UNO BOARD 10

KIETW ECE Page no 1

1.2 LITERATURE SURVEY:

KIETW ECE Page no 2

KIETW ECE Page no 3

1.3 RADIO FREQUENCY:

Radio frequency (RF) is a measurement representing the oscillation rate of

These robots are used in identify landmines.

These robots are used for detect the bombs.

How the radio frequency spectrum is used:

KIETW ECE Page no 4

RF congestion and interference:

How cellular networks use RF:

KIETW ECE Page no 5

1.6 FUTURE OF RF TECHNOLOGY:

5G achieves its increased capacity by using up to three different types of cells --

The basic keywords are given below.

An arduino microcontroller board can be thought of as user friendly, open-source

KIETW ECE Page no 6

Radio frequency (RF) is a measurement representing the oscillation rate of

1.10 ATMEL 89C51 MICROCONTROLLER:

The AT89C51 is a microcontroller having low-power, high performance CMOS 8-bit

1.11 METAL DETECTOR:

These robots are used in identifying landmines

Robots are used to sense the minerals present in the ground.

These robots are used to detect the bombs.

KIETW ECE Page no 8

The Arduino Uno is a microcontroller board based on the ATmega328 (datasheet). It

2.2 TECHNICAL SPECIFICATIONS:

KIETW ECE Page no 9

Clock Speed 16 MHz

2.3 ARDUINO PIN DESCRIPTION:

Fig. 2.1 ARDUINO UNO BOARD

KIETW ECE Page no 10

The power pins are as follows:

GND: Ground pins.

External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a

KIETW ECE Page no 12

The ATmega8U2 firmware source code is available. The ATmega8U2 is loaded

Automatic Software Reset:

2.4 USB CURRENT PROTECTION:

2.5 PHYSICAL CHARACTERISTICS:

2.6 POWER SUPPLY:

KIETW ECE Page no 14

For example a 5V regulated power supply system as shown below:

Fig. 2.2 BLOCK DIAGRAM OF POWER SUPPLY

A transformer is an electrical device which is used to convert electrical

KIETW ECE Page no 15

Fig. 2.3 TRANSFORMER

An Electrical Transformer Turns ratio = Vp / VS = Np/Ns

Power Out= Power InVS X IS=VP XIP