Autonomous Robot For Transport System: Kalpesh Kushe Milind Gangurde Nilesh Gawade

Autonomous Robot For Transport System
1 A PROJECT
ON
AUTONOMOUS ROBOT FOR TRANSPORT

SYSTEM
BY
KALPESH KUSHE
MILIND GANGURDE
NILESH GAWADE
Under the guidance of
Internal guide External guide
(Malay Kenia) ( )
Department of XYZ Engineering
Rajiv Gandhi Institute of Technology

Juhu – Versova Link Road Versova, Andheri (w) Mumbai-53
University of Mumbai
November - 2010
Department of Instrumentation Engineering
Rajiv Gandhi Institute of Technology
Juhu – Versova Link Road, Versova, Andheri (w) Mumbai-53
CERTIFICATE
This is to certify that
1. ABC (Kalpesh kushe)

2. BCD (Milind Gangurde)
3. CDE (Nilesh Gawade)
Have Satisfactory completed the project entitled
Towards the partial fulfillment of the
BACHELOR OF ENGINEERING
IN
(INSTRUMENTATION ENGINEERING)
As laid by University of Mumbai.
Guide Project Coordinator H.O.D

(Prof Name) (Prof.N.S.Chame) (Prof Name)
Principal
(Dr.Udhav Bhosle)
Internal Examiner External Examiner
PREFACE
This project report is detailed with all the information about the Autonomous Robot
which is used for pick and place operation. It will give all required knowledge about the
Transport system. The project report comprises of all study done during accomplishing the
project.
We choose this as our project because it has automation system which is operated as
automatic and provides an economical way of industrial transport. We tried to use our technical
knowledge in practice.
We are manufacturing a machine for ALL INDUSTRIES which requires large scale of
transportation within industry. The machine is simple to maintain & easy to operate. Hence we
tried our hands on “AUTONOMOUS ROBOT FOR TRANSPORT SYSTEM”
In the electronics industry, AUTONOMOUS ROBOT FOR TRANSPORT SYSTEM is used

in manipulators place surface-mounted components with superhuman precision, making the
portable telephone and laptop computer possible.
Yet, for all of their successes, these commercial robots suffer from a fundamental disadvantage:
lack of mobility.
Other commercial robots operate not where humans cannot go but rather share space
with humans in human environments. These robots are compelling not for reasons
of mobility but because of their autonomy, and so their ability to maintain a sense of
position and to navigate without human intervention is paramount.
Although mobile robots have a broad set of applications and markets as summarized
above, there is one fact that is true of virtually every successful mobile robot: its design
involves the integration of many different bodies of knowledge. No mean feat, this makes
mobile robotics as interdisciplinary a field as there can be. To solve locomotion problems,
We got the opportunity to use our knowledge in practical with this curriculum and under
the guidance of our renowned faculty we multiplied our knowledge by a number of times.
ABSTRACT
Navigation is important to many envisioned applications of mobile robots. The variety of

navigation tools may vary from expensive high accuracy tools to cheap low accuracy tools. The
complexity of these tools would be dependent upon the navigation requirements. The more
complex the navigation requirements, the more expensive the tools required. A cheap and simple
navigation tool would be the line following sensor. However, the challenge posed in this
navigation technique may be complex. A straight or wavy line would be simple to navigate
whereas a T-junction, 90 degree bends and a grid junction would be difficult to navigate. This is
due to the physical kinematics constraints which is limited to the motor response, position and the
turning radius of the robot. This paper presents a proposed line sensor configuration to improve
the navigation reliability of the differential drive line following robot.
ACKNOWLEDGEMENT
We are extremely grateful and remain indebted to our guide Prof. Mr.MALAY KENIA
Instrumentation Engineering Department for being an ultimate source of inspiration and for his
constant support in the Implementation and Evaluation of the project.
We are thankful to them for their spontaneous construction criticism and in valuable
suggestions which benefited us a lot while developing the project “”. He has been a constant
source of motivation and inspiration for hard work through his Enthusiasm, personal attention,
constants motivation, regular guidance and encouragement our project guides has made this
project successful.
He has been very co-operative throughout the project work. Through this column, it
would be our utmost pleasure to express our warm regards and thank him for the encouragement.
Without accomplishment of Co-operation and consent, project would not have been possible.
We also acknowledge the valuable guidance and support provided by the Head of
Instrumentation Department Prof. Mr. S. K. Sadala who made us the facilities available. We
would like to thank Professor for sharing his valuable knowledge as far Design was concerned
and also sharing his experiences.
We were also delighted to receive great support and help from the workshop supervisors.
We are also thankful to our Honorable principle Dr.Udhav Bhosle for providing us constant
support and infrastructure.
Lastly we would like to my sincere gratefulness to my parents and all those people who
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have helped us directly or indirectly for the completion of this work.
Chapter 1
Introduction
The main idea of my work was to design and put together an AUTONOMOUS ROBOT FOR
TRANSPORT SYSTEM which would be capable of following a black guideline in an
unpredictable and unknown environment. The robot could avoid obstacles of certain dimensions
on its way. It would be controlled by a differential steering system resembling a tank movement.
The guideline and obstacles on the way would be detected and located thanks to a set of infrared
sensors whose signals are thoroughly analysed and processed in the Atmega8 microcontroller
evaluation. The robot would be equipped by an ISP interface for an easy and prompt computer
programme recording. It would be possible to stear the robot by an ordinary IR Remote Control.
Robotics has achieved its greatest success to date in the world of industrial manufacturing.
Robot arms, or manipulators, comprise a 2 billion dollar industry. Bolted at its shoulder to
A specific position in the assembly line, the robot arm can move with great speed and accuracy
To perform repetitive tasks such as spot welding and painting.
Robotics is not only for scientists. It’s a very interesting and enjoyable way to introduce you to
the world of electronics. This paper will show how to build a self-made autonomous robot
capable of following a guiding line. An easy principle on how the robot follows the line will be
explained. This paper will describe how infrared sensors work and how to process their signal by
a microcontroller, which is the brain of each robot. Also the practical side of designing and
making a robot’s printed circuit board will be mentioned.
In the electronics industry, manipulators place surface-mounted components with superhuman

precision, making the portable telephone and laptop computer possible.
Yet, for all of their successes, these commercial robots suffer from a fundamental disadvantage:
lack of mobility.
Other commercial robots operate not where humans cannot go but rather share space
with humans in human environments. These robots are compelling not for reasons
of mobility but because of their autonomy, and so their ability to maintain a sense of
position and to navigate without human intervention is paramount.
Although mobile robots have a broad set of applications and markets as summarized
above, there is one fact that is true of virtually every successful mobile robot: its design
involves the integration of many different bodies of knowledge. No mean feat, this makes
mobile robotics as interdisciplinary a field as there can be. To solve locomotion problems,
the mobile robotics must understand mechanism and kinematics; dynamics and control
theory. To create robust perceptual systems, the mobile robotics must leverage the fields
of signal analysis and specialized bodies of knowledge such as computer vision to properly
employ a multitude of sensor technologies. Localization and navigation demand knowledge
of computer algorithms, information theory, artificial intelligence, and probability
theory.
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Now a days robots are used to ease many tedious , repetitive and hazardous tasks and human
activities. From simple electronics robot to complex humanoid robots all include control systems.
An autonomous robot use the black /white line path or it can use invisible path like magnetic
field.
This robot is mostly applicable in Industrial applications like automated equipment carriers,
entertainment and factory applications, tour guides in museum, in small scale industries to
transport products from manufacturing point to store room. Ship yards etc.
The robot is programmed to follow a black line. It detects the turns or deviations and modifies its
position accordingly. The optical sensor is an array of commercially available IR reflective type
sensors. The master controller of the robot is AT89S52 microcontroller manufactured by
ATMEL corporations.
The ADC 0808 is used to convert IR sensor output to digital data.ADC is also used for auto
calibration with max. Noise margin. The motor driver ULN 2003A provides motor driving
accuracy.
The sensor strip is an array of 5 IR LED-Phototransistor pairs arranged in the form of inverted V.
These sensors provides the greater accuracy of position of the robot. The robot has two modes of
operations in different scenarios; thus, giving it the ability to work in different situations like
hazardous areas like Oil and Gas fields, chemical industries , Hospitals,etc. The simple circuit
design and components makes it cost efficient, powerful and robust.
Chapter 2
Review
 Block Diagram
 Circuit Diagram
 Components
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Block Diagram
Circuit Diagram
13
Components
i. 5 pairs of IR sensors.
ii. Microcontroller AT89S52.
iii. 7805 voltage regulator.
iv. Capacitors 10, 100, 1000uf.
v. Crystal 11.0592Mhz.
vi. LCD.
vii. Keyboard.
viii. ADC 0808.
ix. Lead Acid Battery. 12V, 1.2 Amps.
x. 9V general purpose battery.
xi. Connectors.
xii. Wheel with diameter 7cm and 2cm thick.
xiii. ULN2003A Darlington pair motor driver.
xiv. LM324
xv. Chassis 17.5x24cm.
i. 5 PAIRS OF IR SENSORS
Receiver = Photodiode
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 WHITE surface
Maximum reflection
Thus, Vout is LOW .
 BLACK surface
Minimum or No Reflection
Hence,Vout is HIGH.
SENSORS
A black guideline and obstacles are detected by a set of reflective optical sensors Error:
Reference source not found. IR sensors consist of an emitting light source and detector. Sensor
locates existing barriers (object or surface) by using a reflective IR beam reflected by the barrier
(see a figure):
Figure 1: How an IR sensor works

However, the built-in emitter with its light source is too weak to detect possible barriers so it is
necessary to add an external IR LED with higher luminous intensity. Unfortunately, the
sensitivity of IR sensor depends on an ambient light, a reflexivity of objects and of surfaces.
Therefore it is necessary to calibrate the sensors manually. Each sensor is fitted with a
potentiometer to control its sensitivity.
A guideline scanning module contains IR sensors. A guideline designed and marked using a
black PVC isolation tape cannot reflect infrared beams so it is easy for IR sensor to determine
and distinguish (to read) a line by a light reflection of a surface.
IR sensor have a transistor output. An analogue signal from a sensor must be converted to a
digital one, in order to be promptly processed by a microcontroller. There are many integrated
comparators that can do it. I have chosen a dual timing circuit LM324 for signal conversion:
ii. Microcontroller AT89S52

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Features
• Compatible with MCS-51® Products
• 8K Bytes of In-System Programmable (ISP) Flash Memory
– Endurance: 1000 Write/Erase Cycles
• 4.0V to 5.5V Operating Range
• Fully Static Operation: 0 Hz to 33 MHz
• Three-level Program Memory Lock
• 256 x 8-bit Internal RAM
• 32 Programmable I/O Lines
• Three 16-bit Timer/Counters
• Eight Interrupt Sources
• Full Duplex UART Serial Channel
• Low-power Idle and Power-down Modes
• Interrupt Recovery from Power-down Mode
• Watchdog Timer
• Dual Data Pointer
• Power-off Flag
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Description
The AT89S52 is a low-power, high-performance CMOS 8-bit microcontroller with 8K

bytes of in-system programmable Flash memory. The device is manufactured using
Atmel’s high-density nonvolatile memory technology and is compatible with the industry-
standard 80C51 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 in-system programmable Flash on
a monolithic chip, the Atmel AT89S52 is a powerful microcontroller which provides a
highly-flexible and cost-effective solution to many embedded control applications.
The AT89S52 provides the following standard features: 8K bytes of Flash, 256 bytes
of RAM, 32 I/O lines, Watchdog timer, two data pointers, three 16-bit timer/counters, a
six-vector two-level interrupt architecture, a full duplex serial port, on-chip oscillator,
and clock circuitry. In addition, the AT89S52 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 interrupt
or hardware reset.
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iii. 7805 voltage regulator
The LM78o5 fixed voltage regulator of three terminal positive regulators are available in the TO-
220 package and with several fixed output voltages, making them useful in a wide range of
applications. Each type employs internal current limiting, thermal shut down and safe operating
area protection, making it essentially indestructible. If adequate heat sinking is provided, they can
deliver over 1A output current. Although designed primarily as fixed voltage regulators, these
devices can be used with external components to obtain adjustable voltages and currents.
• A properly designed voltage regulator ensures that, irrespective of change in

supply voltage, load impendence or temperature, DC supply is maintained at
constant level.
• The L7805C is 5V voltage regulator IC.
• The capacitor added to the input of the voltage regulator is to isolate the spikes
generated by the motor from the input and to reduce the noise.
iv. LCD
FEATURES
• 5 x 8 dots with cursor
• Built-in controller (KS 0066 or Equivalent)
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• + 5V power supply (Also available for + 3V)
• 1/16 duty cycle
• B/L to be driven by pin 1, pin 2 or pin 15, pin 16 or A.K (LED)
• N.V. optional for + 3V power supply
Pin description
Pin No Symbol Details

1. GND Ground
2. Vcc Supply Voltage +5V
3. Vo Contrast adjustment
4. RS 0=control i/p 1=data i/p
5. R/W Read/Write
6. E Enable
7 to 14 D0 to D7 Data
15. VB1 Backlight +5V
16. VB2 Backlight Ground
MECHANICAL DATA
ITEM STANDARD VALUE UNIT

Module Dimension 80.0 x 36.0 mm
Viewing Area 66.0 x 16.0 mm
Dot Size 0.56 x 0.66 mm
Character Size 2.96 x 5.56 mm
ABSOLUTE MAXIMUM RATING
ITEM SYMBOL STANDARD VALUE UNIT

MIN. TYP. MAX
Power VDD-VSS - 0.3 – 7.0 V
Supply
InputVoltage VI - 0.3 – VDD V
v. Keyboard
The key board here we are interfacing is a matrix keyboard. This key board is designed with a
particular rows and columns. These rows and columns are connected to the microcontroller
through its ports of the micro controller 8051. We normally use 8*8 matrix key board. So only
two ports of 8051 can be easily connected to the rows and columns of the key board.
When ever a key is pressed, a row and a column gets shorted through that pressed key and all the
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other keys are left open. When a key is pressed only a bit in the port goes high. Which indicates
microcontroller that the key is pressed. By this high on the bit key in the corresponding column
is identified.
Once we are sure that one of key in the key board is pressed next our aim is to identify that key.
To do this we firstly check for particular row and then we check the corresponding column the
key board.
To check the row of the pressed key in the keyboard, one of the row is made high by making one
of bit in the output port of 8051 high . This is done until the row is found out. Once we get the
row next out job is to find out the column of the pressed key. The column is detected by contents
in the input ports with the help of a counter. The content of the input port is rotated with carry
until the carry bit is set.
The contents of the counter is then compared and displayed in the display. This display is
designed using a seven segment display and a BCD to seven segment decoder IC 7447.
vi. ADC 0808

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In lot of embedded systems microcontrollers needs to take analog input. Most of the sensors &
transducers such as temperature, humidity, pressure, are analog. For interfacing these sensors to
microcontrollers we require to convert the analog output of these sensors to digital so that the
controller can read it. Some microcontrollers have built in Analog to Digital Convertor (ADC) so
there is no need of external ADC. For microcontrollers that don’t have internal ADC external
ADC is used.
One of the most commonly used ADC is ADC0808. ADC 0808 is a Successive approximation
type with 8 channels i.e. it can directly access 8 single ended analog signals.
Features
 Easy interface to all microprocessors
 Operates ratio metrically or with 5 VDC or analog span
 adjusted voltage reference
 No zero or full-scale adjust required
 8-channel multiplexer with address logic
 0V to 5V input range with single 5V power supply
 Outputs meet TTL voltage level specifications
 Standard hermetic or molded 28-pin DIP package
 28-pin molded chip carrier package
 ADC0808 equivalent to MM74C949
 ADC0809 equivalent to MM74C949-1
General Description
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The ADC0808, ADC0809 data acquisition component is a monolithic CMOS device with an 8-
bit analog-to-digital converter, 8-channel multiplexer and microprocessor compatible control
logic. The 8-bit A/D converter uses successive approximation as the conversion technique. The
converter features a high impedance chopper stabilized comparator, a 256R voltage divider with
analog switch tree and a successive approximation register. The 8-channel multiplexer can
directly access any of 8-single-ended analog signals.
The device eliminates the need for external zero and full-scale adjustments. Easy interfacing to
microprocessors is provided by the latched and decoded multiplexer address
inputs and latched TTL TRI-STATE outputs.
The design of the ADC0808, ADC0809 has been optimized by incorporating the most desirable
aspects of several A/D conversion techniques. The ADC0808, ADC0809 offers high
speed, high accuracy, minimal temperature dependence, excellent long-term accuracy and
repeatability, and consumes minimal power. These features make this device ideally suited to
applications from process and machine
control to consumer and automotive applications. For16-channel multiplexer with common
output (sample/hold port)
Key Specifications
 n Resolution 8 Bits
 n Total Unadjusted Error ±1⁄2 LSB and ±1 LSB
 n Single Supply 5 VDC
 n Low Power 15 mW
 n Conversion Time 100 μs
I/O Pins
ADDRESS LINE A, B, C
The device contains 8-channels. A particular channel is selected by using the address decoder
line. The TABLE 1 shows the input states for address lines to select any channel.

Address Latch Enable ALE
The address is latched on the Low – High transition of ALE.
START
The ADC’s Successive Approximation Register (SAR) is reset on the positive edge i.e. Low-
High of the Start Conversion pulse. Whereas the conversion is begun on the falling edge i.e. High
– Low of the pulse.
Output Enable
Whenever data has to be read from the ADC, Output Enable pin has to be pulled high thus
enabling the TRI-STATE outputs, allowing data to be read from the data pins D0-D7.
End of Conversion (EOC)

This Pin becomes High when the conversion has ended, so the controller comes to know that the
data can now be read from the data pins
Clock
External clock pulses are to be given to the ADC; this can be given either from LM 555 in
Astable mode or the controller can also be used to give the pulses.
vii. ULN 2003A Motor Driver

The Darlington array is responsible for activating the motor with the help of external signal from
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microcontroller.
ULN2003A Parameters
Drivers Per Package 7
Output Voltage (Max) (V) 50
Switching Voltage (Max) (V) 50
Peak Output Current (mA) 500
Input Compatibility CMOS, TTL
Delay Time (Typ) (ns) 250
ULN2003A Features
 500-mA Rated Collector Current (Single Output)

 High-Voltage Outputs . . . 50 V
 Output Clamp Diodes
 Inputs Compatible With Various Types of Logic
 Relay Driver Applications.
viii. LM324
LM324 is a 14pin IC consisting of four independent operational amplifiers (op-amps)
compensated in a single package. Op-amps are high gain electronic voltage amplifier with
differential input and, usually, a single-ended output. The output voltage is many times higher
than the voltage difference between input terminals of an op-amp.
These op-amps are operated by a single power supply LM324 and need for a dual supply is
eliminated. They can be used as amplifiers, comparators, oscillators, rectifiers etc. The
conventional op-amp applications can be more easily implemented with LM324.
Pin Diagram:
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Pin Description
Pin No Function Name
1 Output of 1st comparator Output 1
2 Inverting input of 1st comparator Input 1-
3 Non-inverting input of 1st comparator Input 1+
4 Supply voltage; 5V (up to 32V) Vcc
5 Non-inverting input of 2nd comparator Input 2+
6 Inverting input of 2nd comparator Input 2-
7 Output of 2nd comparator Output 2
8 Output of 3rd comparator Output 3
9 Inverting input of 3rd comparator Input 3-
10 Non-inverting input of 3rd comparator Input 3+
11 Ground (0V) Ground
12 Non-inverting input of 4th comparator Input 4+
13 Inverting input of 4th comparator Input 4-
14 Output of 4th comparator Output 4

Features
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 Internally frequency compensated for unity gain
 Large DC voltage gain 100 dB
 Wide bandwidth (unity gain) 1 MHz (temperature compensated)
 Wide power supply range: Single supply 3V to 32V or dual supplies ±1.5V to ±16V
 Very low supply current drain (700 µA)-essentially independent of supply voltage
 Low input biasing current 45 nA (temperature compensated)
 Low input offset voltage 2 mV and offset current: 5 nA
 Input common-mode voltage range includes ground
 Differential input voltage range equal to the power supply voltage
 Large output voltage swing 0V to V+ - 1.5V
Description
The LM324 series consists of four independent, high gain, internally frequency compensated
operational amplifiers which were designed specifically to operate from a single power supply
over a wide range of voltages. Operation from split power supplies is also possible and the low
power supply current drain is independent of the magnitude of the power supply voltage.
Application areas include transducer amplifiers, DC gain blocks and all the conventional op amp
circuits which now can be more easily implemented in single power supply systems. For
example, the LM324 series can be directly operated off of the standard +5V power supply
voltage which is used in digital systems and will easily provide the required interface electronics
without requiring the additional ±15V power supplies.
ix. Lead Acid Battery. 12V, 1.2 Amps.
Lithium Ion:
Lithium ion batteries are common rechargeable batteries used in computing applications.
They have high-energy density when current is pulled out at a moderate
rate. However, the voltage drops when pulling current out at a high rate. In addition,
the battery can fail when pulling out current at a higher than moderate rate.
Therefore, lithium ion batteries do not work well for combat robots. Another negative
Factor is that the typical shelf life of the lithium ion rechargeable battery is
only two years if stored at 25° C.
• Motors on a robot consume most of the power. For most of them, each DC motor
typically consumes 1.5W on the average.
• For differentiating steering, two DC motors consume up to 3W.
• By comparison, the logic components typically draw a total of about 80mA.
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x. 12V, 150 RPM DC Motors.
Fig: - 12v. dc motor
 DC motors are widely used, inexpensive, small and powerful for their size reduction
gearboxes are often required to reduce the speed and increase speed of torque of the
motor.
2.4 PRINCIPLES HOW A ROBOT CAN FOLLOW A GUIDELINE
A robot seeks a guideline by riding on a spiral trajectory until it crosses. Even then the robot
starts to follow a given guideline.
There are three fundamental situations that could happen:
1) Being on a line…
left right
sensor sensor
The simplest case is when both sensors are L R

left right
above a guideline and a robot follows it going engine engine
straight on.
Figure 2: Being on line
2) Loosing a line…
left right
sensor sensor
Approaching a curve, a right sensor looses L R
S
contact with a line. The robot unclutches its T left right
O engine engine
left engine, thereby it begins to turn left to P
return to the line.

Figure 3: Loosing a line
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3) Outside of a line…
L R left right
sensor sensor
If a curve is too sharp (it means a robot’s left right

engine engine
turning radius is greater than a curve radius of

the line), a robot can loose the guideline and
it is outside of it. It changes the direction of
Figure 4: Outside of a line
the engine, which causes the robot to turn
towards to the line. The sensors that are
placed off axis get closer to the line...
The same situation could also occur at the

end of the line. In such case the robot
reverses at 180 degrees and turns back.
Chapter 3
Report on the present work and investigation
INTERFACING WITH 80S52
i. Interfacing of LCD with 80S52

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Pin No Symbol Details

1. GND Ground
2. Vcc Supply Voltage +5V
3. Vo Contrast adjustment
4. RS 0=control i/p 1=data i/p
5. R/W Read/Write
6. E Enable
7 to 14 D0 to D7 Data
15. VB1 Backlight +5V
16. VB2 Backlight Ground
Algorithm to send data to LCD:
1.Make R/W low
2.Make RS=0 ;if data byte is command
RS=1 ;if data byte is data (ASCII value)
3.Place data byte on data register
4.Pulse E (HIGH to LOW)
5.Repeat the steps to send another data byte
LCD Initialization:
This is the pit fall for beginners.Proper working of LCD depend on the how the LCD is
initialized. We have to send few command bytes to initialize the lcd. Simple steps to initialize the
LCD
1.Specify function set:
Send 38H for 8-bit,double line and 5x7 dot character format.
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2.Display On-Off control:
Send 0FH for display and blink cursor on.
3.Entry mode set:
Send 06H for cursor in increment position and shift is invisible.
4. Clear display:
Send 01H to clear display and return cursor to home position.

Addresses of cursor position for 16x2 HD44780 LCD
line1 80H 81H 82H 83H 84H 85H 86H 87H 88H 89H 8AH 8BH
8CH 8DH 8EH 8FH
line2 C0H C1H C2H C3H C4H C5H C6H C7H C8H C9H CAH CBH
CCH CDH CEH CFH
ii. Interfacing of keyboard with 80S52
Circuit diagram of INTERFACING KEY BOARD TO 8051.

Keyboard is organized in a matrix of rows and columns as shown in the figure. The
microcontroller accesses both rows and columns through the port.
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1. The 8051 has 4 I/O ports P0 to P3 each with 8 I/O pins, P0.0 to P0.7,P1.0 to P1.7, P2.0 to
P2.7, P3.0 to P3.7. The one of the port P1 (it understood that P1 means P1.0 to P1.7) as an I/P
port for microcontroller 8051, port P0 as an O/P port of microcontroller 8051 and port P2 is used
for displaying the number of pressed key.
2. Make all rows of port P0 high so that it gives high signal when key is pressed.
3. See if any key is pressed by scanning the port P1 by checking all columns for non zero
condition.
4. If any key is pressed, to identify which key is pressed make one row high at a time.
5. Initiate a counter to hold the count so that each key is counted.
6. Check port P1 for nonzero condition. If any nonzero number is there in [accumulator], start
column scanning by following step 9.
7. Otherwise make next row high in port P1.
8. Add a count of 08h to the counter to move to the next row by repeating steps from step 6.
9. If any key pressed is found, the [accumulator] content is rotated right through the carry until
carry bit sets, while doing this increment the count in the counter till carry is found.
10. Move the content in the counter to display in data field or to memory location
11. To repeat the procedures go to step 2.
iii. Interfacing of ADC with 80S52

ALGORITHAM
1. Start.
2. Select the channel.
3. A Low – High transition on ALE to latch in the address.
4. A Low – High transition on Start to reset the ADC’s SAR.
5. A High – Low transition on ALE.
6. A High – Low transition on start to start the conversion.
7. Wait for End of cycle (EOC) pin to become high.
8. Make Output Enable pin High.
9. Take Data from the ADC’s output
10. Make Output Enable pin Low.
11. Stop
The total numbers of lines required are:
data lines: 8
ALE: 1
START: 1
EOC:1
Output Enable:1
I.e. total 12 lines. You can directly
connect the OE pin to Vcc. Moreover instead of polling for EOC just put some delay so instead
of 12 lines you will require 10 lines.
You can also provide the clock through the controller thus eliminating the need of external circuit
for clock.
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CALCULATING STEP SIZE
ADC 0808 is an 8 bit ADC i.e. it divides the voltage applied at Vref+ & Vref- into 28 i.e. 256 steps.
Step Size = (Vref+ - Vref-)/256
Suppose Vref+ is connected to Vcc i.e. 5V & Vref- is connected to the Gnd then the step size will be
Step size= (5 - 0)/256= 19.53 mv.

CALCULATING DOUT.
The data we get at the D0 - D7 depends upon the step size & the Input voltage i.e. Vin.
Dout = Vin /step Size.
If you want to interface sensors like LM35 which has output 10mv/°C then I would suggest that
you set the Vref+ to 2.56v so that the step size will be
Step size= (2.56 - 0)/256= 10 mv.
So now whatever reading that you get from the ADC will be equal to the actual temperature.
Sensor array
5 sensors are totally used .They are in the form shown in the figure below, also their outputs are
49
also shown. The tip view is chosen as it would be easier to infer the Process involved.
The sensors are mounted on a separate board along with the biasing resistors and a 2 pin
connector supplies the power to the sensor array. And the output of each sensor is connected to
the main board via an 8 pin connector to the comparators on the main board.
LINE SENSING TECHNIQUE
Implementation
Sensor Circuit:
51
The resistance of the sensor decreases, when IR light falls on it. A good sensor will have near
zero resistancein presence of light and a very largeresistance in absence of light.
We have used this property of thesensor to form a potential divider.
The potential at point ‘2’ isRsensor / (Rsensor + R1).
Again, a good sensor circuit shouldgive maximum change in potential atpoint ‘2’ for no-light and
bright-light
conditions. This is especiallyimportant if you plan to use an ADCin place of the comparator
To get a good voltage swing , the value of R1 must be carefully chosen. If Rsensor = a when no
light falls on it and Rsensor = b when light falls on it. The difference in the two potentials is:
Vcc * { a/(a+R1) - b/(b+R1) }
Relative voltage swing = Actual Voltage Swing / Vcc
= Vcc * { a/(a+R1) - b/(b+R1) } / Vcc
= a/(a+R1) - b/(b+R1)
 When sensor is on white surface = 1

 When sensor is on black surface = 0
 Don’t care = X
53
 Clockwise direction = C
 Anticlockwise direction = AC
 Stop = S
ALGORITHUM
Extrem Left Center Right Extrem Left Right Action

e sensor sensor sensor e Motor Motor Taken
Left Right
sensor sensor
0 0 1 0 0 C C Go
straight
0 0 X 1 0 C S Take
Right
turn
0 1 X 0 0 S C Take
Left
turn
0 0 X X 1 C AC Take
Sharp
Right
turn
1 X X 0 0 AC C Take
Sharp
Left
turn
0 0 0 0 0 S S Stop
1 1 1 1 1 S S Stop
Flow Chart
START
Is line detect
55
Stop the Motor
Read the sensors input
Compare with comparator
If values are
same
Call the Motor

subroutine
STOP
Chapter 4
Results and Discussions
SENSORS BLACK SURFACE OTHER SURFACE
In (VOLTS) In (VOLTS)
FIRST SENSOR 3.18V 1.17V
SECOND SENSOR 3.09V 0.86V
THIRD SENSOR 2.56V 1.7V
FOUR SENSOR 2.09V 1.39V
FIVE SENSOR 2.7V 1.1V
APPLICATIONS
• PICK and PLACE Operation.

57
• Create a generic graphical interface for the remote client.
• Develop methods to handle sensor-input and video feeds at a higher

and more intuitive level.
• Industrial automated equipment carriers
• Automated cars
• Tour guide in museums and other similar applications
• Second wave robotics reconnaissance operations
LIMITATIONS
• Choice of line is made in the hardware abstraction and cannot be

changed by software
• Calibration is difficult, and it is not easy to set a perfect value.

• The steering mechanism is not easily implemented in huge vehicles and
impossible for non-electric vehicles (petrol powered).
• Few curves are not made efficiently, and must be avoided.
Chapter 5
SUMMARY AND CONCLUSION
• The robot follows a line as demonstrated.

• It effectively overcomes problems such as “barren land syndrome” and

59
line breaks.
• The hardware and software works as designed.
FUTURE SCOPE
• Software control of the line type (dark or light) to make automatic
detection possible.
• “Obstacle detecting sensors” to avoid physical obstacles and continue on
the line.
• Distance sensing and position logging & transmission.
Chapter 6
Literature cited
Books:-
61
Websites:-

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Autonomous Robot For Transport System

AUTONOMOUS ROBOT FOR TRANSPORT

Under the guidance of

Internal guide External guide

Department of XYZ Engineering

Rajiv Gandhi Institute of Technology

This is to certify that

1. ABC (Kalpesh kushe)

Have Satisfactory completed the project entitled

Autonomous Robot For Transport System

Towards the partial fulfillment of the

As laid by University of Mumbai.

Guide Project Coordinator H.O.D

In the electronics industry, AUTONOMOUS ROBOT FOR TRANSPORT SYSTEM is used

Navigation is important to many envisioned applications of mobile robots. The variety of

In the electronics industry, manipulators place surface-mounted components with superhuman

Figure 1: How an IR sensor works

ii. Microcontroller AT89S52

The AT89S52 is a low-power, high-performance CMOS 8-bit microcontroller with 8K

• A properly designed voltage regulator ensures that, irrespective of change in

Pin No Symbol Details

ITEM STANDARD VALUE UNIT

ABSOLUTE MAXIMUM RATING

ITEM SYMBOL STANDARD VALUE UNIT

vi. ADC 0808

End of Conversion (EOC)

vii. ULN 2003A Motor Driver

 500-mA Rated Collector Current (Single Output)

1 Output of 1st comparator Output 1

2 Inverting input of 1st comparator Input 1-

3 Non-inverting input of 1st comparator Input 1+

4 Supply voltage; 5V (up to 32V) Vcc

5 Non-inverting input of 2nd comparator Input 2+

6 Inverting input of 2nd comparator Input 2-

7 Output of 2nd comparator Output 2

8 Output of 3rd comparator Output 3

9 Inverting input of 3rd comparator Input 3-

10 Non-inverting input of 3rd comparator Input 3+

11 Ground (0V) Ground

12 Non-inverting input of 4th comparator Input 4+

13 Inverting input of 4th comparator Input 4-

14 Output of 4th comparator Output 4

Fig: - 12v. dc motor

There are three fundamental situations that could happen:

The simplest case is when both sensors are L R

Figure 2: Being on line

Approaching a curve, a right sensor looses L R

left engine, thereby it begins to turn left to P

return to the line.

If a curve is too sharp (it means a robot’s left right

turning radius is greater than a curve radius of

The same situation could also occur at the

Report on the present work and investigation

INTERFACING WITH 80S52

i. Interfacing of LCD with 80S52

Pin No Symbol Details

1.Make R/W low

2.Make RS=0 ;if data byte is command

RS=1 ;if data byte is data (ASCII value)