PROJECT REPORT ON

AUTOMATIC METAL MINE DETECTING VEHICLE WITH WIRELESS VIDEO CAMERA

CONTENTS
1. ABSTRACT 2. 3. 4. OVERVIEW OF THE PROJECT WORK ROBOTICS INTRODUCTION 5. BLOCKDIAGRAM AND ITS BRIEF DESCRIPTION 6. CIRCUIT ANALYSIS 7. COMPLETE CIRCUIT DIAGRAM 8. DETAILS ABOUT IR SENSORS 9. DETAILED DESCRIPTION ABOUT VIDEO CAMERAS 10. DETAILS ABOUT MICROCONTROLLERS 11. SOFTWARE DETAILS 12. HARDWARE DETAILS 13. FABRICATION DETAILS 14.CONCLUSIONS AND REFERENCES

AUTOMATIC METAL MINE DETECTING VEHICLE

ABSTRACT
Although many systems are available to detect the metal mines, involves man power to carry the metal detectors and it is very difficult to search the largest areas like forests and deserts. To cover the complete area, lot of time is required and the search parties some times they may have to spend weeks together in the sites, and due to this they may loose patience. Keeping all these things in view, we decided to develop one search vehicle for detecting the metal mines in largest areas. The vehicle is designed as driverless, so human involvement is avoided for searching the metal mines. Rover technology is implemented in the system to make it as autonomous; in this concept the vehicle itself is detecting the objects and taking suitable decisions to avoid collisions with objects on its way. Depending up on the position of the object that is in front and its position, the vehicle it self takes diversion to avoid collision with it and moves forward. The vehicle can move in all directions like automobile vehicle, in addition it can find pits and valleys to avoid falling into it. The metal detector circuit designed with induction coil is arranged below the vehicle, such that whenever it finds metal object, vehicle stops there and video camera rotates, which is arranged at the front side of the vehicle and surrounding images are captured and transmitted to the nearest observing station for identifying the area. The monitoring station at remote place is equipped with television set along with its video receiver. The vehicle is designed with three stepper motors and the Microcontroller unit depending up on the information received from the optical sensors controls these motors. Heavy-duty battery is used to drive entire system including motors.

CHAPTER 1
OVERVIEW OF THE PROJECT WORK IN DETAIL:
This project is aimed to detect the presence of any metallic mine in the field, it can detect the explosives or bombs also, which are positioned under the ground. Detecting these kind of explosives manually with ordinary handheld portable metal detectors is quite dangerous, because terrorists are designing these bombs with advanced technologies, these bombs can be exploded in many ways like through mobile phones, using timers, using pressure sensors, using remote control, etc, and the technology facilitates that the terrorist can blast these bombs from anywhere from the world. Some times, while searching for the explosives, all of sudden it may blast, which leads to major damages. To save the lives of our heros (those who are searching for the explosives, generally called as bomb squad or search party) we need a special kind of metal detectors, by which squad can stay away from the explosives. In this regard this project work is taken up, which functions the performance of mobile Robot to detect metal mine or to detect any explosives that contains metallic objects like nails, balls, sharp metal pieces, etc. The system can be designed in two ways; a) one huge vehicle with high speed can be constructed for out door applications like search in jungles or deserts, b) one small vehicle (miniature) can be constructed for indoor applications. Here for the demonstration purpose a prototype module is constructed for detecting the metal mines, with slight modifications the same vehicle can be used for both the applications. This vehicle is designed to detect the metal, where as it cannot defuse the bomb.

Now a days detecting mines has become big task and involves lot of expenditure both in terms of manpower and time to reduce the over heads on the man power and time consuming process a technique is evolved using

electronic circuits comprising both hardware and software. An automatic vehicle is designed which can use in the extreme field condition such as forests, deserts, open terrains and hillocks. The metal mine detecting vehicle is designed with two stepper motors to move the vehicle, and one stepper motor is used to rotate the video camera to capture the visual images. The stepper motors are meant for precise movement and high resolution and good amount of torque. A Microcontroller based on ATMEL 89C51 which is an 8- bit Microcontroller with 32 I/O lines configured as four ports, 4Kbytes of flash programmable memory, 128 bytes of data memory five interrupts and optimized 111 instruction set is used in the project work which can receive the information of movement of vehicle, drive the stepper motors for left and right directions and to change the direction for reverse movement etc., In order to use in the field conditions a battery-backed unit is designed and this battery can be charged through solar energy. This provision is not there in demo module, but for the real operating system it is essential that the vehicle body should be constructed with solar panels. Here the battery is charged through battery charger and the required DC source to charge the battery is derived from main supply. Since the system utilizes the re-chargeable battery, vehicle can be used with optimum mileage. A dedicated regulated power supply unit also incorporated in the project work, which provides 5V dc for all electronic and IC circuits. Since the vehicle is equipped with wire less video camera and the concept is autonomous, it can be utilized for other purposes also. When the vehicle is roaming in the forest, we can identify the terrorist campaigns and movement of animals. With little modifications, the same system can be used

for defense applications as a security system to guard the military zones and other VIP zones. The main goal of this project is to present a working solution for autonomous search navigation, to be implemented in a vehicle for operation in forest, mountain terrains. The Autonomous Ground Vehicle (AGV) designed with stepper motors, driven by the microcontroller detects the objects like trees, bushes; stones etc., detecting the objects are main task, which is essential for a safe autonomous vehicle. Detecting obstacles implies an active perception of the environment. Typical sensors for this kind of task include optical sensors, Infra red sensors and high-resolution cameras. In this project work both are used. Four pairs of IR LEDs are used as optical sensors and all the four pairs are arranged at front side of the vehicle to detect the movement of vehicle in forward direction (left, right) and reverse direction and any drenches or pits. An exclusive sensor is used to detect the mines consisting of iron ore, and other metallic ore. These sensors act as Laser rangefinders have the great advantage of providing the information about the objects, which are in front of the vehicle. Since it is a prototype module we have arranged only four sets of sensors, but for the real operation many more number of sensors can be used, and they are supposed to be arranged in all the four sides of the vehicle. The main advantage of using these optical sensors is, it not only detects the object also these can detect the pits as well as valleys. In this project work one set of sensors is used for detecting the pits and valleys, the other three sets of sensors are used to detect the obstacles. In addition to the optical sensors, video camera is also used in this project work and the output of this camera is transmitted through the

transmitter, hence this camera can be called as wireless video camera. At the receiving station, color or black and white television set can be used and the data obtained through the pictures can be analyzed. The camera used for the purpose is miniature, arranged at front side of the vehicle, which continuously takes the pictures and sends through the built-in FM Transmitter. To detect the metal mines a pick up coil energized through an oscillator is used as a metallic detector and whenever any metallic object is detected, the reluctance of the magnetic pick up coil changes and in turn produces a high output to the Micro controller and this gives an indication of the mine detection. The video camera sends the pictures corresponding to that location through the built in Transmitter and the distant end Television receiver receives the information and displays the picture information for mining exploration. The complete vehicle, which carries the total electronic circuitry including camera is designed to operate at 12V DC. For this purpose 7.5 AH maintenance free battery is used. To drive the vehicle, heavy-duty stepper motors are used at rear side, and the vehicle wheels are directly coupled to the motor shafts. Two motors are used, and each motor is capable to drive up to 5kg loads, as the holding torque of the motor is 5kg. To charge the battery from 230 V AC Mains, a separate battery charger is deigned with a 12V step down transformer. Construction of Autonomous Ground Vehicles has been an intense research area for the last decade. A number of successful applications in agriculture and the mining industry, many engineers, have been demonstrated. It is reasonable to believe that similar solutions are relevant for a forest-based AGV. However, the forest environments have enough peculiarities to make the proposed development project highly advanced, and full of challenging tasks for

research. Similarly, the tracking also can be done at the high altitudes also in areas such as Deserts, Open terrains, Mountain / Hillock terrains by using highresolution sensors so that it can cover long distances. Particularly these types of navigations at Sky level are very much required to locate terrorist camps in the bordering countries such as Pakistan and Bangla desh, Nepal and Afghanistan etc.

CHAPTER 2
Robotics:
Science-fiction author Isaac Asimov is often given credit for being the first person to use the term robotics in a short story composed in the 1940s. In the story, Asimov suggested three principles to guide the behavior of robots and smart machines. Asimov's Three Laws of Robotics, as they are called, have survived to the present: 1. Robots must never harm human beings. 2. Robots must follow instructions from humans without violating rule 1. 3. Robots must protect themselves without violating the other rules. The Czech word "robota" means "forced labor". A robot is a machine designed to execute one or more tasks repeatedly, with speed and precision. There are as many different types of robots as there are tasks for them to perform. Robotics is a branch of engineering that involves the conception, design, manufacture, and operation of robots. This field overlaps with electronics, computer Science, artificial intelligence, mechatronics, nanotechnology, and bioengineering. A robot can be controlled by a human operator, sometimes from a great distance. But most robots are controlled by computer, and fall into either of two categories: autonomous robots and insect robots. An autonomous robot acts as a stand-alone system, complete with its own computer (called the controller).

Insect robots work in fleets ranging in number from a few to thousands, with all fleet members under the supervision of a single controller. Robots are sometimes grouped according to the time frame in which they were first widely used. First-generation robots date from the 1970s and consist of stationary, nonprogrammable, electromechanical devices without sensors. Second-generation robots were developed in the 1980s and can contain sensors and programmable controllers. Third-generation robots were developed between approximately 1990 and the present. These machines can be stationary or mobile, autonomous or insect type, with sophisticated programming, speech recognition and/or synthesis, and other advanced features. Fourth-generation robots are in the research-and-development phase, and include features such as artificial intelligence, self-replication, self assembly, and nanoscale size (physical dimensions on the order of nanometers, or units of 10-9 meter). Some advanced robots are called androids because of their superficial resemblance to human beings. Androids are mobile, usually moving around on wheels or a track drive. Some of the most esoteric and powerful robots do not look or behave anything like humans. The ultimate in robotic intelligence and sophistication might take on forms yet to be imagined.

CHAPTER - 3
INTRODUCTION
Current methods for detecting and removing mines are dangerous, too costly, and, considering the number of abandoned mines, very slow. Mechanical systems are most frequently used to clear large areas polluted by mines. The main drawback of purely mechanical de-mining is that no system can satisfy the desired 100% reliability of humanitarian de-mining. Consequently, all cleaned areas require manual verification. Thus, an urgent need exists to develop safe and efficient de-mining methods. This requirement represents a big challenge for robotic research. The Existence of large numbers of landmines poses a severe threat to human life in many areas throughout the world. Some estimates of the total number of mines deployed are well above 100 million. A simple electro mechanical type of mobile robot is designed as Antipersonnel mine detecting vehicle. The introduction of an operational vehicle resulting will be equally significant to de-mining. In addition another important design criterion is safety especially in mine fields were human beings have to take the risk of their lives to find and disable mines. This is why our robot will be autonomous and will be equipped with mine detection to help the de-mining team locating them in a safer way. At present mine detection and mine-clearance technology consists primarily of metal detectors, probes, and tank-mounted sensors or similar vehicles are used. The need to detect plastic-cased, minimum-metal content

mines without significantly impairing mobility and damaging road surfaces, however, is not fully met by these types of systems. The underlying problem is that predominately plastic anti-personnel mines are extremely difficult to detect. They are typically between 50 and 100mm in diameter and contain little metal. The dangerous nature of mines demands that each possible target is treated with extreme caution and this makes the clearance rate very slow. The detection and neutralization of buried landmines has become an increasingly important issue as military forces rely more than ever on increased mobility. The research work will deal with obstacle detection problems, where cameras, ultra violet & infrared detectors, and other sensors are utilized to detect objects close to the vehicle. Another area of research is route navigation and control algorithm that take into account the specific problems involved in controlling a forest machine in a forest environment. The suggested hardware solution will involve micro controller and the sensors are interfaced with controller, which drives both the motors according to the received information from the sensors. This arrangement is believed to simplify and speed up the development work significantly since the Micro controller provide lot of flexibility while writing the software and interfacing with the sensors.
This document is a pre-study for the project work Automatic Metal Mine

Detecting Vehicle with Wireless Video Camera, which can be Autonomous

Navigation for Forest Machines. The general requirements and conditions for the development of such a product are addressed in this document. This paper also focuses on one of the necessary components: autonomous navigation, which involves sensing and moving safely according to a fixed or changing plan in the environment of the vehicle. The proposed project aims at developing a system design, including algorithms and hardware and software specifications for such a vehicle.

The software and hardware will be installed in a standard vehicle, selected and prepared in collaboration with the customer / navigation agencies. A first version, which can be called as prototype module of the system will be installed and demonstrated on a smaller vehicle. This vehicle can also be called as a robot and this robot will also be important for speeding up and simplifying the development. The suggested software solution involves a behavior-based architecture, commonly used in modern robotics. The vehicles tasks are defined as behaviors, such as finding obstacles and Avoid obstacles. Each of these behaviors is specified separately and works essentially reflexively, i.e. the action is a direct function of the sensor input. Control logic is often used to express complex behaviors in a compact and efficient way. Safety issues involve avoidance of accidents and damage to vehicles and environment. These problems will be given the highest priority in the project. Besides pure research, the project also involves a lot of engineering work, where existing technology is combined with innovative research results into a working product.

The preliminary project plan takes the design, development and fabricating a proto type unit. Vehicle driving has concentrated on forwardlooking sensing, by sensing the obstacles. This is an appropriate first step, but real deployment of mobile vehicles will require additional sensing and reasoning to surround the vehicle with safeguard sensors and systems. In the military context, the focus is short-range sensing for full automation of vehicles. An autonomous vehicle moving through a clustered environment, such as a forest, may need to move between objects (e.g. trees) with very little clearance on either side of the vehicle.

CHAPTER-4
BLOCKDIAGRAM AND ITS BRIEF DESCRIPTION

The Block diagram of Automatic Metal Mine Detecting Vehicle with

Wireless Video Camera consists of Obstacle Sensing circuits Designed with IR

Sensors. The obstacle sensing block is designed with LM567 IC, this is a tone decoder IC, and also it generates tone frequency. For identifying the obstacles 3 sets of sensors are used. For detecting the direction of search vehicle in Left, Right and Center directions, three different 567 ICs are used. Similarly for detecting the pit or valleys another set of IR sensors are used. All these four sets of sensors are arranged at front side of the vehicle in four different positions. Each sensing block is designed with two IR LEDs, Namely transmitting LED and receiving LED. Both the sensors are arranged side by side with in half-inch distance. The tone generator part of the IC is configured as astable mode of operation, which produces a perfect square wave of 10 KHz approximately and it is amplified using a transistor. The amplified signal is radiated through the transmitting IR LED. The signal delivered by the IR LED transmits in a line like LASER beam, whenever this signal is interrupted by an object, the radiating signal will be spread in the air because of the object, this signal is tracked by the another IR LED which is called as optical signal sensor. On receipt of optical signal, the tone decoder part of the IC detects the signal through the optical sensor and generates a high signal for the micro controller. Like wise the controller is getting signals from the four sensing blocks, according to the received information from the sensors, the controller controls the stepper motors in all directions i.e., Left, Right, Front and Back. The Micro controller 89C51 is used for this purpose in this project work. To rotate the movement of Video Camera, one more stepper Motor is used, which is also energized through Micro controller. In addition, to detect the Mines consisting various metals a magnetic pick up coil is used. This coil is energized through a low frequency Oscillator

and whenever any metal mine is detected it opposes the magnetic flux produced by the Magnetic coil and the current flowing in the coil will be reduced. The circuit will detect this reduction of current and it gives the detected information to Micro Controller in the form of Logic signal. The information detected by the Video camera according to the position detected by the Mining detector will be transmitted using AM transmitter to the distant end for analysis. At the distant end TV receiver is used which receives the Video information. Since the search vehicle is equipped with 12V battery, a battery charging facility is also incorporated with Battery charger comprising a step down transformer, Full wave rectifier and a series voltage regulator. . The actual theory is Collision avoidance theory. Using range-finding sensors developed this theory. A new kind of IR sensors having the range is installed. When object obstacles in that range the IR beam will be reflected back and the Receiver will absolve it. Here the receiver is connected to micorcontroller. Infrared reflex sensors are most typically used for distance measurements by transmitting a modulated infrared light pulse and measuring the intensity of the reflection from obstacles nearby. In practice, infrared sensors can only be used for detection of objects, not for range measurements. The signals received from the Video Camera according to the position set by the Stepper

MICRO-CONTROLLER

A highly integrated chip that contains all the components comprising a controller. Typically this includes a CPU, RAM, some form of ROM, I/O ports, and timers In addition to the usual arithmetic and logic elements of a general purpose microprocessor, the microcontroller typically integrates additional elements such as read-write memory for data storage, read-only memory, such as flash for code storage, EEPROM for permanent data storage, peripheral devices, and input/output interfaces. At clock speeds of as little as a few MHz or even lower, microcontrollers often operate at very low speed compared to modern day microprocessors, but this is adequate for typical applications. They consume relatively little power (mill watts), and will generally have the ability to sleep while waiting for an interesting peripheral event such as a button press to wake them up again to do something. Power consumption while sleeping may be just nano watts, making them ideal for low power and long lasting battery applications. Microcontrollers are frequently used in automatically controlled products and devices, such as automobile engine control systems, remote controls, office machines, appliances, power tools, and toys.

The received information from the optical sensors fed to micro-controller, for storing as well as controlling stepper motors. Micro-controller unit is constructed with ATMEL 89C51 Micro-controller chip. The ATMEL AT89C51 is a low power, higher performance CMOS 8-bit microcomputer with 4K bytes of flash programmable and erasable read only memory (PEROM). Microcontroller works according to the program written in it. Most microcontrollers today are based on the Harvard architecture, which clearly defined the four basic components required for an embedded system. These include a CPU core, memory for the program (ROM or Flash memory), memory for data

(RAM), one or more timers (customizable ones and watchdog timers), as well as I/O lines to communicate with external peripherals and complementary resources all this in a single integrated circuit. A microcontroller differs from a general-purpose CPU chip in that the former generally is quite easy to make into a working computer, with a minimum of external support chips. The idea is that the microcontroller will be placed in the device to control, hooked up to power and any information it needs, and that's that. For instance, a typical microcontroller will have a built in clock generator and a small amount of RAM and ROM (or EPROM or EEPROM), meaning that to make it work, all that is needed is some control software and a timing crystal (though some even have internal RC clocks). Microcontrollers will also usually have a variety of input/output devices, such as analog-to-digital converters, timers, UARTs or specialized serial communications interfaces like IC, Serial Peripheral Interface and Controller Area Network. Often these integrated devices can be controlled by specialized processor instructions. Originally, microcontrollers were only programmed in assembly

language, or later in C code. Recent microcontrollers integrated with on-chip debug circuit accessed by In-circuit emulator via JTAG (Joint Text Action Group) enables a programmer to debug the software of an embedded system with a debugger. More recently, however, some microcontrollers have begun to include a built-in high-level programming language interpreter for greater ease of use. BASIC is a common choice, and is used in the popular BASIC Stamp MCUs (Master Control Unit). Microcontrollers trade away speed and flexibility to gain ease of equipment design and low cost.

Stepper Motor Drive Circuit

The output of the microcontroller is used to drive the stepper motor through drive circuit, and the motor used in this project work is having four windings, therefore the controller drives the motor through four outputs. The stepper motor windings are energized one after another in a sequence according to the code produced by the controller through motor drive circuit. This motor rotates in step wise and the step angle is 1.80. Varying the pulse rate can vary the speed of the motor. The pulses are produced by the controller can be controlled through the program by which motor speed can be varied. The stepper motor used in this project work is capable to drive up to 5kg load. ABOUT STEPPER MOTOR The stepper Motor used in this project work is indigenous one, which is an easy and reliable device to convert electrical energy into mechanical motion. It does not have the accuracy or the response speed of a dc motor. It is, however, utilized in many applications such as disk drives, printers, recorders, plotters, copiers, scanners, fax machines, robots, machine tools, automobiles, and medical equipment for its ease of use. Since each input change causes exactly one step rotation, a stepper motor may be operated in an open loop system. Typical step angles are 0.9o, 1.8o, 3.6o, 7.5o, 15o, and 30o. Stepper motors are frequently applied to problems that require precision positioning without rotor position feedback. The most common stepper motors have multiple field windings and a permanent magnet rotor. The rotor is made to rotate by means of electronically commutating (switching) the current in the field windings. These motors are design to operate indefinitely with DC voltage applied to one or more fields in order to hold the rotor in a fixed position. The rotor will rotate in discrete steps when the fields are energized in a specific sequence. Depending upon the sequence, the rotor may rotate clockwise (CW) or counter clockwise (CCW). Stepper motors are designed to

rotate a fixed number of degrees with each step. A 1.8-degree stepper motor requires 200 steps for the rotor to make a full revolution. Stepper motors have multiple stepping modes, full stepping, halfstepping and micro stepping. During full stepping, the rotor rotates the designed angular distance (1.8 degrees for example) each step. Half stepping is achieved on the same stepper motor by using an 8-state sequence. The rotor now rotates only half the designed angular rotation per half step. For a 1.8-degree stepper motor, the rotor will rotate 0.9 degrees for each half-step thus requiring 400 half steps for the rotor to make a full revolution. The chief advantage of half stepping is higher position control precision. Micro stepping requires extremely complex field current switching and allows an infinitely small rotation. Micro stepping is beyond the scope of this experiment.

TRIGGER CIRCUIT BLOCK

This block is designed with 555 timer IC and an LDR is used as a lightsensing device, the same is wired with timer IC. The idea of building this block is to energize the vehicle headlamps automatically, whenever the natural light disappears. Two lamps are provided at the front side of the vehicle and these lamps energized through the relay contact. The timer IC configured as Schmitt trigger mode of operation triggers at 1/3Vcc. When the LDR is exposed to the light intensity, the resistance of the LDR will become less than 1K and makes the voltage at comparator input less than 1/3Vcc which in turn triggers the timer IC and generates a high signal at its output (Pin No.3). When the IC is triggered relay will be energized automatically, this relay contact is used to provide supply to the lamps. For this purpose normally closed contact is used, when the relay energized closed

contact becomes open and breaks the supply to the lamps. When the natural light disappears, the resistance of the LDR will become more than 500K, which in turn comparator input voltage increases more 2/3Vcc, there by the relay remains in de-energized condition. When the relay remains in de-energized condition, normally closed contact remains in closed condition and provides supply to the lamps. Hence these lamps energized automatically when the natural light disappears. TRANSMITTER The output of the video camera is fed to transmitter as modulating waves and these waves are super imposed over the carrier and transmitted as modulated waves. The carrier is designed for transmitting the picture details. At the receiving end, a small television set of 4 screen is used. The transmitter circuit generates a continuous frequency of 100MHz approximately, which is used to form a permanent link between the transmitter and receiver, and this is known as carrier frequency. The output of video camera is fed to this carrier input as a modulating wave. This is an amplitude modulated T.V transmitter. The radiating power of the transmitter is less than 20mw, so that the range between transmitter and receiver can be less than 25 feet.

The block diagram of simplified block & white TV receiver shown below

In above block diagram, the receiving antenna intercepts radiated RF signals and the turner selects desired channels frequency band and converts it to common IF band of frequencies. The receiver employs two or three stages of IF amplifiers. The output from the last IF stage is de-modulated to recover the video signal. This signal that carries picture information is amplified and coupled to the picture tube, which converts the electrical signal back into picture elements of the same degree of black and white. The picture tube is very similar to the cathode-ray tube used in an oscilloscope. the fluorescent screen. emitted. beam. The path of sound signals is common with the picture signal from antenna to video detector section of the receiver. Here the two signals are separated and fed to their respective channels. The frequency modulated audio signal is The glass envelope Light is contains and electron-gun structure that produces a beam of electrons aimed at When the electron beam strikes the screen. A pair of deflecting coils mounted on the neck of picture tube in the

same way as the beam of camera tube scans the target plate deflects the

demodulated after at least one stage of amplification. The audio output from the FM detector is given due amplification before feeding it to the loudspeaker. METAL DETECTOR BLOCK The metal detector circuit is designed with CD 4011 IC, this is a quad 2 input NAND gate IC, which is having 4 NAND gates inside. This IC is configured as low frequency oscillator, designed with pick up coil; this pick up coil is used as metal detector, which can be placed below the vehicle. In normal condition the circuit output remains in constant state, whenever any metallic object brought very near to the pick up coil frequency will be disturbed due to the magnetic flux produced by the coil. This changes in the circuit to generate logic high signal at final output through the NAND gate. Due to these changes, voltage variations are observed at final output and this distorted DC voltage is compared with op-amp. In normal condition 2 volts can be obtained from the final output, when the circuit is interrupted due to the metal, heavy noise will be produced by the circuit, which makes reduction in the voltage. Means, whenever the metal is brought near the pick up coil, the final output falls from 2 volts to 1.5 volts. This difference is monitored continuously and with the help of a op-amp configured as voltage comparator, converted this difference into logic level. Depending up on the difference a comparator output remains in a perfect logic level, either 0 or 1. The output of this voltage comparator is fed to Microcontroller and whenever it receives logic high signal, it stops producing pulses to the stepper motor, which in turn vehicle stops at particular location for indicating that there is a metal dump just before the vehicle.

BD Chapter-5 Acrobat reader

Chapter-6 Acrobat reader

CHAPTER - 7
DETAILS ABOUT I R SENSOR INTRODUCTION
A sensor is a type of transducer which uses one type of energy, a signal of some sort, and converts it into a reading for the purpose of information transfer. Sensors are used in everyday objects such as touch-sensitive elevator buttons and lamps which dim or brighten by touching the base. There are also innumerable applications for sensors of which most people are never aware. Applications include automobiles, machines, aerospace, medicine, industry, and robotics.

DETECTION FACTORS Six factors typically affect the Probability of Detection (Pd) of most area surveillance (volumetric) sensors, although to varying degrees. These are the: 1) amount and pattern of emitted energy; 2) size of the object; 3) distance to the object; 4) speed of the object; 5) direction of movement and 6) reflection/absorption characteristics of the energy waves by the intruder and the environment (e.g. open area, shrubbery, or wooded). Theoretically, the more definitive the energy pattern, the better. Likewise, the larger the intruder/moving object the higher the probability of detection. Similarly, shorter the distance from the sensor to the intruder/object, and the faster the movement of the intruder/object, the higher the probability of detection. straight-on movement. A lateral movement that is fast typically has a higher probability of detection than a slow

PERFORMANCE CHARACTERISTICS: In the process of evaluating individual intrusion detection sensors, there are at least three performance characteristics which should be considered: Probability of Detection (PD), False Alarm Rate (FAR), and Vulnerability to Defeat (i.e. typical measures used to defeat or circumvent the sensor). A major goal of the security planner is to field an integrated Intrusion Detection System (IDS), which exhibits a low FAR and a high PD and is not susceptible to defeat. Probability of Detection provides an indication of sensor performance in detecting movement within a zone covered by the sensor. Probability of detection involves not only the characteristics of the sensor, but also the environment, the method of installation and adjustment, and the assumed behavior of an intruder. False Alarm Rate indicates the expected rate of occurrence of alarms high is not attributable to intrusion activity. For purposes of this Handbook, "false alarms" and "nuisance alarms" are included under the overall term "False Alarm Rate", although technically, there is a distinction between the two terms.

CHAPTER-8
Detailed Description about Video Cameras

The video camera is a kind of transducer, which produces electrical energy from light energy. I.e., the input to the video camera is light energy and this light energy is converted into electrical signals. Video converting the complete spectrum of visible light into electrical frequencies. There are two basic types of video cameras: monochrome (Black and White) and color. Monochrome cameras are lower in price, but color is more realistic. Both have advantages and both are desirable. The video camera not only converts the light reflected from a scene into an analogous video voltage, but it also supplies the necessary sync and blanking pulses to go along with it. In short, the video camera produces the equivalent of an NTSC (National Television Standards Committee) signal, the same sort of signal that is generated by a television broadcasting station. There is one exception, though. At the TV broadcasting station the The

composite video signal is loaded on to a carrier wave so as to be able to cover the distance between the station and all the receivers tuned to it. composite video signal, recorded on videotape by the VCR accompanying the camera, can be inserted into the in-home VCR for reproduction on the television screen. introduced. But that missing factor, the carrier wave, must be This is handled by the converter section of the VCR, supplying a

carrier wave whose frequency is that of either channel 3 or channel 4. Thus the composite video signal, now complete with a carrier, can be sent into the TV receiver via its antenna terminals. All that is required of the TV set is that its tuner be adjusted to the frequency of the carrier that is, either the frequency of channel 3 or channel 4, whichever frequency is used by the converter A video camera can be used indoors or out. For in-home use power for operating the camera can be obtained from the AC power line by using an

adaptor or the battery pack, as an additional piece of equipment. The amount of power used by a camera is least when various camera functions are manually operated. It takes battery power to make use of cameras automatic features. Thus a camera could need 7.6 watts approximately with its auto focus in the manual position. The camera used in this project work is designed to operate 12V DC. The trend in video camera design is to produce cameras that are as lightweight and as compact as possible. The camera used in this project work is known as Board camera and the weight of this camera is less than 200 grams. The details of the Board camera collected from Internet, the details along with the picture is as follows
"Board" Camera

The "Board" camera is an entire camera on a single TINY circuit board. Anytime you have ever seen someone with a camera hidden in a teddy bear, wall clock or smoke detector, it has been a board camera. Though it is very small, and perfect for hiddencamera applications, the wires are very sensitive to damage. This camera should not be used for outside use.

CAMERA OPTICS
As in motion picture film cameras, the optics represent the most important part of the camera and this includes the lens or the lens system and the viewfinder.

FOCAL LENGTH
In a film camera focal length is the distance from the optical center of the lens to the film. In a video camera it is the distance between the optical center of the lens and the target area of the picture tube. A short focal length means light inside the camera, whether film or video, has a shorter distance to travel,

and so less light is lost, hence the attractiveness of keeping the focal length as short as possible. Focal length is measured in millimeters (mm) and is supplied as a range.

OPERATING POWER
The operating power requirements of a video camera are approximately 6 to 8.5 watts DC. This doesnt sound like much and it is not if the camera is being used indoors and is connected to an outlet supplying 230 volts AC, changed to 12 volts DC by a converter. But it is another matter if the camera is being operated outdoors and must rely on batteries for power. Under such conditions a camera having the smallest power requirement would be the most desirable one if this were the only feature being considered. The video camera used in our project work is arranged over a revolving disk, naturally 12V battery pack must be provided over the disk to drive the camera.

Chapter-9 (Acrobat reader)

CHAPTER-10

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BIT BIT BIT

04H 05H DATA DATA DATA 30H 31H 32H 33H 34H 35H 36H 37H 38H

STEP_CNTL STEP_CNTR LAST_POS DIR_CON DLY_REG1 DLY_REG2 DLY_REG3 INT_DLY1 INT_DLY2

DATA DATA DATA DATA DATA DATA

TRK_DLY1 TRK_DLY2 STEP_CNTL1 STEP_CNTR1 LAST_POS1 COUNT COUNT1 INT_DLYZ STEP_CNTLZ INT_DLYZ1 STEP_CNTRZ COUNTAZ COUNTAZY STEP_CNTLX STEP_CNTLXY ORG ljmp

DATA DATA DATA DATA DATA DATA DATA DATA

39H 3AH 3BH 3CH 3DH 3EH 3FH 40H 41H 42H 43H 44H 45H 46H 47H

DATA DATA DATA DATA DATA DATA DATA 0000H RESET

ORG push push

000BH ACC PSW

lcall WHEEL_LEFT pop pop reti PSW ACC

ORG push push

001BH ACC PSW

lcall WHEEL_RIGHT pop pop reti PSW ACC

RESET: mov MOV mov mov mov mov mov mov mov setb setb mov mov mov mov mov mov P1, #0FFH P3,#0FH p2,#00h SP, #60H DPTR, #0400H STEP_CNTL, #00h STEP_CNTR, #00h TMOD, #22H IE, #8AH TR0 TR1 TH0, #7FH TL0, #7FH TH1, #7FH TL1, #7FH DLY_REG1, #0FFH DLY_REG2, #0FFH

mov mov mov mov

DLY_REG3, #24H DIR_CON, #00H TRK_DLY1, #00H TRK_DLY2, #00H

CLR ONOFF mov mov STEP_CNTL1, #00h STEP_CNTR1, #00h

MOV COUNT,#00H MOV COUNT1,#00H CLR PK1 CLR PK2 CLR PK3 CLR PK4 clr onoff CLR MOVFOR lcall dddelay MAIN: JB P3.2,NOINTP MOV P2,#11H

CLR MOVFOR CLR ONOFF CLR PK1 CLR PK2 CLR PK3 CLR PK4 LCALL DDDELAY MOV P2,#00H LCALL DDDELAY SETB ONOFF LCALL DDDELAY CLR ONOFF MOV P2,#11H LCALL DDDELAY MOV P2,#00H LCALL SIDES LCALL DDDELAY LCALL LLFT

LCALL DDDELAY LCALL RRFT LCALL DDDELAY LCALL LLFT LCALL DDDELAY LCALL RRFT LCALL DDDELAY LCALL SIDE LCALL DDDELAY MOV P3,#0FH LCALL DDELAY SETB PK2 LCALL DDELAY CLR PK2 SETB P3.2 NOINTP: mov a,p1 anl a,#0fh cjne a,#05h,run

go:

CLR MOVFOR CLR PK1 CLR PK2 CLR PK3 CLR PK4 SETB ONOFF LCALL DDELAY CLR ONOFF CLR PK3 CLR PK4 SETB PK1 CLR PK2 LCALL DDELAY ljmp main

RUN:

cjne a,#06h,run1

SETB PK3 CLR ONOFF CLR MOVFOR

CLR PK1 CLR PK2 CLR PK4 LCALL DLYS ljmp main RUN1: cjne a,#03h,run2 CLR ONOFF CLR MOVFOR CLR PK3 CLR PK2 CLR PK1 SETB PK4 LCALL DLYS LJMP MAIN RUN2: cjne a,#0fh,run3 CLR MOVFOR CLR PK1 CLR PK2

CLR PK3 CLR PK4 SETB ONOFF LCALL DDELAY CLR ONOFF SETB PK2 CLR PK3 CLR PK1 CLR PK4 LCALL DDELAY ljmp main

run3: cjne a,#07h,run4 SETB MOVFOR CLR PK3 CLR PK4 CLR PK1 CLR PK2

CLR ONOFF ljmp main run4: cjne a,#08h,run5 ljmp go run5: cjne a,#01h,run6 ljmp go run6: cjne a,#04h,run7 ljmp go run7: cjne a,#00h,run8 ljmp go run8: cjne a,#02h,run9 ljmp go run9: cjne a,#09h,run10 ljmp go run10: cjne a,#0Ah,run11 ljmp go run11: cjne a,#0Bh,run12 ljmp go

run12: cjne a,#0Ch,run13 ljmp go run13: cjne a,#0Dh,run14 ljmp go run14: cjne a,#0Eh,run15 ljmp go run15: LJMP MAIN

WHEEL_LEFT:JB ONOFF,TOP

JB MOVFOR,TOP3

ret TOP: JNB ONOFF,NOTCH21

inc mov

COUNT A, COUNT

cjne mov

A, #3FH, NOTCH21 COUNT, #00H

MOV DPTR,#0800H mov movc mov inc mov cjne mov A, STEP_CNTL1 A, @A+dptr P2,A STEP_CNTL1 A, STEP_CNTL1 A, #08h, NOTCH21 STEP_CNTL1, #00h

NOTCH21: RET TOP3: JNB MOVFOR,NOTCH311 inc mov cjne mov COUNT1 A, COUNT1 A, #3FH, NOTCH311 COUNT1, #00H

MOV DPTR,#0800H

mov add movc mov inc mov add cjne

A, STEP_CNTR1 A, #08H A, @A+dptr P2,A STEP_CNTR1 A, STEP_CNTR1 A, #08H A, #10h, NOTCH311 mov STEP_CNTR1, #00h

NOTCH311: RET

WHEEL_RIGHT:jb pk1,run21

jb pk2,run31

jb pk3,run71

jb pk4,run81

ret run21: jnb inc mov cjne mov MOV mov movc mov inc mov cjne pk1, STOP_FORW INT_DLY2 A, INT_DLY2 A, #3FH, SKIP_INT0 INT_DLY2, #00H DPTR,#0400H A, STEP_CNTL A, @A+dptr P2,A STEP_CNTL A, STEP_CNTL A, #08h, NOTCH2 mov NOTCH2: STEP_CNTL, #00h

ljmp

SKIP_INT0

STOP_FORW: SKIP_INT0:

ret

run71: jnb inc mov cjne mov MOV mov movc mov inc mov cjne

pk3, STOP_FOW INT_DLYZ A, INT_DLYZ A, #1FH, SKIP_IT0 INT_DLYZ, #00H DPTR,#0A00H A, STEP_CNTLZ A, @A+dptr P2,A STEP_CNTLZ A, STEP_CNTLZ A, #08h, NOTCH2Z

mov NOTCH2Z: ljmp

STEP_CNTLZ, #00h

SKIP_IT0

STOP_FOW: SKIP_IT0:

ret run31: jnb inc mov cjne mov pk2, STOP_REVW

INT_DLY1 A, INT_DLY1 A, #3FH, SKIP_INT1 INT_DLY1, #00H

MOV DPTR,#0400H mov add movc mov inc A, STEP_CNTR A, #08H A, @A+dptr P2,A STEP_CNTR

mov add cjne

A, STEP_CNTR A, #08H A, #10h, NOTCH3 mov STEP_CNTR, #00h

NOTCH3: ljmp SKIP_INT1

STOP_REVW: SKIP_INT1:

ret run81: jnb inc mov cjne mov pk4, STOP_REVWZ INT_DLYZ1 A, INT_DLYZ1 A, #1FH, SKIP_INTZ1 INT_DLYZ1, #00H

MOV DPTR,#0A00H mov add A, STEP_CNTRZ A, #08H

movc mov inc mov add cjne

A, @A+dptr P2,A STEP_CNTRZ A, STEP_CNTRZ A, #08H A, #10h, NOTCH3Z

mov NOTCH3Z: ljmp

STEP_CNTRZ, #00h

SKIP_INTZ1

STOP_REVWZ: SKIP_INTZ1:

ret SIDE: mov MOV SIDE1: mov movc STEP_CNTLX, #00h DPTR,#0C00H A, STEP_CNTLX A, @A+dptr

mov

P3,A

LCALL DELAY inc mov cjne mov INC MOV CJNE MOV RET SIDES: mov MOV STEP_CNTLX, #00h DPTR,#0C20H A, STEP_CNTLX STEP_CNTLX A, STEP_CNTLX A, #08h, SIDE1 STEP_CNTLX, #00h COUNTAZ A,COUNTAZ A,#08H,SIDE COUNTAZ,#00H

SIDES1: mov movc mov

A, @A+dptr P3,A

LCALL DELAY

inc mov cjne mov INC

STEP_CNTLX A, STEP_CNTLX A, #08h, SIDES1 STEP_CNTLX, #00h COUNTAZ A,COUNTAZ A,#08H,SIDES COUNTAZ,#00H

MOV CJNE MOV RET LLFT: mov MOV LLFT1: mov movc mov

STEP_CNTLX, #00h DPTR,#0C00H A, STEP_CNTLX A, @A+dptr P3,A

LCALL DELAY inc mov STEP_CNTLX A, STEP_CNTLX

cjne mov INC MOV

A, #08h, LLFT1 STEP_CNTLX, #00h COUNTAZ A,COUNTAZ A,#0EH,LLFT COUNTAZ,#00H

CJNE MOV RET

RRFT: mov MOV STEP_CNTLX, #00h DPTR,#0C20H A, STEP_CNTLX

RRFT1: mov movc mov

A, @A+dptr P3,A

LCALL DELAY inc mov cjne STEP_CNTLX A, STEP_CNTLX A, #08h, RRFT1

mov INC MOV CJNE MOV RET

STEP_CNTLX, #00h COUNTAZ A,COUNTAZ A,#0EH,RRFT COUNTAZ,#00H

ddelay: MOV R4,#70 Zz2: MOV R5,#70 Zz1: MOV R6,#70 TRGU: JNB P3.2,NOINTP2 DJNZ R6,TRGU DJNZ R5,Zz1 DJNZ R4,Zz2 NOINTP2:RET ;> dddelay: MOV R4,#50 Zz21: MOV R5,#50 Zz11: MOV R6,#50

DJNZ R6,$ DJNZ R5,Zz11 DJNZ R4,Zz21 RET

DLYS: MOV R4,#5 GZz2: MOV R5,#4 GZz1: MOV R6,#3 DJNZ R6,$ DJNZ R5,GZz1 DJNZ R4,GZz2 RET

DELAY: MOV R4,#10H GZz2C: MOV R5,#10H GZz1C: MOV R6,#10H

DJNZ R6,$ DJNZ R5,GZz1C DJNZ R4,GZz2C RET SDELAY: MOV R4,#6FH DJNZ R4,$ RET

ORG STEP_M2: db db db db db db db

0400H

0a1h 61h 51h 91h 0a1h 61h 51h

db STEP_M3: db db db db db db db db ;> ORG

91h

19h 15h 16h 1ah 19h 15h 16h 1ah

0800H

STEP_M21: db db db db db 9ah 56h 65h 0a9h 9ah

db db db STEP_M31: db db db db db db db db

56h 65h 0a9h

0a9h 65h 56h 9ah 0a9h 65h 56h 9ah

ORG STEPF_M2: db db db

0A00H

0a1h 61h 51h

db db db db db STEPF_M3: db db db db db db db db

91h 0a1h 61h 51h 91h

19h 15h 16h 1ah 19h 15h 16h 1ah

ORG

0C00H

db db db db db db db db

9Fh 5Fh 6Fh 0AFh 9Fh 5Fh 6Fh 0AFh

ORG

0C20H

db db db db db db db

0AFh 6Fh 5Fh 9Fh 0AFh 6Fh 5Fh

db

9Fh

END

CHAPTER 11
HARDWARE DETAILS
The ICs and other important components used in this project work, procured from the Hyderabad Electronics Market. The details or data sheets of

the ICs are down loaded from the Internet.

The following are the web sites

that can be browsed for collecting the data sheets. 1. www. Texas Instruments.com 2. www. National semiconductors.com 3. www. Fairchild semiconductors.com The following are the ICs and other important components used in this project work (1) 89C51 Microcontroller Chip (2) IRZ44 International Rectifier (3) 555 Timer IC (4) LM 567C Tone Decoder IC (5) Voltage Regulator (6) BC 547 NPN Epitaxial Silicon Transistor (7) Relay (8) Stepper Motor (9) LDR (10) CD 4011 The required PCBS (Printed Circuit boards) for the project work fabricated by COSMIC CIRCUITS, Kushaiguda Industrial Estate, Hyderabad. Kushaiguda Industrial Estate is very famous for fabricating the Industrial grade PCBs. CHAPTER-12 IN ACROBAT READER

CHAPTER - 17
CONCLUSIONS & REFERENCES

The Project elapsed great, the timetable was almost true, only approximate 1 day later with the finished design than we planned. The project

was a little more difficult than I expected from the beginning, but already when we got the assignment I had an idea to solve the problem, but after some hours work, and no positive result, I was almost quitting the idea. After a little time more we got the detector part to work so it was sensitive enough. The frequency detector was mounted and it worked great even the average part. We tried to make another detector to see if it could be more sensitive, and if the first failed, we had another horse to carry on with. Actually it ended up with almost 2 different working detectors, the second wasnt finished when we need to stop and finish the report. But since it is an analogue project I decided to describe the second detector also. Our team worked out the project without big conflicts. But if the knowledge of designing circuits and build circuit was almost at the same level in the group, the time used to make the product could be reduced. I mean one in the group maybe would have gained more if he had joined the basic level. Our advice to juniors that this project can be implemented by you with lots of modifications. As we have less time we have performed using some detectors, you try with some other detector and make this project more extraordinary.

REFERENCES:
The following are the references made during design, development and fabrication of the project work Autonomous Search Vehicle using Wireless Video Camera (1). Basic electronics By: GROB

(2). Mechatronics Electronic Control Systems in Mechanical and electrical Engineering By: W. Bolton (3) Electronic Circuit guide book Sensors By JOSEPH J.CARR
(4) The 8051 Micro-controller Architecture, programming & Applications

By: Kenneth J. Ayala (5) Mechanism and Machine Theory By: J.S. Rao, R.V. Dukkipati (6) Practical transistor circuit design and analysis By: GERALD E. WILLIAMS (7). Robotic Engineering an Integrated Approach By: Richard D. Klafter, Thomas A. Chmiclewski, and Michael Negin (8) Programming and Customizing the 8051 Micro-controller By: Myke Predko
(9) The concepts and Features of Micro-controllers - By: Raj Kamal

(10) Digital and Analog Communication System By: K. sam Shanmugam (11) Digital Electronics. (13). Practical Electronics (14). Elector India By JOSEPH J.CARR

(12). Electronics for you Monthly Magazine

In addition to the above books, most of the information collected from the Internet. The following are the references. [Arki99] Behavior-Based Robotics, Arkin, R., ISBN 0-262-01165-4 , MIT Press, 1999. BySi98] Byrne, J.Singh, S.,Precise Image Segmentation for Forest Inventory, CMU-RI-TR-98-14, Carnegie Mellon University, 1998.

[Clar99], Clark, S.,Autonomous Land Vehicle Navigation Using Millimetre Wave Radar, Ph.D. thesis, The University of Sydney January, 1999. [ChAl93] Chatila, R., Alami, R., Lacroix, S., Perret, J., Proust, C., Planet Exploration by Robots: From Mission Planning to Autonomous Navigation, In Proc. Intl. Conf. Advanced Robotics, pp. 91-96, Tokyo, Japan, November 1993. [ChIb99] Cherif, M., Ibanez-Guzman, J., Laugier, C., Goh, T., "Motion Planning for an All-Terrain Autonomous Vehicle," Int. Conf. on Field and Service Robotics, Pittsburgh, PA, USA, August, 1999. [ChLa95] Cherif, M., Laugier, C., Motion Planning of Autonomous Off- Road Vehicles Under Physical Interaction Constraints,'' IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1687-1693, Nagoya, Japan, 1995. [DrSa01] Driankov, D., Saffiotti, A. (Eds), Fuzzy Logic Techniques for Autonomous Vehicle Navigation, Springer-Verlag [DuJe00] Dudek, G., Jenkin, M., Computational Principles of Mobile Robotics, Cambridge University Press, 2000, p69. [Durr91] Durrant-Whyte, H., An autonomous Guided Vehicle for Cargo handling, International Journal of Robotics Research, 15(5) pages 407-440, 1991.
[HeKr93] Hebert, M. Krotkov, E. 3-D Measurements from Imaging Laser Radars. Intl. J. Image and Vision Computing, 10(3):170-178, April 1992. Antibes, France, September 1993.