AUTONOMOUS SERVICE PROVIDER ROBOT

ACKNOWLEDGEMENT

Behind every achievement lies an unfathomable sea of gratitude to those who

actuated it, without whom it would never have come into existence. To them we lay
the words of gratitude and thank them immensely.

We extend our sincere gratitude to Dr.K N B Murthy, Principal and

Dr. Keshavan B.K., Head, Department of Electrical & Electronics Engineering
PESIT, Bangalore , for their valuable suggestion and support for his.

We extend our heartfelt sincere gratefulness to Mr. Shankar Banavasi, Senior

Lecturer, Department of Electrical & Electronics Engineering, PES Institute of
technology, Bangalore , our guide who has always been an epitome of support and
guidance.

We would also like to thank all the faculty members of Department of Electrical &
Electronics Engineering, PESIT, Bangalore, for their support.

Last but not the least we would like to thank our family and all our friends for their
Patience, understanding and moral support without which this endeavour would not
have been perceivable.

AKARSH SHEKHAR LATHA VIJAY MANIRATNA DEORI

(USN: 1PI07EE009) (USN: 1PI07EE040) (1PI07EE044)

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ABSTRACT
Intelligent Autonomous Service Providing Robot (IASPR) will act as a
service provider that will serve the guests at home and in parties and can also double
up as a moving office records and files keeper. The type of job the robot does dictate
what system elements it needs. Robots can operate by remote control or
autonomously. It is capable of demonstrating an array of applications. This Robot
can move around on Chain drive.

This IASPR will be able to work in 2 modes.

1. Auto Mode or Line following Mode

In this mode the IASPR will be following a line of a particular color (Black in our
project), in the sense a Line Following Robot.

2. Manual or Remote control mode

This Remote Control Based service provider can also be moved / controlled using a
remote

control that is mainly transmitter based and will employ a Joystick or a plain remote.
Remote control sends information as decided by the human operator.

The IASPR will also have the feature to stop and start whenever there is an
obstruction in the way or when some user places his hands in front of it in a bid to
stop its movement. Whenever an obstacle is detected the IASPR will stop for a pre-
defined amount of time and will keep checking for the obstacle removal. Once the
obstacle is removed the system will again provide a delay and then start its
predefined journey.

When the IASPR is halted it also enables the usage of some of the switches on board.
The switches will be providing the feature of controlling the wings, which in turn
will be carrying Spoons and will house a dustbin inside.

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Further when the IASPR needs to be refilled with the fresh load of
food items (to be distributed) a message can be sent from the wireless transmitter and
the IASPR will detect its Base by searching for the LDR track (pre-laid at the base).
This is accomplished by installing an LDR circuit on the base of the IASPR .

Further the system can also be controlled through the voice commands
at the base station. Commands can be like:

 Start
 Stop
 Move Forward
 Move Backward
 Move Left
 Move Right
 Open Wings
 Close Wings, etc.,

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Table of contents

LIST OF FIGURES i

LIST OF TABLES Ii

TOPICS PAGE NO.

Chapter-1 PREAMBLE

1.1 GENERAL INTRODUCTION 2

1.2 STATEMENT OF PROBLEM 2

1.3 OBJECTIVE OF STUDY 2

1.4 PROBLEM FORMULATION 3

1.5 SCOPE OF STUDY 4

1.6 OUTCOME AND LIMITATIONS 4

1.7 ORGANISATION OF REPORT 5

Chapter-2 LITERATURE SURVEY

2.1 INTRODUCTION 8

2.1.1 ROBOTICS 8

2.1.2 DIFFERENT MODULES USED IN ROBOT 9

2.1.3 SENSORS 10

2.1.3.1 CHARACTERISTICS OF THE SENSORS 10

2.1.3.2 DIFFERENT TYPES OF SENSORS 14

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Chapter-3 PROJECT OVERVIEW

3.1 BLOCK DIAGRAMS 18

Chapter-4 HARDWARE COMPONENTS

4.1 8051 PROCESSOR 21

4.1.1. 8051 ARCHITECTURE 21

4.2 ARCHITECTURE OF LPC2148 22

4.2.1 FEATURES 23

4.3 MICRO CONTROLLER AT89C2051 25

4.3.1 GENERAL DESCRIPTION 25

4.3.2 FEATURES 26

4.4 TLP 434A WIRELESS TRANSMITTER 26

4.5 RLP 434A WIRELESS RECEIVER 27

4.6 ENCODER HT12E 28

4.6.1 GENERAL DESCRIPTION 28

4.6.2 FEATURES 28

4.7 DECODER HT12D 29

4.7.1 GENERAL DESCRIPTION 29

4.7.2 FEATURES 29

4.8 RELAY 30

4.9 ULN 2003A 31

4.9.1 FEATURES 32

4.10 MAX 232 32

4.10.1 GENERAL DESCCRIPTION 32

4.10.2 FEATURES 32

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4.11 GEARED DC MOTOR 33

Chapter-5 KEIL SOFTWARE

5.1 INTRODUCTION 35

5.2 WORKING WITH KEIL 35

5.2.1 OPEN KEIL SOFTWARE 35

5.2.2 STEPS TO START A NEW ASSEMBLER 35

5.2.3 CREATING SOURCE FILE 38

5.2.4 ADDING FILE TO THE PROJECT 38

5.2.5 CREATING HEX FOR THE PORT 38

5.2.6 TESTING PROGRAM IN DEBUGGER 39

5.2.7 RUNNING THE KEIL SOFTWARE 40

Chapter-6 VISUAL BASIC 6.0

6.1 INTRODUCTION 42

6.1.1 LANGUAGE FEATURES 43

6.1.2 COMPARISON BETWEEN VB & C 46

LANGUAGE
6. 2 GUI DESIGNED FOR IASPR USING VB 48

Chapter-7 CIRCUIT DIAGRAM OF THE HARDWARE

MODULES

7.1 LIST OF COMPONENTS 51

7.2 REMOTE TRANSMITTER USING AT89C2051 51

7.3 RECEIVER CIRCUIT 52

7.3.1 UART,USB & RS232 CONNECTORS USED 52

IN ARM BOARD

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7.3.2 JTAG INTERFACE IN ARM BOARD 53

7.3.3 8051 BASED LPC2148 PROCESSOR 54

CIRCUIT

7.3.4 FRONT OBSTACLE DETECTION CIRCUIT 55

7.3.5 DC MOTOR CONTROL CIRCUIT 56

7.3.6 LDR SENSOR CIRCUIT 57

Chapter-8: SOFTWARE MODULE

8.1 FLOW CHART FOR THE TRANSMISSION 60

PROGRAM

8.2 FLOW CHART FOR THE RECEIVER PROGRAM 64

8.3 FLOW CHART FOR VOICE ACTIVATION 67

PROGRAM
8.4 THE 8051 CODE FOR TRANSMITTER 68

8.5 THE 8051 CODE FOR RECEIVER 77

Chapter-9: TESTING AND RESULTS

9.1 TESTING 89

9.1.1 MICRO CONTROLLERS AND OTHER 89

COMPONENTS
9.1.2 TRANSMITTER 89

9.1.3 RECEIVER 89

9.1.3.1 MOTOR CURRENTS 90

9.1.3.2 RELAY,ULN 2003A CURRENTS 90

9.1.3.3 ARM BOARD 90

9.1.3.4 IR SENSORS 91

9.1.3.5 SPEED OF THE VEHICLE 91

9.1.3.6 RANGE OF THE TRANSMITTER 91

REMOTE
9.2 SNAPSHOTS 92

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9.3 RESULTS 96

Chapter 10: CONCLUSION & FUTURE DEVELOPMENT

10.1 CONCLUSION 99

10.2 FUTURE DEVELOPMENT 99

APPENDIX A GLOSSARY 102

APPENDIX B REFERENCES 104

APPENDIX C DATASHEETS 107

LIST OF FIGURES

Figure No. Figure Name Page No.

2.1 IR SENSOR 15

3.1 BLOCK DIAGRAM OF TRANSMITTER OF IASPR 18

3.1 BLOCK DIAGRAM OF RECEIVER OF IASPR 19

4.1 BLOCK DIAGRAM OF 8051 PROCESSOR 22

4.2 AT89C2051 25

4.3 TLP 434A TRANSMITTER IC 26

4.4 RLP 434A RECEIVER IC 27

4.5 HT12E 28

4.6 HT12D 29

4.7 SUGAR CUBE RELAY 30

4.8 OPERATION OF RELAY 30

4.9 ULN 2003A 31

4.10 MAX 232 32

4.11 GEARED DC MOTOR 33

5.1 NAMES OF THE WINDOWS 35

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5.2 PROJECT MENU 35

5.3 SAVING PROJECT 36

5.4 SELECTION OF VENDOR 37

5.5 SELECTION OF PART 37

5.6 PROGRAMMING OF PART 39

5.7 PORTS AND PINS 40

5.8 SINGLE STEPPING 40

6.1 MS VISUAL BASIC 6.0 LOGO 43

6.2 FORM IN MS VISUAL BASIC 6.0 44

6.3 GUI DESIGNED FOR IASPR USING MS VB 6.0 49

7.1 REMOTE TRANSMITTER 52

7.2 UART,USB AND RS232 CONNECTORS 53

7.3 JTAG INTERFACE IN ARM BOARD 54

7.4 8051 BASED PLC2148 PROCESSOR CIRCUIT 55

7.5 FRONT OBSTACLE DETECTION CIRCUIT 56

7.6 DC MOTOR CONTROL CIRCUIT 57

7.7 LDR CIRCUIT 58

9.1 TRANSMITTER REMOTE 92

9.2 POWER SUPPLY FOR ARM BOARD 93

9.3 8051 BASED LPC 2148 BOARD 93

9.4 HT12D DECODER CIRCUIT USED AT THE RECEIVER 94

9.5 RELAY CIRCUIT 94

9.6 LDR SENSOR CIRCUIT 95

9.7 WHEEL ARRANGEMENT 95

9.8 INTEGRATION OF ALL THE CIRCUITS 96

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LIST OF TABLES

Table No. Table Name Page No.

6.1 DIFFERNCE BETWEEN C LANGUAGE & VB 46

7.1 LIST OF COMPONENTS 51

9.1 MOTOR CURRENTS 90

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