INTELLIGENT PASSINGER TRANSPORTATION SYSTEM

Transcription

1 INTELLIGENT PASSINGER TRANSPORTATION SYSTEM MINI PROJECT REPORT Submitted by SHARDUL DHANORKAR SUMIT BHATT NIKHIL DHABALE KUNAL DAMEDHAR Department of Electronics and Telecommunications YESHWANTRAO CHAVAN COLLEGE OF ENGINEERING NAGPUR MARCH 2011

2 ACKNOWLEDGEMENTS We would like to express our greatest gratitude to the people who have helped and supported us throughout. First and foremost, we would like to express our deepest appreciation to Dr. M.M. Mushrif (Head of the Dept. Electronics &Telecommunications) for his kind and valuable support and guidance. We would like to extend our sincere thanks to Prof. S.A. Desai for his patient and unfailing support over the successful completion of this mini project. We are convinced that this work would not have been completed without the assistance and support of the lab assistant, Praful sir. Last but not least our course mates who have provided us with invaluable advice and help.

3 YESHWANTRAO CHAVAN COLLEGE OF ENGINEERING NAGPUR DEPARTMENT OF ELECTRONICS AND TELECOMMUNICATIONS CERTIFICATE Certified that this is the bonafide record of the mini project work titled INTELLIGENT PASSINGER TRANSPORTATION SYSTEM Done by Shardul Dhanorkar, Sumit Bhatt, Nikhil Dhabale and Kunal Damedhar during the year in partial fulfillment of the requirements for the award of the degreee of Bachelor of Engineering in Electronics & Telecommunication Nagpur University. Engineering of Rashtrasanta Tukdoji Maharaj Mini project Coordinator Prof. S. A. Desai Head of Department Dr. M. M. Mushrif

4 CONTENTS 1. Introduction 2. Functional Block Diagram 3. Component description 4. Circuit Diagram 5. Micro controller P89V51RD2 6. Motor Driver Circuit 7. List of Components 8. PCB Layout 9. Programming the controller 10. Flow Chart and Program description 11. Applications 12. Future Scope 13. Bibliography 14. References

5 INTRODUCTION A line follower robot is basically a robot designed to follow a line or path already predetermined by the user. This line or path may be as simple as a physical white line on the floor or as complex path marking schemes e.g. embedded lines, magnetic markers and laser guide markers. In order to detect these specific markers or lines, various sensing schemes can be employed. These schemes may vary from simple low cost line sensing circuit to expansive vision systems. The choice of these schemes would be dependent upon the sensing accuracy and flexibility required. From the industrial point of view, line following robot has been implemented in semi to fully autonomous plants. In this environment, these robots function as materials carrier to deliver products from one manufacturing point to another where rail, conveyor and gantry solutions are not possible. Apart from line following capabilities, these robots should also have the capability to navigate junctions and decide on which junction to turn and which junction to ignore. This would require the robot to have 90 degree turn and also junction counting capabilities. To add on to the complexity of the problem, sensor positioning also plays a role in optimizing the robots. A circuit inside takes an input signal from two sensors and controls the speed of wheels rotation. The control is done in such a way that when a sensor senses a blackline, the motor slows down or even stops. Then the difference of rotation speed makes it possible to make turns. For instance, in the figure on the right, if the sensor somehow senses a black line, the wheel on that side slows down and the robot will make a right turn.

6 FUNCTIONAL BLOCK DIAGRAM The microcontroller block consists of the microcontroller P89V51RD2. It is a 8051 series microcontroller. S1 and S2 represent two pairs of sensors respectively. Sensors are nothing but IR transmitters and receivers. A driver IC is L293D which drives two 12V dc motors M1 and M2.

7 COMPONENT DESCRIPTION P89V51RD2 MICRO CONTROLLER DESCRIPTION The P89V51RD2 is an 80C51 microcontroller with 64 kb Flash and 1024 bytes of data RAM. A key feature of the P89V51RD2 is its X2 mode option. The design engineer can choose to run the application with the conventional 80C51 clock rate (12 clocks per machine cycle) or select the X2 mode (6 clocks per machine cycle) to achieve twice the throughput at the same clock frequency. Another way to benefit from this feature is to keep the same performance by reducing the clock frequency by half, thus dramatically reducing the EMI. The Flash program memory supports both parallel programming and in serial In-System Programming (ISP). Parallel programming mode offers gang-programming at high speed, reducing programming costs and time to market. ISP allows a device to be reprogrammed in the end product under software control. The capability to field/update the application firmware makes a wide range of applications possible. The P89V51RD2 is also In-Application Programmable (IAP), allowing the Flash program memory to be reconfigured even while the application is running. FEATURES 80C51 Central Processing Unit 5 V Operating voltage from 0 to 40 MHz 64 kb of on-chip Flash program memory with ISP (In-System Programming) and IAP (In-Application Programming) Supports 12-clock (default) or 6-clock mode selection via software or ISP SPI (Serial Peripheral Interface) and enhanced UART PCA (Programmable Counter Array) with PWM and Capture/Compare functions Four 8-bit I/O ports with three high-current Port 1 pins (16 ma each) Three 16-bit timers/counters Programmable Watchdog timer (WDT) Eight interrupt sources with four priority levels Second DPTR register Low EMI mode (ALE inhibit) TTL- and CMOS-compatible logic levels

8 BLOCK DIAGRAM L293D MOTOR DRIVING IC DESCRIPTION The bidirectional rotation of motors is achieved with the help of the motor driving IC. The motor driving IC also acts as a high current source for the DC motors. The Device is a monolithic integrated high voltage, high current four channel driver designed to accept standard DTL or TTL logic levels and drive inductive loads (such as relays solenoids, DC and stepping motors) and switching power transistors. To simplify use as two bridges each pair of channels is equipped with an enable input. A separate supply input is provided for the logic, allowing operation at a lower voltage and internal clamp diodes are included.this device is suitable for use in switching applications at frequencies up to 5 khz.

9 FEATURES 600mA OUTPUT CURRENT CAPABILITY PER CHANNEL 1.2A PEAK OUTPUT CURRENT (non repetitive) PER CHANNEL ENABLE FACILITY OVERTEMPERATUREPROTECTION LOGICAL 0 INPUT VOLTAGE UP TO 1.5 V HIGH NOISE IMMUNITY INTERNAL CLAMP DIODES BLOCK DIAGRAM

10 LM324 COMPARATOR IC DESCRIPTION The LM324 consist of four independent, high gain, internally frequency compensated operational amplifiers which were designed specifically to operate from a single power supply over a wide voltage range. Operation from split power supplies is also possible so long as the difference between the two supplies is 3 volts to 32 volts. Application areas include transducer amplifier, DC gain blocks and all the conventional OP Amp circuits which now can be easily implemented in single power supply systems. FEATURES Internally Frequency Compensated for Unity Gain Large DC Voltage Gain: 100dB Wide Power Supply Range: LM324 : 3V~32V (or ±1.5 ~ 16V) Input Common Mode Voltage Range Includes Ground Large Output Voltage Swing: 0V to VCC -1.5V Power Drain Suitable for Battery Operation BLOCK DIAGRAM

11 MAX 232 DESCRIPTION The MAX232 is a dual driver/receiver that includes a capacitive voltage generator to supply EIA-232 voltage levels from a single 5-V supply. Each receiver converts EIA-232 inputs to 5-V TTL/CMOS levels. These receivers have a typical threshold of 1.3 V and a typical hysteresis of 0.5 V, and can accept ±30-V inputs. Each driver converts TTL/CMOS input levels into EIA-232 levels. The driver, receiver, and voltage-generator functions are available as cells in the Texas Instruments LinASIC library. FEATURES Meet or Exceed TIA/EIA-232-F and ITU Recommendation V.28 Operate With Single 5-V Power Supply Operate Up to 120 kbit/s Two Drivers and Two Receivers ±30-V Input Levels Low Supply Current... 8 ma Typical Designed to be Interchangeable With Maxim MAX232 ESD Protection Exceeds JESD V Human-Body Model (A114-A) Applications TIA/EIA-232-F Battery-Powered Systems Terminals Modems Computers

12 IR TRANSMITTER AND RECEIVER This IR led is used to emit the infrared rays at particular frequency. The emitting light is not visible in human eyes. In the transmitting side led will glow in a particular frequency Vital role of IR transmitter in line follower robot The IR Transmitter is used is in the project to find out the obstacles in the vehicle path, the transmitter will be generating the IR rays at a particular frequency. This frequency is received by the IR receiver.if any obstacles is present the receiver will fail to receive the IR rays. The IR receiver is a two pin module which will receive the IR rays and decode the signal into data. Vital role of IR Receiver in this project line follower robot This will receive the control signal which are transmitted from IR remote / IR transmitter and gives the output to the input of microcontroller. RS 232 DB9 CABLE The RS232 connector was originally developed to use 25 pins. In this DB25 connector pinout provisions were made for a secondary serial RS232 communication channel. In practice, only one serial communication channel with accompanying handshaking is present. Only very few computers have been manufactured where both serial RS232 channels are implemented. Examples of this are the Sun SparcStation 10 and 20 models and the Dec Alpha Multia. Also on a number of Telebit modem models the secondary channel is present. It can be used to query the modem status while the modem is on-line and busy communicating. On personal computers, the smaller DB9 version is more commonly used today. The diagrams show the signals common to both connector types in black. The defined pins only present on the larger connector are shown in red. Note, that the protective ground is assigned to a pin at the large connector

13 where the connector outside is used for that purpose with the DB9 connector version. This connector is used to download the hex code from computer to the microcontroller. RS 232 DB9 PINOUT CRYSTAL The crystal that we have used in the circuit has the frequency of MHz. The crystal is connected between Pin No 18 and Pin No 19 of the microcontroller. We use MHz crystal only because it can be divide to give exact clock rates for most of the common baud rates for the UART, especially for the higher speeds (9600, 19200). Despite the oddball value, these crystals are readily available and commonly used MHz crystal

14 7805 VOLTAGE REGULATOR IC DESCRIPTION These regulators can provide local on-card regulation, eliminating the distribution problems associated with single point regulation. Each type employs internal current limiting, thermal shut-down and safe area protection, making it essentially indestructible. If adequate heat sinking is provided, they can deliver over 1 A output current. Although designed primarily as fixed voltage regulators, these devices can be used with external components to obtain adjustable voltage and currents. FEATURES Output current up to 1.5 A Output voltage of 5. Thermal overload protection Short circuit protection Output transition SOA protection 2 % output voltage tolerance Guaranteed in extended temperature range.

15 BLOCK DIAGRAM BRIDGE RECTIFIER The four-diode rectifier circuit shown to the right serves very nicely to provide full-wave rectification of the ac output of a single transformer winding. The diamond configuration of the four diodes is the same as the resistor configuration in a Wheatstone Bridge. In fact, any set of components in this configuration is identified as some sort of bridge, and this rectifier circuit is similarly known as a bridge rectifier. If we compare this circuit with the dual-polarity full-wave rectifier above, we'll find that the connections to the diodes are the same. The only change is that we have removed the center tap on the secondary winding, and used the negative output as our ground reference instead. This means that the transformer secondary is never directly grounded, but one end or the other will always be close to ground, through a forward-biased diode. This is not usually a problem in modern circuits.

16 To understand how the bridge rectifier can pass current to a load in only one direction, consider the figure to the right. Here we have placed a simple resistor as the load, and we have numbered the four diodes so we can identify them individually. During the positive half-cycle, shown in red, the top end of the transformer winding is positive with respect to the bottom half. Therefore, the transformer pushes electrons from its bottom end, through D3 which is forward biased, and through the load resistor in the direction shown by the red arrows. Electrons then continue through the forward-biased D2, and from there to the top of the transformer winding. This forms a complete circuit, so current can indeed flow. At the same time, D1 and D4 are reverse biased, so they do not conduct any current. During the negative half-cycle, the top end of the transformer winding is negative. Now, D1 and D4 are forward biased, and D2 and D3 are reverse biased. Therefore, electrons move through D1, the resistor, and D4 in the direction shown by the blue arrows. As with the positive half-cycle, electrons move through the resistor from left to right. In this manner, the diodes keep switching the transformer connections to the resistor so that current always flows in only one direction through the resistor. We can replace the resistor with any other circuit, including more power supply circuitry (such as the filter), and still see the same behavior from the bridge rectifier. BRIDGE DIODE RECTIFIER

17 CIRCUIT DIAGRAM

18 CIRCUIT DESCRIPTION The circuit is built around a P89V51RD2 microcontroller. The Vcc for the microcontroller is given from a 7805 voltage regulator which regulates the supply voltage to 5V.P89V51RD2 is operated at MHz frequency and the crystal connected between pins 18 and 19 generates this. The microcontroller communicates with the PC via RS 232 DB9 connector cable. The 22k resistor clamps the serial voltage to 5V to prevent damage to the chip. Pins 40 and 20 are given 5V and ground respectively. Pin no. 9 of the microcontroller is used for the RESET circuit through which the microcontroller can be reset. The reset circuit consists of a 10 uf capacitor, a 10 k resistor and a push-to-make switch. Port 0 of the microcontroller is connected to the 8 bit parallel port via a resistor array of 10k which is used as external pull-ups. Port 1 is used as input port while port 3 is used as output port. The power supply circuit consists of a voltage regulator IC 7805 whose output voltage is 5V regulated. The circuit makes use of a Diode Bridge Rectifier and four capacitors for filtering purpose. A LED is used to display that the circuit is giving the output as 5V. Pins 14 and 13 of MAX 232 IC are connected to the RS232 DB9 connector. This IC works as an intermediate between computer and microcontroller. IC L293D is a motor driver IC which is connected to port 0 of the microcontroller. The output of L293D is given to two motor outputs that are used to control the motion of the robot.

19 SENSOR CIRCUIT The sensor circuit is shown in the above figure. A sensor circuits used in the project consists of four pairs of transmitter and receivers, a comparator IC LM324. LM 324 is a quad operational amplifier IC. When the IR receiver receives a signal transmitted by the transmitter, it compared to the reference voltage and the output is fed to the microcontroller where it is decoded and corresponding step is taken by it. Out of four Tx-Rx, two middle pairs are always on the line while the two pairs at the two ends may be or may not be on the black line. These two transmitters tell the microcontroller whether to move left or right according to the signal strength received by the receiver. Let us assume

20 that when a sensor is on the line it reads 0 and when it is off the line it reads 1. The uc decides the next move according to the algorithm given below which tries to position the robot such that L1 and R1 both read 0 and the rest read 1.

21 MICROCONTROLLER P89V51RD2 The P89V51RD2 is an 80C51 microcontroller with 64 kb Flash and 1024 bytes of data RAM. A key feature of the P89V51RD2 is its X2 mode option. The design engineer can choose to run the application with the conventional 80C51 clock rate (12 clocks per machine cycle) or select the X2 mode (6 clocks per machine cycle) to achieve twice the throughput at the same clock frequency. Another way to benefit from this feature is to keep the same performance by reducing the clock frequency by half, thus dramatically reducing the EMI. The Flash program memory supports both parallel programming and in serial In-System Programming (ISP). Parallel programming mode offers gang-programming at high speed, reducing programming costs and time to market. ISP allows a device to be reprogrammed in the end product under software control. The capability to field/update the application firmware makes a wide range of applications possible. The P89V51RD2 is also In-Application Programmable (IAP), allowing the Flash program memory to be reconfigured even while the application is running. PINOUT DIAGRAM

22 PIN DESCRIPTION PIN NO SYMBOL DESCRIPTION Port 1: Port 1 is an 8-bit bidirectional I/O port with internal pull-ups. The Port 1 pins are pulled high by the internal pull-ups when 1 s are written to them and can be used 1-8 P1.0-P1.7 as inputs in this state. As inputs, Port 1 pins that are externally pulled LOW will source current (IIL) because of the internal pull-ups. P1.5, P1.6, P1.7 have high current drive of 16 ma. Port 1 also receives the low-order address bytes during the external host mode programming and verification. 1 P1.0 T2: External count input to Timer/Counter 2 or Clock-out from Timer/Counter 2 2 P1.1 T2EX: Timer/Counter 2 capture/reload trigger and direction control 3 P1.2 ECI: External clock input. This signal is the external clock input for the PCA. CEX0: Capture/compare external I/O for PCA Module 0. Each capture/compare module 4 P1.3 connects to a Port 1 pin for external I/O. When not used by the PCA, this pin can handle standard I/O. 5 P1.4 SS: Slave port select input for SPI CEX1: Capture/compare external I/O for PCA Module 1 6 P1.5 MOSI: Master Output Slave Input for SPI CEX2:Capture/compare external I/O for PCA Module 2

23 7 P1.6 8 P1.7 9 RST MISO: Master Input Slave Output for SPI CEX3:Capture/compare external I/O for PCA Module 3 SCK: Master Output Slave Input for SPI CEX4:Capture/compare external I/O for PCA Module 4 Reset: While the oscillator is running, a HIGH logic state on this pin for two machine cycles will reset the device. If the PSEN pin is driven by a HIGH-to-LOW input transition while the RST input pin is held HIGH, the device will enter the external host mode, otherwise the device will enter the normal operation mode. 10 P3.0 RXD: serial input port 11 P3.1 TXD: serial output port 12 P3.2 INT0: external interrupt 0 input 13 P3.3 INT1: external interrupt 1 input 14 P3.4 T0: external count input to Timer/Counter 0 15 P3.5 T1: external count input to Timer/Counter 1 16 P3.6 WR: external data memory write strobe 17 P3.7 RD: external data memory read strobe 18 XTAL2 Crystal 2: Output from the inverting oscillator amplifier

24 19 XTAL1 20 VSS GROUND P2.0-P PS EN Crystal 1: Input to the inverting oscillator amplifier and input to the internal clock generator circuits. Port 2: Port 2 is an 8-bit bidirectional I/O port with internal pull-ups. Port 2 pins are pulled HIGH by the internal pull-ups when 1 s are written to them and can be used as inputs in this state. As inputs, Port 2 pins that are externally pulled LOW will source current (IIL) because of the internal pull-ups. Port 2 sends the high-order address byte during fetches from external program memory and during accesses to external Data Memory that use 16-bit address (MOVX@DPTR). In this application, it uses strong internal pull-ups when transitioning to 1 s. Port 2 also receives some control signals and a partial of highorder address bits during the external host mode programming and verification Program Store Enable: PSEN is the read strobe for external program memory. When the device is executing from internal program memory, PSEN is inactive (HIGH). When the device is executing code from external program memory, PSEN is activated twice each machine cycle, except that two PSEN activations are skipped during each access to external data memory. A forced HIGH-to- LOW input transition on the PSEN pin while the RST input

25 30 ALE/PROG 31 EA P0.0-P0.7 is continually held HIGH for more than 10 machine cycles will cause the device to enter external host mode programming. Address Latch Enable: ALE is the output signal for latching the low byte of the address during an access to external memory. This pin is also the programming pulse input (PROG ) for flash programming. Normally the ALE is emitted at a constant rate of 1 6 the crystal Frequency and can be used for external timing and clocking. One ALE pulse is skipped during each access to external data memory. However, if AO is set to 1, ALE is disabled. External Access Enable: EA must be connected to VSS in order to enable the device to fetch code from the external program memory. EA must be strapped to VDD for internal program execution. However, Security lock level 4 will disable EA, and program execution is only possible from internal program memory. The EA pin can tolerate a high voltage of 12 V. Port 0: Port 0 is an 8-bit open drain bi-directional I/O port. Port 0 pins that have 1 s written to them float, and in this state can be used as highimpedance inputs. Port 0 is also the multiplexed low-order address and data bus during accesses to external code and data memory. In this application, it uses strong

26 internal pull-ups when transitioning to 1 s. Port 0 also receives the code bytes during the external host mode programming, and outputs the code bytes during the external host mode verification. External pull-ups are required during program verification or as a general purpose I/O port. 40 VDD Power supply

27 MOTOR DRIVER CIRCUIT The motor driver circuit is built around the high current half H-Bridge IC LN 293D. For each motor connected, if the Enable is kept high and DIR1 is made high, then the motor will rotate in the clockwise direction. If Enable and DIR2 is made high, then the motor will rotate in the ant-clockwise direction. If both DIR1 and DIR2 are kept at high, then the motor will remain static. If enable is low, then the motor remains static. The inputs DIR1 and DIR2 of each motor are driven by outputs from the Port 0 of P89v51RD2. The IC L293D is a quadruple high-current half h-drive. The L293D is designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V. It is designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as other highcurrent/high-voltage loads in positive-supply applications. All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a Darlington transistor sink and a pseudo-darlington source. Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by 3,4EN. When an enable input is high the associated drivers

28 are enabled and their outputs are active and in phase with their inputs. When the enable input is low, those drivers are disabled and their outputs are off and in the high-impedance state. With the proper data inputs, each pair of drivers forms a full-h (or bridge) reversible drive suitable for solenoid or motor applications. A VCC1 terminal, separate from VCC2, is provided for the logic inputs to minimize device power dissipation. The L293D is characterized for operation from 0 C to 70 C.

29 LIST OF COMPONENTS COMPONENT DESCRIPTION QUANTITY P89V51RD2 MICROCONTROLLER 1 MAX232 PROGRAMMER IC 1 L293D MOTOR DRIVER IC 1 LM324 COPARATOR IC 1 LM7805 VOLTAGE REGULATOR IC 1 BRIDGE SIP DIODE RECTIFIER 1 CRYSTAL MHz CLOCK TO THE uc 1 IR TRANSMITTER BLACK LINE SENSOR 4 IR RECEIVER 4 12V DC MOTORS MOTION OF THE ROBOT 2 RS232 DB9 CONNECTOR DOWNLOADING THE PROGRAM 1 FROM COMPUTER TO uc LED INDICATORS 5 RESISTORS 270E 330E 10K 470E 10K POT 10K RESISTOR ARRAY(8 BIT) ¼ WATT CAPACITORS 1000 UF 100 UF 22 UF 10 UF CAPACITOR 0.1 UF POLAR NONPOLAR 2 BIT PORT 8 SPDT SWITCH ON/OFF SWITCH 1 PUSH TO MAKE SWITCH RTESET KEY 1 8 BIT INPUT PORT 4

30 PCB LAYOUT 8051 DEVELOPMENT BOARD SENSOR CIRCUIT

31 SOURCE CODE

32 APPLICATION A line following robot can be used in passenger transport system as it does not require manual control. It can be used in industries where there is continuous placementreplacement of heavy crates and man power is required. A line follower can replace human beings if the programming is smart enough.

33 FUTURE SCOPE The Programmable robot has a tremendous scope for improvement. Some of the possible improvements are listed below. With effective programming, the robot can be configured to do multitasks. With a more advanced Microcontroller like ATMEGA 16 or ATMEGA 32, more sensors and output modules can be integrated to the robot.

34 BIBILOGRAPHY 1. Ramakant Gaikwad : Op-Amps and Linear Integrated Circuits

35 REFERENCES