Design of Non-colliding robot with

Data Acquisition System

VIST, Dept. of ECE

Contents

Importance of the Project

Robotics Introduction
Existing System details & Block diagram
Proposed System details & Block diagram
Results
Conclusion
Future Scope

VIST, Dept. of ECE

Existing System

Inter Module Communication

Power management module
Motor control module
Sonar management module
Docking station
Test Program

VIST, Dept. of ECE

Docking Station

Docking station is a module that is not

mounted on the robot but is on a fixed
position well known by the robot.
This module contains a smart battery charger
and an external power supply.
When robot needs to be recharged it goes to
the docking station and connects to it.

VIST, Dept. of ECE

Power Management Module

Power management module is the module

which is responsible to deliver enough power
to the system
This module is monitoring battery voltage
This module has three micro switches. These
switches are used for positioning robot to the
docking station. Only when all three switches
are closed charging can begin

VIST, Dept. of ECE

Motor Control Module

Motor control module is responsible for

control of motor's speed and direction
It is based on PIC16F876 microcontroller
Locomotion system is differential with two
DC motors
For motor speed control pulse width
modulation (PWM) is used

VIST, Dept. of ECE

Sonar Management Module

Sonar management module is one of the

most important parts of system because its
responsibility is to measure distance between
robot and obstacles.
In this way the robot can avoid collisions with
obstacles and possible damage.

VIST, Dept. of ECE

Inter Module communication

Communication between modules is

achieved via IC bus
IC is a synchronous serial system bus and
its purpose is to connect different system
parts on low distances
This module is based on 8-bit PIC16F876
microcontroller

VIST, Dept. of ECE

Proposed System
Implemented with
A new generation 32 bit microcontroller

Zigbee Transceivers

DC motors

Sensors
VIST, Dept. of ECE

Proposed System

Controller used is LPC 1768 which is a ARM

Cortex M3 Microcontroller
The Microcontroller has 512kb flash memory,
64kb SRAM, 8 ADC channels, 4 UARTs, 3IC
buses and many more features
Sensors used are Ultrasonic sensors,
Temperature sensors and LDRs
12V Power supply is used

VIST, Dept. of ECE

Proposed System

Programmed input to microcontroller is

from Keil Software.

User interface is from LabView

Output is viewed in LabView software

VIST, Dept. of ECE

Proposed System

The controller attached with three ultrasonic

sensors is used to sense the obstacles in
each direction
The zigbee wireless transceiver is used to
communicate the commands between base
system and Robot
LM35 temperature sensor is used to sense
the temperature
DC motors are used to move the robot

VIST, Dept. of ECE

Advantages

This Robot can be taken into places where

human cannot enter
This Robot does not collide with any obstacle
Human-operator controls the position of the
mobile robot

VIST, Dept. of ECE

Conclusion

This Project shows reference design of a

service mobile robot
It shows some basic ideas and principles
that are used in more complex systems

VIST, Dept. of ECE

Future Scope

This design is in a prototype phase, further it

would be interesting to implement some
wireless communication on the robot
because it could be necessary if we want to
make collaboration between two or more
robots
A camera for implementation of robotic vision
can also be added

VIST, Dept. of ECE