1. ROBOTIC VEHICLE FOR STORES MANAGEMENT
TOUCH SCREEN BASED REMOTE CONTROLLED
ROBOTIC VEHICLE FOR STORES MANAGEMENT

2. ABSTRACT
The project involves development pick and place system for bomb displacement with controlled tension for the robot arm.
In this project the main objective is to displace the bomb using robot with A SOFT catching arm. The movements of the robot are controlled using touch screen and RF technology.
At the transmitting end a touch screen is used interfaced with the microcontroller. These signals are then sent through the RF transmitter by encoding it by an encoder IC interfaced to the MC at the output side. These commands are received by a RF receiver at receiver end.

3. BLOCK DIAGRAM
Transmitter:

4. Receiver:

5. HARDWARE REQUIREMENTS
BATTERY
REGULATOR
MICROCONTROLLER (AT89C52/S52)
GRAPHICAL TOUCH PANEL
RF MODULES & ENCODER AND DECODER
DIODES
OPTO-ISOLATOR

6. LED
PUSH BUTTON
BC547
RESISTOR
CAPACITOR

7. It is a smaller computer Has on-chip RAM, ROM, I/O ports...
MICROCONTROLLER
It is a smaller computer
Has on-chip RAM, ROM, I/O ports...
RAM
ROM
I/O Port
Timer
Serial COM Port
Microcontroller
CPU
A single chip

8. INTERNAL STRUCTURE OF A MICRO CONTROLLER-AT89S52/51
CPU
On-chip RAM
On-chip ROM for program code
4 I/O Ports
Timer 0
Serial Port
OSC
Interrupt Control
External interrupts
Timer 1
Timer/Counter
Bus Control
TxD RxD
P0 P1 P2 P3
Address/Data
Counter Inputs

9. Features of AT89S51/52 Compatible with MCS®-51 Products
8K Bytes of In-System Programmable (ISP) Flash Memory
Endurance: 10,000 Write/Erase Cycles
4.0V to 5.5V Operating Range
Fully Static Operation: 0 Hz to 33 MHz
256 x 8-bit Internal RAM
32 Programmable I/O Lines
Three 16-bit Timer/Counters
Eight Interrupt Sources
Full Duplex UART Serial Channel
Interrupt Recovery from Power-down Mode
Watchdog Timer
Dual Data Pointer

10. Pin Description

11. Power on Reset circuit + 10 uF 31 EA/VPP X1 30 pF 19 11.0592 MHz 8.2 K
RST 31 19 18 9

12. 40 Pin GRAPHICAL TOUCH SCREEN

13. RF remote control The circuit uses HT 12E, HT 12D encoder and decoder.
433MHz ASK transmitter and receiver is used for the remote control.

14. Features of RF Range in open space(Standard Conditions) : 100 Meters
RX Receiver Frequency : 433 MHz
RX Typical Sensitivity : 105 Dbm
RX Supply Current : 3.5 mA
RX IF Frequency : 1MHz
Low Power Consumption
Easy For Application
RX Operating Voltage : 5V
TX Frequency Range : MHz
TX Supply Voltage : 3V ~ 6V
TX Out Put Power : 4 ~ 12 Dbm

15. RF Encoder & Decoder
The HT 12E Encoder ICs are series of CMOS LSIs for Remote Control system applications. They are capable of Encoding 12 bit of information which consists of N address bits and 12-N data bits.
The HT 12D ICs are series of CMOS LSIs for remote control system applications.
This ICs are paired with each other. For proper operation a pair of encoder/decoder with the same number of address and data format should be selected.
The Decoder receive the serial address and data from its corresponding decoder, transmitted by a carrier using an RF transmission medium and gives output to the output pins after processing the data.

16. MOTOR driver L293D
L293D is a dual H-bridge motor driver integrated circuit (IC).
Motor drivers act as current amplifiers since they take a low-current control signal and provide a higher-current signal.
This higher current signal is used to drive the motors.
L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two DC motors can be driven simultaneously, both in forward and reverse direction.

17. Operation of motor driver
L293D has 2 set of arrangements where one set has input 1, input 2, output 1 and output 2 and other set has input 3, input 4, output 3 and output 4, according to block diagram if pin no 2 & 7 are high then pin no 3 & 6 are also high.
If enable 1 and pin number 2 are high leaving pin number 7 as low then the motor rotates in forward direction.
If enable 2 and pin number 10 are high leaving pin number 15 as low then the motor rotates in forward direction.

18. Contd..
If enable 1 and pin number 2 are low leaving pin number 7 as high then the motor rotates in reverse direction.
If enable 2 and pin number 15 are high leaving pin number 10 as low then the motor rotates in forward direction.

19. MOC3021 ( OPTO COUPLER )
Opto-couplers are made up of a LED and a light sensitive device, all
wrapped up in one package
no electrical connection between the two devices
The light sensitive device may be a photodiode, phototransistor, or more
esoteric devices such as thyristors, triacs etc.

20. Working of project
The project uses a touch pad is interfaced to the MC.
For every no. pressed from the touch pad MC program develops a 4 bit binary data at its output port, that form as an input to the encoder IC to develop serial data at pin 17 for the transmitter.
The serial data so transmitted is converted to 4 bit binary data by the RF receiving module and the decoder IC HT12D.
Thus the exact binary data is received by the receiving MC at its pin 1,2,3,4 so that appropriate o/p is available at port 2 to drive motor driver IC L293D for movement of the robotic vehicle in forward backward and left right movement.
To other motors are also used for an operation up & down and gripper operation open & closed through the output of the second motor driver IC L293D.

21. Contd..
A Bridge Rectifier comprising of 4 numbers 4007 are used with potential divides arrangement at it DC o/p to drive LED type Opto isolator such that a PNP transistor BC557 is devoid biasing current that holds the interrupt zero pin at logic high being connected to its emitter.
While for any reason motor is brought to lock to rotor condition owing to overload or reaching the dead end develops a higher voltage at the 100Ω resistor that in turn switched ON the Opto isolator LED that finally drives the PNP transistor to GND bringing the interrupt zero to logic zero state.

22. Contd..
The program is so written that once interrupt zero occurs low, no such command would generate some direction motor movement logical input to the second set LC93D.
Only the other direction rotation is possible from the command.
This helps in soft catching arrangement of the arm gripper and also it’s up and down movement similarly.

23. Software requirements
Keil an ARM Company makes C compilers, macro assemblers, real-time kernels, debuggers, simulators, integrated environments, evaluation boards, and emulators for ARM7/ARM9/Cortex-M3, XC16x/C16x/ST10, 251, and 8051 MCU families.
Compilers are programs used to convert a High Level Language to object code. Desktop compilers produce an output object code for the underlying microprocessor, but not for other microprocessors.

24. Contd..
i.e., the programs written in one of the HLL like ‘C’ will compile the code to run on the system for a particular processor like x86 (underlying microprocessor in the computer).
For example compilers for Dos platform is different from the Compilers for Unix platform  So if one wants to define a compiler then compiler is a program that translates source code into object code.