UNIVERSITY OF MUMBAI

A PROJECT ON

PROGRAMMED AND INTELLIGENT TRANSPORT SYSTEM

(PITS)

By

Sr No. Name of Student Roll No.

1 HARSHAVARDHAN KADVEKAR 732 2 RAHUL EKHANDE 723

3 SAMEER KAZA 734 4 CHINMAY DALVI 713

Under the Guidance of

Prof. S. P. SADALA

Dept. of Instrumentation Engineering

Manjara Charitable Trust’s

Rajiv Gandhi Institute Of Technology

Juhu-Versova Link Rd, Andheri (W),Mumbai-400053

2011-2012

• INTRODUCTION

Today, in many industries for moving heavy loads from one place to another, transport robots are used. These transport bots generally have a guided system to help them navigate.

There are other robots that are permanently fixed in a particular room in an industry which is fixed at a height and works like a crane and moves in X-Y direction only.

The ones that move in different rooms of industry have navigation systems like magnetic tapes, GPS, Wi-Fi, ultrasonic radar and line or ceiling follower.There can be problems associated with such transport bots like magnetic tapes can get damaged and any strong magnetic material can affect its working, whereas in guided rail system the rails need proper maintenance.

To overcome such problems we have devised a solution requiring less maintenance and is less costly. The solution is to have a programed transport system that will carry heavy industrial loads from one place to another without any or less physical guidance than any of above methods.

MEMORY

TRAJECTORY GENERATOR(MICROCONTROLLER) MOTOR

DRIVER

DC DRIVE MOTORS

(WITH OPTICAL ENCODERS)

INPUT FROM SENSORS

OUTPUT PERIPHERALS

(LCD,ALARM,LEDS)

BLOCK DIAGRAM

1 INPUT FROM SENSORS.To help robot navigate properly different sensors are added like•PROXIMITY SENSOR:- To avoid obstacles.•FORCE SENSOR:- To detect collision with foreign body.•WEIGHT SENSOR:-To detect load conditions.•IR SENSORS:- For calibration and error removal.•ANTTENA:-For override control (by operator use).•KEYBOARD:-To provide inputs to robot.

2.MEMORY.Memory block is added to store program logic and path trajectories.

3.MAIN CONTROLLER.The main controller takes inputs from different sensors, memory and takes decisions accordingly and communicates with trajectory generator to move the robot from one place to another. It also gives outputs to LCD to display information, to alarm system to notify the operator of problem or task completion.(8051)

4.TRAJECTORY GENERATORThe trajectory generator block takes input from the main controller and optical encoders which are attached to drive motors. This generates the required trajectory which is given to motor driver circuit that drives the motors.

5.MOTOR DRIVERThis block converts the TTL logic into power required to drive the motors.

6.DC DRIVE MOTORS (WITH OPTICAL ENCODERS)This block contains the left and right motors that move the robot. It also contains optical encoders attached to motors to give feedback to the trajectory generator.

7.OUTPUT PERIPHERALSThe output peripherals included in this block are LCD, ALARM

system and led’s.

WORKING

ADVANTAGESThe following are the advantages of this system

1. It can carry heavy loads in an industry from one place

to another.

2. It requires less maintenance as compared with other

industrial transport technologies.

3. It costs less than other robots.

4. It can travel almost from any part of industry to any

other part easily.It has more flexibility.

FEATURES1. Requires no continuous lines , rails , magnetic tape ,

Wi-Fi , GPS for navigation.

2. Requires less maintenance.

3. Auto calibration.

4. Avoids obstacles.

5. Alarm system for faults.

6. Override control.

APPLICATIONS

1. In all industries for the transportation of finished products from the manufacturing section to the distribution section.

2. In the automotive industry for the transportation of various parts of the automobile to the assembling section.

3. In the assembling of computer, mobiles and other electronic devices.

FLOWCHART OF MASTER CONTROLLER

FLOWCHART OF SLAVE CONTROLLER

Interfacing of MASTER 8051 with peripherals

PROGRAM TO RUN MOTORS IN FORWARD

DIRECTION

MAIN: SETB P0.0

CLRB P0.1

SETB P0.2

CLRB P0.3

ACALL DELAY

CLRB P0.0

CLRB P0.2

ACALL DELAY

SJMP MAIN

DELAY: MOV R1,#20

DJNZ R2,#DELAY

RET

PROGRAM TO RUN MOTORS IN BACKWARD

DIRECTION

MAIN: CLRB P0.0

SETB P0.1

CLRB P0.2

SETB P0.3

ACALL DELAY

CLRB P0.1

CLRB P0.3

ACALL DELAY

SJMP MAIN

DELAY: MOV R1,#20

DJNZ R2,#DELAY

RET

PROGRAM FOR COMMUNICATION SETUPMASTER

MOV IE,#85HMOV TMOD,#20HMOV TH1,#-3MOV SCON,#50HSETB TR1MOV SBUF,#DATA

HERE: JNB T1,HERECLR T1

SLAVEMOV IE,#85HMOV TMOD,#20HMOV TH1,#-3MOV SCON,#50H

CLR RIHERE: JNB RI,HERE

MOV A,SBUFMOV R2,A

Interfacing of SLAVE 8051 with peripherals

COST OF COMPONENTS TILL NOW•Motors 2*300= 600•7812 1*7 7•L298 1*90 90•RF pair 1*300 300•8051 1*125 125•8051 kit 1*250 250

Total= 1629

Total estimated cost of the project= 5000 to 6000

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