AUTONOMOUS TROLLEY SYSTEM

By - Shaik Mohammed Shabaz

Tribhuvan L
ABSTRACT :
 A prototype of an Autonomous Trolley which shuttles between
different stations carrying load.
 Concept of Line following for the trolley to follow the track using
IR sensors.
 Trolley stops at every checkpoint defined, waits for the predefined
time , alerts the user before leaving and moves towards next point.
 by identifying the presence of a specifically designed pillar.
 Includes load detection feature so as to decide the next checkpoint.
 Any no.of checkpoints can be included between source and
destination .
Block diagram
PC IR (LF)
MODULE

ISP - ICP

MOTOR
DRIVER
END STATION

DC
MOTOR
IR (LD)
MODULE

BUZZER
IR (SDI)
MODULE
Schematic diagram:
SOFTWARE REQUIREMENTS:
 Keil C Compiler
 Proteus

 Nuvoton ISP – ICP tool

BUDGET FOR HARDWARE REQUIREMENTS:

 MC[ with flash ] - 90 /-

 LM293D Motor driver - 60/-
 IR Modules - 75/-
 Robot chassis with wheels - 180/-
 DC Motors - 60/-
 9V Battery - 15/-
 Resistors - 10/-
 Crystal Oscillator - 20/-
 Button ( reset ) 10/-
ADVANTAGES:
 This automated system doesn’t require any
human intervention for its operation. Hence it
cuts down in-person monitoring efforts.
 Promises safer, more accurate, more
predictable mode of transport.
 Can be set up in human inaccessible areas
avoiding the possible human risks involved
by remotely tracking the bot.
 Once implemented, it requires low
maintenance assistance and works perfectly
as predefined.
 DISADVANTAGES:
 Laying of tracks on irregular ground is difficult.
 Contrast of different shade of tracks may give
unexpected readings.
 Speed of the trolley cannot be controlled as per
the mechanical load on it.
 Always requires a path to travel.

 Heavy load on the trolley may require high

power battery.
 APPLICATIONS:
THESE KIND OF ROBOTS CAN BE USED IN VARIOUS DOMAINS WITH
SLIGHT MODIFICATIONS REQUIRED FOR DIFFERENT APPLICATION
SPECIFIC TASKS.

 Industries: Can be used as automated equipment carriers in

industries replacing traditional conveyer belts in construction sites,
production plants, Mines, Warehouses and godowns, etc.
 Automobiles: Currently used as automatic driverless trams/cars
running on roads with embedded magnets.
 Hospitals: Can be used to supply medicines, food, etc. thereby
keeping track of patient’s consumptions.
 Domestic: Can be used at homes for domestic purposes like floor
cleaning etc.
 Guidance: Can be used in public places like shopping malls,
museums etc. to provide path guidance.
FUTURE ENHANCEMENTS:

Wi-Fi/Bluetooth positioning with an App to Control:

 User may want to know where the trolley is when it is sent to deliver goods.
Introducing positioning system can enhance the management of logistics.
 Job arrangement will be more flexible and it is able to deal with ad hoc tasks. Wi-Fi
emitters are most likely cover all the areas of the building.
 The positioning of the trolley would be very accurate. GPS is more suitable for outdoor
applications. An Android app can be developed to spot the trolley.

Installing Path Planning Algorithms:

 Sometimes it is required to shuttle the trolley faster between two stations regardless of
the predefined path. To accomplish this task, shortest path planning algorithms like
Dijsktra, A*, etc. can be used to efficiently control the movement of trolley which
reduces the time elapsed by the system. Hence the trolley calculates the shortest path in
real time between two defined stations.

Discontinuous QR Code tracks:

 In huge land masses, laying of tracks everywhere could result in re-model floor
planning with high investments. Hence QR codes can be stuck on different points on
the floor in the form of a matrix. The bots will be equipped with QR scanners using
image processing code and also an ultrasonic sensor to decide the bot movement amidst
the traffic of various other similar bots. This eliminates laying the mechanical tracks.