3. Robotics will play a vital role in our daily
applications.
Robot may be either guided or
autonomous.
The mechanical Structures are interfaced
to electronics circuit to drive the robot.
In general robot is controlled by using
flash magic software.
4. Now a days, we use metal detecting robots
which will twist total structure to change its
direction
This may be give unfruitful result for low
space and uneven surface conditions
5. In order to overcome the above
disabilities, using sophisticated
technology a multi directional metal
detection robot(MDR) was constructed
6. Block diagram
Transmission section includes a personal
computer which contains a code and ZigBee
which is a transceiver and acts as a wireless
communication channel of range 100mts.
pc ZigBee ZigBee mc
MD
LED
Motor
Buzzer
TRANSMITTER RECIEVER
7. A metal detector, LED, motor L293D,
buzzer are interfaced with receiver
The micro controller will enable the motor
driving circuit to traverse the MDR
accordingly
Receiver section consists of another ZigBee
which sends data to micro controller
(89S52)
Fig.4 Top view of the MDR
8. Fig . 1 Simulation Circuit diagramof the Receiver
9. Communication
MDR was constructed in a square shape
using noncorrosive material
It was guided remotely using wireless
communication
Between MDR control unit and control room,
low power short range communication is
established
10. Hyper terminal
Hyper terminal is a program that records the
messages passed to and from PC to the
receiving circuit
Commands can be sent to MDR directly via
hyper terminal
Hyper terminal is configured with baud rate
of 9600
11. Fig. 9 Messages at hyper terminal
The state of execution will be resend to
hyper terminal as a command ‘X’ for
successful execution and ‘E’ for an error
12. Wheels arrangement
Five number of 100 rpm DC motors are
used, out of which 4 are used to control the
movement of 4 multi directional wheels
One DC motor is located at the center point
to transmit the signals
13. Gear assembly of MDR
To fix the motion and direction of MDR ,
heavy duty plastic gear assembly is used
Fig.2 Gear assembly of MDR (Bottom View)
14. METAL DETECTOR
Round shaped concentric coil is used for
MDR
EMI principle is adapted by applying AC to
coil which induces EMF
The magnetic field of coil is used to detect
the metal objects
Due to this current is influenced on the metal
resulting generation of opposite current
Fig.5 Concentric coil metal detector view
Fig.3 MDR Structural front view
1
2
15. A transmitter acts as a source ahead for
which operating frequency depends upon
current flow
This current flow causes change in
magnetic field
When it is sensed by the metal, it will
induce current itself and produces magnetic
field opposite polarity
The current flow in the receiver coil gets
amplified and processed
The resulting signal at the receiver coil is
having phase shift with the transmitter coil
16. Large phase shift occurs for metals like
gold, copper, silver etc.
Kind of metal identified is based upon
phase shift
Small phase shift occurs for less conductive
and thinner objects
17. Signal transmission
An IR transmitter is equipped to shaft of
motor and 8 IR receivers are positioned
surroundingly
IR transmitter emits radiations continuously
which will received by receiver
The amount of IR signal hitting the receiver
will be measured in terms of its output
voltage of receiver
18. The angle of MDR motion is determine based
on control points
The traverse directions are determined by
considering the transmitter located at the
center position of robots
Fig .7 An approach to find the angle for diagonal
traverse of the robot.
19.
20. This model is best suited for finding the
conductive metals like gold, nickel, silver etc.
at risky locations
The intensity of emitted EM rays can detect the
conductive material limited to closer objects
MDR may use in seismology to find the metal
content in the available minerals
In future the developed is powered with
knowledge based system so that classification
of metals can be accurately determined
21. Thus by using MDR, we can detect the type
of metal with multi directional movement
using remote control
The developed working model needs to be
powered with collision avoid mechanism in
order to safe guard it from other obstacles in
opposite direction