16-06-2014, 09:57 AM
COMPUTER CONTROLLED AUTOMATED SMALL VEHICLE
[attachment=64910]
Introductuion
A 6 volt motor operated small vehicle is developed which is fully computer
controlled. The developed system has been interfaced with PC through
standard parallel printer port of an IBM compatible Pentium I processor.
Micro-switch sensors /1/ has been attached with the body of the vehicle at
different locations to collect data from the surrounding environment. Five
sensors are used for this purpose and they are attached on front, back, lower
front and two sides of the vehicle. Data from the vehicle is serially sent
towards the PC through a transmission line using serial data transmission
standard. A software has been developed using ‘TURBO C’ language to
process this data and suitable command has been sent serially towards the
vehicle to move it in its correct path. The complete system is shown in block
diagram in figure 1.
Peripheral hardware design:
Design of peripheral hardware is necessary due to serial transmission of data.
From the micro-switches data are directly used to communicate with PC and it
is not necessary to convert signal from A/D /2/. It is possible to use serial port
for data transmission but it has a serious drawback- the transmission rate is
fixed at RS 232 standard /3/ and cannot be modified. Receivers and other
timing circuits should be arranged according to this standard. For this reason
parallel port is used and parallel to serial conversion is necessary.
Parallel to serial conversion /4/: Data handle by the computer is parallel so it
should be converted into serial for transmission. For this reason a parallel to
serial shift register is used (IC-74LS165). It shifts parallel data with each
clock pulse. This conversion is used when data goes from computer to vehicle
and when data goes from vehicle to computer.
2. Serial to parallel conversion /4/: For this type of conversion a serial to
parallel converter (IC-74LS164) is used. After conversion of serial data
different bits of parallel data is used to activate motor driving circuit and
magnetic actuator. This conversion is used when the data reach at the vehicle
from computer or data reach at the computer from the vehicle.
Processing of data is done in computer with 8 bit in parallel. Among the data
bits two bits are used in the motor driving circuit to move the vehicle and two
bits used in the magnetic actuator circuit to turn the vehicle left or right.
Different movements of the vehicle are given in table-I according to the bit
pattern.
Computer Interfacing
The developed system has been interfaced with PC through parallel printer
port /5/. This port will allow the input of up to 9 bits and the output of up to 12
bits at one given time. The port is composed of 4 control lines, 5 status line
and 8 data lines. It is found commonly on the back of the PC on a D-type 25
pin female connector. The port address for parallel printer port is fixed to 378
hex to 37F hex for LPT1and 278 hex to 27F hex for LPT2. Parallel port LPT1
is used in that case. The base address 378 hex is used for data port or register,
address 379 hex is used for status port and 37A hex is used for control port.
By changing the value of bit-5 of the control port data can be read back to the
PC through data lines. The bit pattern used to control the vehicle is
summarized in table-I and table –II.
Software Develpement
Control software directs the way in which data can be read from the interfaced
circuit, analyzed, modified and returned to the outside world. The software has
been developed using programming language “Turbo C”. Transmission and
reception process is established with the outportb and inportb function
respectively. This software can be developed using any other language. Like a
road map, flowcharts are used to reveal how to go from a starting point to the
final decision. However, the entire receiving, transmitting and process for the
vehicle control systems is shown in the flowchart given is the figure-2which
shows the flowchart of the developed software.
Conclusion
The computer receives data from vehicle through interfacing circuit to it and
motivating the vehicle control software. In this type of closed loop control
systems /6/ receiving and transmitting time may be reduced if the software is
developed in assembly language. High precession movement of the vehicle
can be achieved if the number of sensors is increased and the IR, ultra sound
etc. type of proximity sensors /1/ are used.
[attachment=64910]
Introductuion
A 6 volt motor operated small vehicle is developed which is fully computer
controlled. The developed system has been interfaced with PC through
standard parallel printer port of an IBM compatible Pentium I processor.
Micro-switch sensors /1/ has been attached with the body of the vehicle at
different locations to collect data from the surrounding environment. Five
sensors are used for this purpose and they are attached on front, back, lower
front and two sides of the vehicle. Data from the vehicle is serially sent
towards the PC through a transmission line using serial data transmission
standard. A software has been developed using ‘TURBO C’ language to
process this data and suitable command has been sent serially towards the
vehicle to move it in its correct path. The complete system is shown in block
diagram in figure 1.
Peripheral hardware design:
Design of peripheral hardware is necessary due to serial transmission of data.
From the micro-switches data are directly used to communicate with PC and it
is not necessary to convert signal from A/D /2/. It is possible to use serial port
for data transmission but it has a serious drawback- the transmission rate is
fixed at RS 232 standard /3/ and cannot be modified. Receivers and other
timing circuits should be arranged according to this standard. For this reason
parallel port is used and parallel to serial conversion is necessary.
Parallel to serial conversion /4/: Data handle by the computer is parallel so it
should be converted into serial for transmission. For this reason a parallel to
serial shift register is used (IC-74LS165). It shifts parallel data with each
clock pulse. This conversion is used when data goes from computer to vehicle
and when data goes from vehicle to computer.
2. Serial to parallel conversion /4/: For this type of conversion a serial to
parallel converter (IC-74LS164) is used. After conversion of serial data
different bits of parallel data is used to activate motor driving circuit and
magnetic actuator. This conversion is used when the data reach at the vehicle
from computer or data reach at the computer from the vehicle.
Processing of data is done in computer with 8 bit in parallel. Among the data
bits two bits are used in the motor driving circuit to move the vehicle and two
bits used in the magnetic actuator circuit to turn the vehicle left or right.
Different movements of the vehicle are given in table-I according to the bit
pattern.
Computer Interfacing
The developed system has been interfaced with PC through parallel printer
port /5/. This port will allow the input of up to 9 bits and the output of up to 12
bits at one given time. The port is composed of 4 control lines, 5 status line
and 8 data lines. It is found commonly on the back of the PC on a D-type 25
pin female connector. The port address for parallel printer port is fixed to 378
hex to 37F hex for LPT1and 278 hex to 27F hex for LPT2. Parallel port LPT1
is used in that case. The base address 378 hex is used for data port or register,
address 379 hex is used for status port and 37A hex is used for control port.
By changing the value of bit-5 of the control port data can be read back to the
PC through data lines. The bit pattern used to control the vehicle is
summarized in table-I and table –II.
Software Develpement
Control software directs the way in which data can be read from the interfaced
circuit, analyzed, modified and returned to the outside world. The software has
been developed using programming language “Turbo C”. Transmission and
reception process is established with the outportb and inportb function
respectively. This software can be developed using any other language. Like a
road map, flowcharts are used to reveal how to go from a starting point to the
final decision. However, the entire receiving, transmitting and process for the
vehicle control systems is shown in the flowchart given is the figure-2which
shows the flowchart of the developed software.
Conclusion
The computer receives data from vehicle through interfacing circuit to it and
motivating the vehicle control software. In this type of closed loop control
systems /6/ receiving and transmitting time may be reduced if the software is
developed in assembly language. High precession movement of the vehicle
can be achieved if the number of sensors is increased and the IR, ultra sound
etc. type of proximity sensors /1/ are used.