05-07-2012, 12:56 PM
AUTOMATED STEP CLIMBER
[attachment=26832]
INTRODUCTION
Human body is perfect combination of motion, balance, co-ordination and reflex. It because human brain is so much developed that all these activities can take place in such perfect co-ordination. With advancement in science we humans have created many beautiful creations and robot happens to be one of them. Humans have developed robots that can mimic humans. In the same context it is our humble effort to develop an electro-mechanical autonomous robotic vehicle that can have multiple degree of freedom, which enable it to move through various terrains.
Taking inspiration from NASA’s path finder robot we have tried to make a tone down prototype which control its movement with help of microcontroller which properly co-ordinate its motion.
In our project we have tried to built an electro-mechanical autonomous robotic vehicle, which moves over the hurdles in front of it by sensing obstacle with help of sensing circuit and taking controlled action with microcontroller ,which drives the motors to make robot climb over the obstruction.
Microcontrollers
Circumstances that we find ourselves in today in the field of microcontrollers had their beginnings in the development of technology of integrated circuits. This development has made it possible to store hundreds of thousands of transistors into one chip. That was a prerequisite for production of microprocessors, and the first computers were made by adding external peripherals such as memory, input-output lines, timers and other. Further increasing of the volume of the package resulted in creation of integrated circuits. These integrated circuits contained both processor and peripherals. That is how the first chip containing a microcomputer, or what would later be known as a microcontroller came about.
Basic operation of circuit:
In above block diagram, as sensors are mounted on the robot for detecting the obstacle in front of them. IRLED (Infra Red Light Emitting Diode) and Photodiode act as sensors here. IRLED emitted light for detecting obstacle which is reflected back by obstacle and is received by Photodiode. we use total three number of sensors.
From the reception of Photo diode voltage is generated, this generate voltage is feed to comparator for comparing with the reference voltage. We use total three number of comparator. Operational Amplifier (Op-Amp) IC LM324 is used for comprator After comparing the output voltage is given to the Micro Controller’s input port.
Working
At initial position all the wheels are on the ground and microcontroller is programmed in such a way that the robo moves forward till the sensor circuit detect any obstruction.
The sensor circuit consist of IR LED and phototransistor .The IR LED emits the IR radiations ,when there no obstruction the phototransistor does not detect any reflected radiation and the vehicle moves forward without any vertical motion.
When any obstruction comes in front of sensor mounted in front of wheel one the IR radiation are reflected back from the obstruction which is picked up by phototransistor .This phototransistor supplies a trigger signal to the comparator which conditions the signal and supplies the signal to microcontroller.
The forward motion of the robo stops and microcontroller then detect the signal on a programmed pin. According to programming controller send the signal to the motor driver .The motor driver drives the rack and pinion which lifts the wheel set one from the ground. The phototransistor detect the radiated IR radiations till the IR LED moves above the obstacle. As the wheels thus IR LED moves above the obstruction no sensor detect any signal thus forward motion of robo is initiated by the controller. Now the second detector detect the obstruction and same action is repeated as in case of first sensor.
Result & Conclusion
Electronic Part
We have achieved a synchronized and desired motion between different mechanical part by the help of sensor circuit (IRLED and phototransistor) and microcontrollers. We have also tackled the particle difficulties such as false triggering, synchronization of speed between different parts through microcontroller programming.
[attachment=26832]
INTRODUCTION
Human body is perfect combination of motion, balance, co-ordination and reflex. It because human brain is so much developed that all these activities can take place in such perfect co-ordination. With advancement in science we humans have created many beautiful creations and robot happens to be one of them. Humans have developed robots that can mimic humans. In the same context it is our humble effort to develop an electro-mechanical autonomous robotic vehicle that can have multiple degree of freedom, which enable it to move through various terrains.
Taking inspiration from NASA’s path finder robot we have tried to make a tone down prototype which control its movement with help of microcontroller which properly co-ordinate its motion.
In our project we have tried to built an electro-mechanical autonomous robotic vehicle, which moves over the hurdles in front of it by sensing obstacle with help of sensing circuit and taking controlled action with microcontroller ,which drives the motors to make robot climb over the obstruction.
Microcontrollers
Circumstances that we find ourselves in today in the field of microcontrollers had their beginnings in the development of technology of integrated circuits. This development has made it possible to store hundreds of thousands of transistors into one chip. That was a prerequisite for production of microprocessors, and the first computers were made by adding external peripherals such as memory, input-output lines, timers and other. Further increasing of the volume of the package resulted in creation of integrated circuits. These integrated circuits contained both processor and peripherals. That is how the first chip containing a microcomputer, or what would later be known as a microcontroller came about.
Basic operation of circuit:
In above block diagram, as sensors are mounted on the robot for detecting the obstacle in front of them. IRLED (Infra Red Light Emitting Diode) and Photodiode act as sensors here. IRLED emitted light for detecting obstacle which is reflected back by obstacle and is received by Photodiode. we use total three number of sensors.
From the reception of Photo diode voltage is generated, this generate voltage is feed to comparator for comparing with the reference voltage. We use total three number of comparator. Operational Amplifier (Op-Amp) IC LM324 is used for comprator After comparing the output voltage is given to the Micro Controller’s input port.
Working
At initial position all the wheels are on the ground and microcontroller is programmed in such a way that the robo moves forward till the sensor circuit detect any obstruction.
The sensor circuit consist of IR LED and phototransistor .The IR LED emits the IR radiations ,when there no obstruction the phototransistor does not detect any reflected radiation and the vehicle moves forward without any vertical motion.
When any obstruction comes in front of sensor mounted in front of wheel one the IR radiation are reflected back from the obstruction which is picked up by phototransistor .This phototransistor supplies a trigger signal to the comparator which conditions the signal and supplies the signal to microcontroller.
The forward motion of the robo stops and microcontroller then detect the signal on a programmed pin. According to programming controller send the signal to the motor driver .The motor driver drives the rack and pinion which lifts the wheel set one from the ground. The phototransistor detect the radiated IR radiations till the IR LED moves above the obstacle. As the wheels thus IR LED moves above the obstruction no sensor detect any signal thus forward motion of robo is initiated by the controller. Now the second detector detect the obstruction and same action is repeated as in case of first sensor.
Result & Conclusion
Electronic Part
We have achieved a synchronized and desired motion between different mechanical part by the help of sensor circuit (IRLED and phototransistor) and microcontrollers. We have also tackled the particle difficulties such as false triggering, synchronization of speed between different parts through microcontroller programming.