PROJECT REPORT ON AUTOMATIC METAL MINE DETECTING VEHICLE WITH WIRELESS VIDEO CAMERA CONTENTS 1. ABSTRACT 2. OVERVIEW OF THE PROJECT WORK 3. ROBOTICS 4. 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
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PROJECT REPORT ON
AUTOMATIC METAL MINE DETECTING VEHICLE WITH WIRELESS VIDEO CAMERA
CONTENTS
1. ABSTRACT
2. OVERVIEW OF THE PROJECT WORK
3. ROBOTICS
4. 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 hero’s (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 LED’s 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 high-resolution 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
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