HEAVY EXPLOSIVE REMOVING ROBOT CONTROL

TECHNIQUE RESEARCH

Explosive removing robot is a kind of unmanned equipment to dispose dangerous explosive

instead people. It is very important because there are many explosives threaten the security of the
world. This project introduces research work of a heavy explosive removing robot. It can remove
explosive to point when people is in safe place. This heavy explosive removing robot is advantage
and reliability. This robot can rescue people before explosive.

Existing System:

Earlier, the system used for these kinds of operations just detects through any of the sensors and
indicates the presence of the explosives alone. Indication is done through alarm or by any other
means of medium.

Proposed System:
In this project, the high explosives and suspicious objects gets captured through CCTV
mechanism which is in the robot, according to it, the robot which does the corresponding action.
The communication medium between the control and robot section here used is Zigbee
Communication. CCTV in the robot captures the image which is continuously monitored in the
display unit in the control section. The keypad which is interfaced with the microcontroller unit is
used to control the robot. The input data from the keypad is transferred to the robot unit through
zigbee transceiver unit. Mine detection sensor used in the robot unit detects any landmine and
informs it to the control unit through LCD indication and buzzer which is connected in control
unit. The motors used in the robot are controlled by using the relays. Relays are the
electromagnetic switch which activates the motors according to the given input.
Here the program is fetched into to the microcontroller; according to that programming
instruction these hardware controls are made.
Block Diagram:
Control Unit:

Power Supply

8051 LCD
Micro

Controller
KEYPAD
Buzzer
Robot Unit:

Power Supply

R
RELAY
Mine Detection
Driver
Sensor
8051
O
Micro

Signal Controller RELAY B

conditioning Driver
Device O

CCTV
Hardware Requirements:
• 8051 Microcontroller
• Landmine Sensor
• CCTV and Display Monitor
• Keypad
• Zigbee Transceiver
• Relays
• Robot Mechanism

Software Requirements:
• Embedded C
• Keil C Compiler.

About Embedded:

An embedded system is a special-purpose computer system designed to perform a dedicated

function. Since the system is dedicated to specific tasks, design engineers can optimize it,
reducing the size and cost of the product. Embedded system comprises of both hardware and
software. Embedded system is fast growing technology in various fields like industrial
automation, home appliances, automobiles, aeronautics etc. Embedded technology uses PC or a
controller to do the specified task and the programming is done using assembly language
programming or embedded C.

Applications:
• Can be used in military applications
• Also be used for surveillance purposes.
LIST OF MODULES:

MODULE 1: 8051 MICROCONTROLLER

MODULE 2: KEYPAD

MODULE 3: ZIGBEE

MODULE 4: LCD

MODULE 5: RELAY

MODULE 6: DC MOTOR
MODULE 1:

Power Supply for 8051 Microcontroller

This section describes how to generate +5V DC power supply

The power supply section is the important one. It should deliver constant output regulated power supply
for successful working of the project. A 0-12V/1 mA transformer is used for this purpose. The primary of
this transformer is connected in to main supply through on/off switch& fuse for protecting from overload
and short circuit protection. The secondary is connected to the diodes to convert 12V AC to 12V DC
voltage. And filtered by the capacitors, which is further regulated to +5v, by using IC 7805
Microcontroller:

A microcontroller (also microcontroller unit, MCU or µC) is a small computer on a single integrated
circuit consisting of a relatively simple CPU combined with support functions such as a crystal oscillator,
timers and etc. Microcontrollers are used in automatically controlled products and devices, such as
automobile engine control systems, remote controls, office machines, appliances, power tools, and toys.

8051 schematic

The input and output device or connected to port pins of the controller. Typical input and output devices
include switches, relays, solenoids, LEDs, small or custom LCD displays, radio frequency devices, and
sensors for data such as temperature, humidity, light level etc. The device, such as GSM, GPS and RFID
are interfaced to the controller via serial communication i.e. TX and RX pins.
MODULE 2:

KEYPAD INTERFACING:

Keyboards and LCDs are the most widely used input/output devices of the 8051, and a basic
understanding of them is essential. In this section, we first discuss keyboard fundamentals, along
with key press and key detection mechanisms, Then we show how a keyboard is interfaced to an
8051.

Interfacing the Keyboard to the 8051:

At the lowest level, keyboards are organized in a matrix of rows and columns. The CPU accesses
both rows and column through ports; therefore, with two 8-bit ports, an 8*8 matrix of keys can be
connected to a microprocessor. When a key pressed, a row and column make a connect;
otherwise, there is no connection between row and column. In IBM PC keyboards, a single
microcontroller (consisting of microprocessor, RAM and EPROM, and several ports all on a
single chip) takes care of software and hardware interfacing of keyboard. In such systems it is the
function of programs stored in the EPROM of microcontroller to scan the keys continuously,
identify which one has been activated, and present it to the motherboard. In this section we look at
the mechanism by which the 8051 scans and identifies the key.

Scanning and identifying the key:

Figure13.5 shows a 4*4 matrix connected to two ports. The rows are connected to an output port
and the columns are connected to an input port. If no key has been pressed, reading the input port
will yield 1s for all columns since they are all connected to high (Vcc) If all the rows are
grounded and a key is pressed, one of the columns will have 0 since the key pressed provides the
path to ground. It is the function of the microcontroller to scan the keyboard continuously to
detect and identify the key pressed. How it is done is explained next.
...................................................................................................................................
Grounding rows and reading columns:

To detect a pressed key, the microcontroller grounds all rows by providing 0 to the output latch,
and then it reads the columns. If the data read from the columns is D3-D0=1111, no key has been
pressed and the process continues until a key press is detected. However, if one of the column bits
has a zero, this means that a key press has occurred. For example, if D3-D0=1101, this means that
a key in the D1 column has been pressed. After a key press is detected, the microcontroller will go
through the process of identifying the key. Starting with the top row, the microcontroller grounds
it by providing a low to row D0 only; then it reads the columns. If the data read is all1s, no key in
that row is activated and the process is moved to the next row. It grounds the next row, reads the
columns, and checks for any zero. This process continues until the row is identified. After
identification of the row in which the key has been pressed, the next task is to find out which
column the pressed key belongs to. This should be easy since the microcontroller knows at any
time which row and column are being accessed.
 MODULE 3:

ZIGBEE
ZigBee is a wireless technology developed as an open global standard to address the
unique needs of low-cost, low-power, wireless sensor networks. The standard takes
full advantage of the IEEE 802.15.4 physical radio specification and operates in
unlicensed bands worldwide at the following frequencies: 2.400–2.484 GHz, 902-928
MHz and 868.0–868.6 MHz.

1. The power levels (down from 5v to 3.3v) to power the zigbee module.
2. The communication lines (TX, RX, DIN and DOUT) to the appropriate voltages.

The Zigbee module acts as both transmitter and receiver. The Rx and Tx pins of
ZIGBEE are connected to Tx and Rx of 8051 microcontroller respectively. The data’s
from microcontroller is serially transmitted to Zigbee module via UART port. Then
Zigbee transmits the data to another Zigbee. The data’s from Zigbee transmitted
from Dout pin. The Zigbee from other side receives the data via Din pin.
MODULE 4:

Liquid crystal displays

The LCD standard requires 3 control lines and 8 I/O lines for the data bus.

• 8 data pins D7:D0

Bi-directional data/command pins.
Alphanumeric characters are sent in ASCII format.

• RS: Register Select

RS = 0 -> Command Register is selected
RS = 1 -> Data Register is selected
• R/W: Read or Write
0 -> Write, 1 -> Read

• E: Enable (Latch data)

Used to latch the data present on the data pins.
A high-to-low edge is needed to latch the data.

The 8 data lines are connected to PORT 1 of 8051 microcontroller. The three control
lines( RS,RW and EN ) are connected to PORT 3.5,3.6 and 3.7 respectively.

MODULE 5:

RELAY

1. A relay is an electrically operated switch.

2. Electric current through the coil of the relay creates a magnetic field which attracts a lever and
changes the switch contacts.

3. The coil current can be on or off so relays have two switch positions and there are double-
throw (changeover) switches.

5. It consists of a coil of wire surrounding a soft iron core, an iron yoke, which provides a low
reluctance path for magnetic flux, a movable iron armature, and a set, or sets, of contacts.

7. In this condition, one of the two sets of contacts in the relay pictured is closed, and the other set
is open.

8. The P0_0, P0_1, P0_2 and P0_3 pin of controller is assumed as data transmit pins to the relay
through relay driver ULN 2003. ULN 2003 is just like a current driver.
MODULE 6:

DC MOTOR:

A DC motor is designed to run on DC electric power. Two examples of pure DC designs are
Michael Faraday's homopolar motor (which is uncommon), and the ball bearing motor, which is
(so far) a novelty.

By far the most common DC motor types are the brushed and brushless types, which use internal
and external commutation respectively to create an oscillating AC current from the DC source—
so they are not purely DC machines in a strict sense.

We in our project are using brushed DC Motor, which will operate in the ratings of 12v DC 0.6A
which will drive the flywheels in order to make the robot move.
About Compiler:

8051 C-Compiler & Assembler Kit

The CA51 Compiler Kit for the 8051 microcontroller family supports all 8051 derivatives
including those from companies like Analog Devices, Atmel, Cypress Semiconductor, Dallas
Semiconductor, Goal, Hynix, Infineon, Intel, OKI, Philips, Silicon Labs, SMSC,
STMicroelectronics, Synopsis, TDK, Temic, Texas Instruments, and Winbond.

The following components are included in the CA51 8051 C-compiler & Assembler Kit:

C51 C Compiler

The Keil C51 C Compiler for the 8051 microcontroller is the most popular 8051 C compiler in the
world. It provides more features than any other 8051 C compiler available today.

The C51 Compiler allows you to write 8051 microcontroller applications in C that have the
efficiency and speed of assembly language. Language extensions in the C51 Compiler give you
full access to all resources of the 8051.
 C51 translates C source files into a relocatable object module. When the DEBUG control is used,
the object file contains full symbolic information for debugging with the µVision3 Debugger or
an in-circuit emulator. In addition to the object file, the C51 Compiler generates a listing file
which optionally may include symbol table and cross-reference information.

Features:

• Nine basic data types, including 32-bit IEEE floating-point

• Flexible variable allocation with bit, data, bdata, idata, xdata, and pdata memory types
• Interrupt functions may be written in C
• Full use of the 8051 register banks
• Complete symbol and type information for source-level debugging
• Use of AJMP and ACALL instructions
• Bit-addressable data objects
• Built-in interface for the RTX51 real-time operating system
• Support for dual data pointers on Atmel, AMD, Cypress, Dallas Semiconductor, Infineon, Philips,
and Triscend microcontrollers
• Support for the Philips 8xC750, 8xC751, and 8xC752 limited instruction sets
• Support for the Infineon 80C517 arithmetic unit

A51 Macro Assembler

The A51 Assembler is a macro assembler for the 8051 family of microcontrollers. It supports all
8051 derivatives. It translates symbolic assembly language mnemonics into relocatable object
code where the utmost speed, small code size, and hardware control are critical. The macro
facility speeds development and conserves maintenance time since common sequences need only
be developed once. The A51 assembler supports symbolic access to all features of the 8051
architecture.

The A51 assembler translates assembler source files into a relocatable object modules. The
DEBUG control adds full symbolic information to the object module and supports debugging
with the µVision3 Debugger or an in-circuit emulator. In addition to object files, the A51
 assembler generates list files which optionally may include symbol table and cross reference
information.

µVision3 IDE

The µVision3 IDE from Keil Software combines project management, make facilities, source
code editing, program debugging, and complete simulation in one powerful environment.
µVision3 helps you get programs working faster than ever while providing an easy-to-use
development platform. The editor and debugger are integrated into a single application and
provide a seamless embedded project development environment.

µVision3 features include:

• The Device Database which automatically sets the assembler, compiler, and linker options for the
chip you select. This prevents you from wasting your time configuring the tools and helps you get
started writing code faster.
• A robust Project Manager which lets you create several different configurations of your target
from a single project file. The Keil µVision3 IDE allows you to create an output file for
simulating, an output file for debugging with an emulator, and an output file for programming an
EPROM -- all from the same Project file.
• An integrated Make facility with automatic dependency generation. You don't have to figure out
which header files and include files are used by which source files. The Keil compilers and
assemblers do that automatically.

Interactive Error Correction. As your project compiles, errors and warnings appear in an output
window. You may make corrections to the files in your project while µVision3 continues to
compile in the background. Line numbers associated with each error or warning are
automatically resynchronized when you make changes to the source.