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ON
RESCUE-BOT
MINI PROJECT
SEM
AMEYA KADGE
GOVIND MAURYA
PRASHANTRAJ PANDEY
ABHIRAJ PATIL
ROLL NO - 29
ROLL NO - 38
ROLL NO - 48
ROLL NO 54
PROF.RUPALI MANE
DEPARTMENT OF ELECTRONICS AND TELECOMMUNICATION
Thakur College of Engineering and Technology,Kandivali (E)
University of Mumbai
2016-2017
ABSTRACT
The main aim of this project is to detect the human being by using a
wireless remote controlled Robot, which have the sensors that detects the presence
of the human being and indicates the presence to user. As it is a wireless Robot it can
be easily mobilized and can be controlled. This can be used to detect terrorists/thief
inside the building. RF Communication ranges in between 30 KHz to 300 GHz. RF
communication works by creating electromagnetic waves at a source and being able
to pick up those electromagnetic waves at a particular destination. These
electromagnetic waves travel through the air at near the speed of light. The
wavelength of an electromagnetic signal is inversely proportional to the frequency
i.e., the higher the frequency, the shorter the wavelength. In this project we use
micro controller, which is programmed to control the input and output modules
interfaced to it. The controller makes use of a PIR based input sensor to sense the
human being and give us an alert indication. The controlling device of the whole
system is a Microcontroller to which RF receiver, PIR sensor and DC motors are
interfaced. The remote control has control buttons interfaced to RF transmitter.
Whenever a button is pressed, the data related to that button will be transmitted
through RF transmitter. This data will be received by RF receiver and is fed to the
Microcontroller. The Microcontroller processes this data and acts accordingly on
Robot motors. PIR sensor is interfaced to the Microcontroller which continuously
monitors human presence and intimates to the controller. The controller alerts
through Buzzer if human presence is present. The Microcontroller is programmed
using Embedded C language.
INDEX
CHAPTER 1- INTRODUCTION
PAGE NO:
1
Chapter-1
INTRODUCTION
Live Human Being Detection Wireless Remote Control Robot is used to detect
the live persons. This robot is very helpful in detecting live persons under the buried and
pillars etc., whenever there is any earthquake occurred, tsunami or any other building
collapse. At the time of these effects people may fell down and buried under the bridges
and under the pillars etc., in some cases we cant get into that felled contacts and we cant
help them. In such cases to save them immediately we use this robot. This robots job is to
detect the live person and indicate the signal to the helpers.
When we send this robot to such places where man movement is not possible, It will
try to find out the live persons. The user will control the robot movement with the remote.
The live person can be detected by the body temperature radiation. Normally human body
will have 96.8 to 105c temperature range. The PIR (passive infrared) sensor will be
designed like that it will activate when it will detect that much temperature. This project is
sophisticated in the market since it is a real time embedded project.
These projects can also be used in industries like in chemical factories. These can
provide security to the valuable things. In the advanced market these robots are further
implemented using the new technologies like GSM, GPS and LCD displays. Using these
GSM technologies we can operate the robot from the far distances and we can identify the
location using GPS. Using Camera at the Robot and LCD display at the user section we can
operate the device accurately and it provides live section. Gear wheels can provide the
accurate movement in all areas.
building, landslide or crater. During these emergency situations, and specially in urban
disaster, many different people
assistance).
They need to cooperate to save lives, protect structural infrastructure, and
evacuate victims to safety. In these situations, human rescuers must make quick decisions
under stress, and try to get victims to safety often at their own risk. They must gather
determine the location and status of victims and the stability of the structures as quickly as
possible so that medics and firefighters can enter the disaster area and save victims. All of
these tasks are performed mostly by human and trained dogs, often in very dangerous and
risky situations. This is why since some years, mobile robots have been proposed to help
them and to perform tasks that neither humans dogs nor existing tools can do. For this
project, we will focused only on robots which will work in a disaster environment of man
made structure, like collapsed buildings.
The advent of new high-speed technology and the growing computer capacity
provided realistic opportunity for new robot controls and realization of new methods of
control theory. This technical improvement together with the need for high performance
robots created faster, more accurate and more intelligent robots using new robots control
devices, new drives and advanced control algorithms. This Project deals with live personal
detection robot is based on 8 bit Microcontroller. This Robot follows which is drawn over
the surface. Here we are using PIR sensor for detect the which are detect human.
The project is mainly used in the DEBRIS for Earth quake rescue. Internally it
consists of IR sensors. The infrared sensors are used to sense the live persons. All the above
systems are controlled by the Microcontroller. In our project we are using the popular 8 bit
microcontroller .The Microcontroller is used to control the motors. It gets the signals from
the PIR sensors and it drives the motors according to the sensor inputs. Two DC gear motors
are used to drive the robot.
Chapter-2
DESIGN AND DEVEPLOPMENT OF HARDWARE
TRANSMITTER CIRCUIT:
CHAPTER 3
COMPONENT AND THEIR ESTIMATED COST
- 300
Micro Controller
- 400
III.
- 500
IV.
PIR sensor
- 400
V.
Driver IC
- 300
VI.
DC motor
- 200
VII.
Buzzer
- 200
VIII.
Chasis
- 500
IX.
Wheels
- 200
X.
Pcb
- 100
XI.
Etc
- 300
TOTAL
CHAPTER 4
INTERNAL WORKING EXPLANATION:
Micro Controller
PIR sensor
Driver IC
DC motor
Buzzer
Power supply
IR receiver
PIR sensor
Driver IC
DC motor
Buzzer
IR transmitter
Hence the direction of robot is changed by using RF remote. To detect the live person by
using robot PIR sensor is used.
The PIR sensor is used for detecting live persons during earth quakes. This sensor does
not emit any rays from it, it just absorb the radiations generated by the hot bodies since
living body is composed of 96 degrees it absorbs the radiation once it detects it sends data
to controller through to controller then controller automatically gives buzzer sound by
activating the pin-2 as an indication that person is alive.
Chapter - 5
BLOCK DIAGRAM AND DESCRIPTION
BLOCK DIAGRAM:
AT89C51 MICROCONTROLLER
5.1 A Brief History of 8051
Microprocessors and microcontrollers are widely used in embedded systems
products. Microcontroller is a programmable device. A microcontroller has a CPU in
addition to a fixed amount of RAM, ROM, I/O ports and a timer embedded all on a single
chip. The fixed amount of on-chip ROM, RAM and number of I/O ports in microcontrollers
makes them ideal for many applications in which cost and space are critical.
The Intel 8051 is Harvard architecture, single chip microcontroller (C) which was
developed by Intel in 1980 for use in embedded systems. In 1981, Intel Corporation
introduced an 8 bit microcontroller called 8051. This microcontroller had 128 bytes of
RAM, 4K bytes of chip ROM, two timers, one serial port, and four ports all on a single
chip. At the time it was also referred as A SYSTEM ON A CHIP. It was popular in the
1980s and early 1990s, but today it has largely been superseded by a vast range of enhanced
devices with 8051-compatible processor cores that are manufactured by more than 20
independent manufacturers including Atmel, Infineon Technologies and Maxim Integrated
Products.
8051 is an 8-bit processor, meaning that the CPU can work on only 8 bits of data at a
time. Data larger than 8 bits has to be broken into 8-bit pieces to be processed by the CPU.
8051 is available in different memory types such as UV-EPROM, Flash and NV-RAM.
There are many versions of 8051 with different speeds and amount of on-chip ROM and
they are all compatible with the original 8051. This means that if you write a program for
one it will run on any of them.
The 8051 is an original member of the 8051 family. There are two other members in the
8051 family of microcontrollers. They are 8052 and 8031. All the three microcontrollers
will have the same internal architecture, but they differ in the following aspects.
8031 has 128 bytes of RAM, two timers and 6 interrupts.
89C51 has 4KB ROM, 128 bytes of RAM, two timers and 6 interrupts.
89S52 has 8KB ROM, 128 bytes of RAM, three timers and 8 interrupts.
Of the three microcontrollers, 89C51 is the most preferable. Microcontroller supports
both serial and parallel communication.
In the concerned project 89c51 microcontroller is used. AT89c51 is manufactured by
ATMEL laboratories.The present project is implemented on K Uvision. In order to program
the device, proload tool has been used to burn the program onto the microcontroller.
The features, pin description of the microcontroller AT89C51 (refer fig. 3.2) and the
software tools used are discussed in the following sections.
Description
The AT89C51 is a low-power, high-performance CMOS 8-bit microcomputer with 4K
bytes of Flash programmable and erasable read only memory (PEROM). The device
is manufactured using Atmels high-density nonvolatile memory technology and is
compatible with the industry-standard MCS-51 instruction set and pinout. The on-chip
Flash allows the program memory to be reprogrammed in-system or by a conventional
nonvolatile memory programmer. By combining a versatile 8-bit CPU with Flash on a
monolithic chip, the Atmel AT89C51 is a powerful microcomputer which provides a highlyflexible and cost-effective solution to many embedded control applications.
The AT89C51 provides the following standard features: 4K bytes of Flash, 128 bytes of
RAM, 32 I/O lines, two 16-bit timer/counters, a five vector two-level interrupt architecture,
a full duplex serial port, on-chip oscillator and clock circuitry.In addition, the AT89C51 is
designed
with static logic for operation down to zero frequency and supports two software selectable
power saving modes. The Idle Mode stops the CPU while allowing the RAM,
timer/counters, serial port and interrupt system to continue functioning. The Power-down
Mode saves the RAM contents but freezes the oscillator disabling all other chip functions
until the next hardware reset.
Block Diagram
Pin Description
Vcc:
Pin 40 provides supply voltage to the chip. The voltage source is +5V.
Ports 0, 1, 2 and 3
The four ports P0, P1, P2 and P3 each use 8 pins, making them 8-bit ports. All the
ports upon RESET are configured as input, since P0-P3 have value FFH on them.
Port 0(P0)
Port 0 is also designated as AD0-AD7, allowing it to be used for both address and
data. ALE indicates if P0 has address or data. When ALE=0, it provides data D0-D7, but
when ALE=1, it has address A0-A7. Therefore, ALE is used for de-multiplexing address
and data with the help of an internal latch.
When there is no external memory connection, the pins of P0 must be connected to a
10K-ohm pull-up resistor. This is due to the fact that P0 is an open drain. With external pullup resistors connected to P0, it can be used as a simple I/O, just like P1 and P2. But the
ports P1, P2 P3 do not need any pull-up resistors since they already have pull-up resistors
internally. Upon reset, ports P1, P2 and P3 are configured as input ports.
Port 1
Port 1 is an 8-bit bi-directional I/O port with internal pullups.The Port 1 output buffers can
sink/source four TTL inputs. When 1s are written to Port 1 pins they are pulled high by the
internal pullups and can be used as inputs. As inputs, Port 1 pins that are externally being
pulled low will source current (IIL) because of the internal pullups. Port 1 also receives the
low-order address bytes during Flash programming and verification.
PORT 2
Port 2 is an 8-bit bi-directional I/O port with internal pullups. The Port 2 output buffers can
sink/source four TTL inputs. When 1s are written to Port 2 pins they are pulled high by the
internal pullups and can be used as inputs. As inputs, Port 2 pins that are externally being
pulled low will source current (IIL) because of the internal pullups. Port 2 emits the highorder address byte during fetches from external program memory and during accesses to
external data memory that use 16-bit addresses (MOVX @DPTR). In this application, it
uses strong internal pull-ups when emitting 1s. During accesses to external data memory
that use 8-bit addresses (MOVX @ RI), Port 2 emits the contents of the P2 Special Function
Register. Port 2 also receives the high-order address bits and some control signals during
Flash programming and verification.
Port 3
Port 3 is an 8-bit bi-directional I/O port with internal pullups. The Port 3 output buffers can
sink/source four TTL inputs. When 1s are written to Port 3 pins they are pulled high by the
internal pullups and can be used as inputs. As inputs, Port 3 pins that are externally being
pulled low will source
current (IIL) because of the pullups. Port 3 also serves the functions of various special
features of the AT89C51 as listed below:
Port 3 also receives some control signals for Flash programming and verification.
ALE/PROG
Address Latch Enable output pulse for latching the low byte of the address during accesses
to external memory. This pin is also the program pulse input (PROG) during Flash
programming. In normal operation ALE is emitted at a constant rate of 1/6 the oscillator
frequency, and may be used for external timing
or clocking purposes. Note, however, that one ALE pulse is skipped during each access to
external Data
Memory.If desired, ALE operation can be disabled by setting bit 0 of SFR location 8EH.
With the bit set, ALE is active only during a MOVX or MOVC instruction. Otherwise, the
pin is weakly pulled high. Setting the ALE-disable bit has no effect if the microcontroller is
in external execution mode.
PSEN
Program Store Enable is the read strobe to external program memory. When the AT89C51 is
executing code from external program memory, PSEN is activated twice each machine
cycle, except that two PSEN activations are skipped during each access to external data
memory.
EA/VPP
External Access Enable. EA must be strapped to GND in order to enable the device to
fetch code from external program memory locations starting at 0000H up to FFFFH. Note,
however, that if lock bit 1 is programmed, EA will be internally latched on reset. EA should
be strapped to VCC for internal program executions. This pin also receives the 12-volt
programming enable voltage (VPP) during Flash programming, for parts that require 12volt VPP.
XTAL1
Input to the inverting oscillator amplifier and input to the internal clock operating circuit.
XTAL2
Output from the inverting oscillator amplifier.
Oscillator Characteristics
XTAL1 and XTAL2 are the input and output, respectively, of an inverting amplifier
which can be configured for use as an on-chip oscillator, as shown in Figure 1. Either a
quartz
crystal or ceramic resonator may be used. To drive the device from an external clock source,
XTAL2 should be left unconnected while XTAL1 is driven as shown in Figure 2.There are
no requirements on the duty cycle of the external clock signal, since the input to the internal
clocking circuitry is through a divide-by-two flip-flop, but minimum and maximum voltage
high and low time specifications must be
observed.
Idle Mode
In idle mode, the CPU puts itself to sleep while all the on chip peripherals remain active.
The mode is invoked by software. The content of the on-chip RAM and all the special
functions registers remain unchanged during this mode. The idle mode can be terminated by
any enabled interrupt or by a hardware reset. It should be noted that when idle is terminated
by a hard ware reset, the device normally resumes program execution, from where it left off,
up to two machine cycles before the internal reset algorithm takes control. On-chip
hardware inhibits access to internal RAM in this event, but access to the port pins is not
inhibited. To eliminate the possibility of an unexpected write to a port pin when Idle is
terminated by
reset, the instruction following the one that invokes Idle should not be one that writes to a
port pin or to external memory.
Power-down Mode
In the power-down mode, the oscillator is stopped, and the instruction that invokes powerdown is the last instruction executed. The on-chip RAM and Special Function Registers
retain their values until the power-down mode is terminated. The only exit from powerdown is a hardware reset. Reset redefines the SFRs but does not change the on-chip RAM.
The reset should not be activated before VCC is restored to its normal operating level and
must be held active long enough to allow the oscillator to restart and stabilize.
dumped in the microcontroller is stored in the Flash memory in the microcontroller. Before
that, this Flash memory has to be programmed and is discussed in the next section.
5.2.2
Memory Organization
MCS-51 devices have a separate address space for Program and Data Memory. Up
to 64K bytes each of external Program and Data Memory can be addressed.
Program Memory
If the EA pin is connected to GND, all program fetches are directed to external
memory.On the AT89C51, if EA is connected to VCC, program fetches to addresses 0000H
through 1FFFH are directed to internal memory and fetches to addresses 2000H through
FFFFH are to external memory.
Data memory EEPROM and RAM
The AT89C51implements 2K bytes of on-chip EEPROM for data storage and 256
bytes of RAM. The upper 128 bytes of RAM occupy a parallel space to the Special
Function Registers i.e., the upper 128 bytes have the same addresses as the SFR space but
are physically separate from SFR space.
When an instruction accesses an internal location above address 7FH, the address
mode used in the instruction specifies whether the CPU accesses the upper 128 bytes of
RAM or the SFR space.
Instructions that use direct addressing access SFR space. For example, the following
direct addressing instruction accesses the SFR at location 0A0H (which is P2).
MOV 0A0H, #data
Instructions that use indirect addressing access the upper 128 bytes of RAM. For
example, the following indirect addressing instruction, where R0 contains 0A0H, accesses
the data byte at address 0A0H, rather than P2 (whose address is 0A0H).
AT89C51Flash
Microcontroller
offers
8K
bytes
of
in-system
reprogrammable Flash Code memory and 2K bytes of EEPROM Data memory. The
AT89C51is normally equipped with the on-chip Flash Code and EEPROM Data memory
arrays in the erased state (i.e. contents = FFH) and ready to be programmed.
This device supports a high-voltage (12-V VPP) Parallel programming mode and a
low-voltage (5-V VCC) Serial programming mode.
5.2.3.1 Serial Programming mode
This mode provides a convenient way to reprogram the AT89C51inside the users
system. The Code and Data memory arrays are mapped via separate address spaces in this
mode. An auto-erase cycle is provided with the self-timed programming operation. There is
no need to perform the Chip Erase operation to reprogram any memory location in this
programming mode unless any of the lock bits have been programmed.
Serial downloading:
Both the Code and Data memory arrays can be programmed using the serial SPI bus
while RST is pulled to VCC. The serial interface consists of pins SCK, MOSI (input) and
MISO (output). After RST is set high, the Programming Enable instruction needs to be
executed first before program/erase operations can be executed.
An auto-erase cycle is built into the self-timed programming operation (in the serial
mode ONLY) and there is no need to first execute the chip erase instruction unless any of
the lock bits have been programmed. The Chip Erase operation turns the content of every
memory location in both the Code and Data arrays into FFH. The Code and Data memory
arrays have separate address spaces: 0000H to 1FFFH for Code memory and 000H to 7FFH
for Data memory. Either an external system clock is supplied at pin XTAL1 or a crystal
needs to be connected across pins XTAL1 and XTAL2. The maximum serial clock (SCK)
frequency should be less than 1/40 of the crystal frequency. With a 24 MHz oscillator clock,
the maximum SCK frequency is 600 kHz.
6. Pulse ALE/PROG once to program a byte in the Code memory array, the Data memory
array or the lock bits. The byte-write cycle is self-timed and typically takes 1.5 ms.
7. To verify the byte just programmed, bring pin P2.7 to L and read the programmed data
at pins P0.0 to P0.7.
8. Repeat steps 3 through 7 changing the address and data for the entire 2K or 8K bytes
array or until the end of the object file is reached.
9. Power-off sequence: Set XTAL1 to L. Set RST and EA pins to L. Turn VCC power
off.
55C to +125
2. Storage Temperature
65C to +150C
1.0V to +7.0V
5. DC Output Current
15.0 mA
A variable regulated power supply, also called a variable bench power supply,
is one where you can continuously adjust the output voltage to your requirements.
Varying the output of the power supply is the recommended way to test a project
after having double checked parts placement against circuit drawings and the parts
placement guide.
This type of regulation is ideal for having a simple variable bench power supply.
Actually this is quite important because one of the first projects a hobbyist should
undertake is the construction of a variable regulated power supply. While a dedicated
supply is quite handy, it's much handier to have a variable supply on hand, especially
for testing.
Regulator
The filter output is not a pure d.c and it is not a constant d.c voltage it varies with
the fluctuations in the main power supply. But our requirement is to get constant power
supply. The regulator can give constant d.c power supply. These are two types ve power
supply and +ve power supply. The 78xx series gives +ve power supply (78 indicates +ve
and xx indicates any voltage value). The LM79xx series gives ve power supply ( 79
indicates ve and xx indicates any voltage value). In our project AT89c51, HT12E and
HT12D needs +5v power. LM7805 gives +5v constant power supply.
LM7805 regulator pin diagram is shown in below fig.8(b)
Fig.8(b) LM7805
LM7805 Features
Output Current up to 1A
+5v
1.5v
I=5mA
V=IR
0v
The supply voltage is 5 volts.
The current that we want to flow through the LED is 5mA.
Assume that the forward voltage drop will be 1.5 V.
BY KVL, the voltage drop across the resistor must be 5 -1.5=3V.
By Ohms Law, this voltage drop equals iR.
Therefore:
5- 1.5 = R*5mA
Rearranging terms gives:
R = (5- 1.5)/5mA
R = 3.5/5mA = 0.7 K = 700 .
So, if we select R value as 700 , then the current flowing through the
LED is limited to 5 mA.
magnetic field, it will experience a force proportional to the current in the conductor, and to
the strength of the external magnetic field. As you are well aware of from playing with
magnets as a kid, opposite (North and South) polarities attract, while like polarities (North
and North, South and South) repel. The internal configuration of a DC motor is designed to
harness the magnetic interaction between a current-carrying conductor and an external
magnetic field to generate rotational motion.
Let's start by looking at a simple 2-pole DC electric motor (here red represents a
magnet or winding with a "North" polarization, while green represents a magnet or winding
with a "South" polarization).
Every DC motor has six basic parts -- axle, rotor (a.k.a., AVRature), stator, commutator,
field magnet(s), and brushes. In most common DC motors (and all that BEAMers will see),
the external magnetic field is produced by high-strength permanent magnets 1. The stator is
the stationary part of the motor -- this includes the motor casing, as well as two or more
permanent magnet pole pieces. The rotor (together with the axle and attached commutator)
rotate with respect to the stator. The rotor consists of windings (generally on a core), the
windings being electrically connected to the commutator. The above diagram shows a
common motor layout -- with the rotor inside the stator (field) magnets.
The geometry of the brushes, commutator contacts, and rotor windings are such
that when power is applied, the polarities of the energized winding and the stator magnet(s)
are misaligned, and the rotor will rotate until it is almost aligned with the stator's field
magnets. As the rotor reaches alignment, the brushes move to the next commutator contacts,
and energize the next winding. Given our example two-pole motor, the rotation reverses the
direction of current through the rotor winding, leading to a "flip" of the rotor's magnetic
field, driving it to continue rotating.
In real life, though, DC motors will always have more than two poles (three is a very
common number). In particular, this avoids "dead spots" in the commutator. You can
imagine how with our example two-pole motor, if the rotor is exactly at the middle of its
rotation (perfectly aligned with the field magnets), it will get "stuck" there. Meanwhile,
with a two-pole motor, there is a moment where the commutator shorts out the power
supply (i.e., both brushes touch both commutator contacts simultaneously). This would be
bad for the power supply, waste energy, and damage motor components as well. Yet another
disadvantage of such a simple motor is that it would exhibit a high amount of torque
"ripple" (the amount of torque it could produce is cyclic with the position of the rotor).
So since most small DC motors are of a three-pole design, let's tinker with the workings of
one via an interactive animation (JavaScript required):
You'll notice a few things from this -- namely, one pole is fully energized at a time (but two
others are "partially" energized). As each brush transitions from one commutator contact to
the next, one coil's field will rapidly collapse, as the next coil's field will rapidly charge up
(this occurs within a few microsecond). We'll see more about the effects of this later, but in
the meantime you can see that this is a direct result of the coil windings' series wiring:
There's probably no better way to see how an average DC motor is put together, than by just
opening one up. Unfortunately this is tedious work, as well as requiring the destruction of a
perfectly good motor.
Luckily for you, I've gone ahead and done this in your stead. The guts of a disassembled
Mabuchi FF-030-PN motor (the same model that Solarbotics sells) are available for you to
see here (on 10 lines / cm graph paper). This is a basic 3-pole DC motor, with 2 brushes and
three commutator contacts.
The use of an iron core AVRature (as in the Mabuchi, above) is quite common, and has a
number of advantages2. First off, the iron core provides a strong, rigid support for the
windings -- a particularly important consideration for high-torque motors. The core also
conducts heat away from the rotor windings, allowing the motor to be driven harder than
might otherwise be the case. Iron core construction is also relatively inexpensive compared
with other construction types.
But iron core construction also has several disadvantages. The iron AVRature has a
relatively high inertia which limits motor acceleration. This construction also results in high
winding inductances which limit brush and commutator life.
In small motors, an alternative design is often used which features a 'coreless' AVRature
winding. This design depends upon the coil wire itself for structural integrity. As a result,
the AVRature is hollow, and the permanent magnet can be mounted inside the rotor coil.
Coreless DC motors have much lower AVRature inductance than iron-core motors of
comparable size, extending brush and commutator life.
As shown in the above figure there are four switching elements named as High side left,
high side right, low side left, low side right. When these switches are turned on in
pairs motor changes its direction accordingly. Like if we switch on high side left and low
side right then the motor rotates in forward direction., as the current flows from P\power
supply through the motor coil goes to the ground via switch low side right. This is the figure
shown below.
Similarly if we switch on the low side left and high side right the current flows in opposite
direction and motor runs in forward direction. This is the basic working of H-Bridge Motor.
L293D Dual H-Bridge Motor Driver:
L293D is a dual H-Bridge motor Driver, so with one IC we can interface two DC motors
which can be controlled in both clock wise and anti clock wise directions when we have
motor with fixed direction of motion. We can also make use of all the four I/os to connect
up to four DC motors.
L293D has an output current of 600mA and peak output current of 1.2A per channel.
Moreover the protection of the circuit from back EMF output diodes are included within the
IC. The output supply (VCC2) has a wide range from 4.5 V to 36V, which has made L293D
as the best choice for DC motor Driver.
As we see in the circuit three pins are needed for interfacing DC motor (A, B, Enable). If
we want the output to be enabled completely then we can connect the enable to VCC and
only two pins needed from the micro controller . As per the truth mentioned in the image
above its fairly simple program to the micro controller. It is also clear from the BJT circuit
and L293D the programming will be same for both of them, just keep in mind of the
allowed combinations of the A and B.
RF TRANSMITTER:
General Description:
The ST-TX01-ASK is an ASK Hybrid transmitter module.
ST-TX01-ASK is designed by the Saw Resonator, with an effective low cost, small size, and
simple-to-use for designing.
Frequency Range:315 / 433.92 MHZ.
Supply Voltage: 3~12V.
Output Power : 4~16dBm
Circuit Shape: Saw
Applications
*Wireless security systems
*Car Alarm systems
*Remote controls.
*Sensor reporting
*Automation systems
RF ENCODER: (HT12E)
Features
Operating voltage
2.4V~5V for the HT12A
2.4V~12V for the HT12E
VDD=5V
transmission medium
Applications
Security system
Cordless telephones
General Description
The 212 encoders are a series of CMOS LSIs for remote control system applications.
They are capable of encoding information which consists of N address bits and 12_N data
bits. Each address/ data input can be set to one of the two logic states. The programmed
addresses/data are transmitted together with the header bits via an RF or an infrared
transmission medium upon receipt of a trigger signal. The capability to select a TE trigger
on the HT12E or a DATA trigger on the HT12A further enhances the application flexibility
of the 212 series of encoders. The HT12A additionally provides a 38kHz carrier for infrared
systems.
RF RECEIVER:
General Description:
The ST-RX02-ASK is an ASK Hybrid receiver module.
A effective low cost solution for using at 315/433.92 MHZ.
The circuit shape of ST-RX02-ASK is L/C.
Receiver Frequency: 315 / 433.92 MHZ
Typical sensitivity: -105dBm
Supply Current: 3.5mA
IF Frequency:1MHz
Applications
Sensor reporting
Automation system
Features:
RF DECODER: (HT12D)
Features
technology
medium
Security system
Cordless telephones
General Description
The 212 decoders are a series of CMOS LSIs for remote control system applications.
They are paired with Holtek_s 212 series of encoders (refer to the encoder/decoder cross
reference table). For proper operation, a pair of encoder/decoder with the same number of
addresses and data format should be chosen. The decoders receive serial addresses and data
from a programmed 212 series of encoders that are transmitted by a carrier using an RF or
an IR transmission medium. They compare the serial input data three times continuously
with their local addresses. If no error or unmatched codes are found, the input data codes are
decoded and then transferred to the output pins. The VT pin also goes high to indicate a
valid transmission. The 212 series of decoders are capable of decoding informations that
consist of N bits of address and 12_N bits of data. Of this series, the HT12D is arranged to
provide 8 address bits and 4 data bits, and HT12F is used to decode 12 bits of address
information.
Chapter-6
PASSIVE INFRARED SENSOR
PIR sensors allow you to sense motion, almost always used to detect whether a
human has moved in or out of the sensors range. They are small, inexpensive, low-power,
easy to use and don't wear out. For that reason they are commonly found in appliances and
gadgets used in homes or businesses. They are often referred to as PIR, "Passive Infrared",
"Pyroelectric", or "IR motion" sensors.
PIRs are basically made of a pyroelectric sensor (which you can see above as the
round metal can with a rectangular crystal in the center), which can detect levels of infrared
radiation. Everything emits some low level radiation, and the hotter something is, the more
radiation is emitted. The sensor in a motion detector is actually split in two halves. The
reason for that is that we are looking to detect motion (change) not average IR levels. The
two halves are wired up so that they cancel each other out. If one half sees more or less IR
radiation than the other, the output will swing high or low.
Along with the pyroelectic sensor is a bunch of supporting circuitry, resistors and
capacitors. This chip takes the output of the sensor and does some minor processing on it to
emit a digital output pulse from the analog sensor.
For many basic projects or products that need to detect when a person has left or
entered the area, or has approached, PIR sensors are great. They are low power and low
cost, pretty rugged, have a wide lens range, and are easy to interface with. Note that PIRs
won't tell you how many people are around or how close they are to the sensor, the lens is
often fixed to a certain sweep and distance (although it can be hacked somewhere) and they
are also sometimes set off by housepets.
How does it work?
PIR sensors are more complicated than many of the other sensors explained in these
tutorials (like photocells, FSRs and tilt switches) because there are multiple variables that
affect the sensors input and output. To begin explaining how a basic sensor works, we'll use
this rather nice diagram (if anyone knows where it originates plz let me know).
PIR sensor itself has two slots in it, each slot is made of a special material that is
sensitive to IR. The lens used here is not really doing much and so we see that the two slots
can 'see' out past some distance (basically the sensitivity of the sensor). When the sensor is
idle, both slots detect the same amount of IR, the ambient amount radiated from the room or
walls or outdoors. When a warm body like a human or animal passes by, it first intercepts
one half of the PIR sensor, which causes a positive differential change between the two
halves. When the warm body leaves the sensing area, the reverse happens, whereby the
sensor generates a negative differential change. These change pulses are what is detected.
Chapter - 7
DEVELOPMENT OF SOFTWARE
SOURCE CODE
#include<reg51.h>
sfr rfr=0x90;
sfr mtr=0xB0;
sbit pir=P2^0;
sbit buz=P2^3;
void detection(void);
void main()
{
rfr=0xFF;
buz=0;
while(1)
{
if(rfr==0x0E)
{
mtr=0x05;
}
else if(rfr==0x0D)
{
mtr=0x0A;
}
else if(rfr==0x0B)
{
mtr=0x02;
}
else if(rfr==0x07)
{
mtr=0x08;
}
else if(rfr==0x0C)
{
detection();
}
else if(rfr==0x0F)
{
mtr=0x00;
buz=0;
}
else
mtr=0x00;
buz=0;
}
}
void detection()
{
unsigned int i;
mtr=0x00;
if(pir==1)
{
buz=1;
for(i=0;i<200;i++);
}
else
buz=0;
}
Chapter - 8
KEIL SOFTWARE
Keil is a cross compiler. So first we have to understand the concept of compilers and
cross compilers. After then we shall learn how to work with keil.
Concept of compiler: -
Compilers are programs used to convert a High Level Language to object code. Desktop
compilers produce an output object code for the underlying microprocessor, but not for
other microprocessors. I.E the programs written in one of the HLL like C will compile
the code to run on the system for a particular processor like x86 (underlying
microprocessor in the computer). For example compilers for Dos platform is different
from the Compilers for Unix platform
So if one wants to define a compiler then compiler is a program that translates source
code into object code. The compiler derives its name from the way it works, looking at
the entire piece of source code and collecting and reorganizing the instruction. See there
is a bit little difference between compiler and an interpreter. Interpreter just interprets
whole program at a time while compiler analyzes and execute each line of source code
in succession, without looking at the entire program.
The advantage of interpreters is that they can execute a program immediately. Secondly
programs produced by compilers run much faster than the same programs executed by
Concept of cross compiler: A cross compiler is similar to the compilers but we write a program for the target
processor (like 8051 and its derivatives) on the host processors (like computer of x86)
It means being in one environment you are writing a code for another environment is
called cross development. And the compiler used for cross development is called cross
compiler
So the definition of cross compiler is a compiler that runs on one computer but produces
object code for a different type of computer. Cross compilers are used to generate
software that can run on computers with a new architecture or on special-purpose
devices that cannot host their own compilers. Cross compilers are very popular for
embedded development, where the target probably couldn't run a compiler. Typically an
embedded platform has restricted RAM, no hard disk, and limited I/O capability. Code
can be edited and compiled on a fast host machine (such as a PC or Unix workstation)
and the resulting executable code can then be downloaded to the target to be tested.
Cross compilers are beneficial whenever the host machine has more resources (memory,
disk, I/O etc) than the target. Keil C Compiler is one such compiler that supports a huge
number of host and target combinations. It supports as a target to 8 bit microcontrollers
like Atmel and Motorola etc.
Why do we need cross compiler?
There are several advantages of using cross compiler. Some of them are described as
follows
By using this compilers not only can development of complex embedded systems
be completed in a fraction of the time, but reliability is improved, and maintenance
is easy.
Register allocation and addressing mode details are managed by the compiler.
Keywords and operational functions that more nearly resemble the human
thought process can be used.
The library files that are supplied provide many standard routines (such as
formatted output, data conversions, and floating-point arithmetic) that may be
incorporated into your application.
The C language is very portable and very popular. C compilers are available for
almost all target systems. Existing software investments can be quickly and easily
converted from or adapted to other processors or environments.
Now after going through the concept of compiler and cross compilers lets we start with Keil
C cross compiler.
Keil C cross compiler: Keil is a German based Software development company. It provides several development
tools like
Project Manager
Simulator
Debugger
Keil Software provides you with software development tools for the ARM microcontrollers.
With these tools, you can generate embedded applications for the multitude of ARM
derivatives. Keil provides following tools for ARM development
1.
2.
Macro Assembler,
3.
4.
Source-Level Debugger/Simulator,
5.
The keil ARM tool kit includes three main tools, assembler, compiler and linker.
An assembler is used to assemble your ARM assembly program
A compiler is used to compile your C source code into an object file
A linker is used to create an absolute object module suitable for your in-circuit emulator.
ARM project development cycle: These are the steps to develop ARM project using keil
1. Create source files in C or assembly.
2. Compile or assemble source files.
3. Correct errors in source files.
4. Link object files from compiler and assembler.
5. Test linked application.
CHAPTER 9
APPLICATION
RESCUE-BOT can be used at the time of natural calamities to save the lives of
human.
This can also be used to detect the humans in the war field.
This can be used for security purpose in the jewellery shops, museums, etc.
This can be used in home automation project to switch on and off the appliances at
home by detection if there is any human being present or not.
This can be used to detect terrorist hidden in any building by clearing the building
and attaching camera type eyes to the bot on a mission.
Advantages:
By using radio frequency its range has been increased to 500 m ( in
open area ) and 200 m ( in surrounded area or closed area ).
Limitations of the Circuit:
CHAPTER 10
PLANNING OF MAKING PROJECT
i.
Purchasing of components
- 1 week
ii.
Assembly of components
- 1 week
iii.
iv.
- 1 week
Total
- 4 week
Submission :
Next week as soon as the project gets completed in 4 weeks.
CHAPTER 11
BIBLIOGRAPHY
BIBLIOGRAPHY :
The 8051 Micro controller and Embedded Systems
-Muhammad Ali Mazidi
-Janice Gillispie Mazidi
The 8051 Micro controller Architecture, Programming & Applications
-Kenneth J.Ayala
CHAPTER 12
REFERENCES