1.

C Engines have been advanced a loi such that its speed is becoming a

major calasirophc. Advanced automatic bnikirtg system improves braking

tœhniqu‹s in vehicles. I‹ ch•n6es cofi›n1ctc braking systems in au aulcmotive and

doIs witlt ‹lx concepl of A utoMalic Braking System giving ltte solution.

This projcst is designed wilh ultrasonic transmitter, ulfmnic receiver,

Azduino DINO R3 board with PLC microcontroîłer, 0'C gear motor, žicrvomo or æ+d

mechanical braking errangcmcnt. Tl1c Ulltesonic Sonsor $eneralcs f0.0*0-20)KHZ

through ultrasonic transmitter. The ulti snnic

reflected wsecs is giveff io ihe uI‹rseonic usee generclor unit in which čie

inceminy may+• Is amplified end comțtarcd with rcfvrcncø signals ło maintain ø

con»tanł tatıo and this signal is given ‹a n›icrocontroIler and through ' hiclt chc

working of DC gear molar and Sewomotor may takes piece, which rc¥uît in
application oŁ brakes.

Ttc prototype hes been beared depicting the technology and tested ax per

the sirnu]ątPd çoÆilions. In iutțm• the oclugl model may be d veIof›eó dc;›ending on
 TABLE OF CONTENTS

CONTE1•iTS

1. Table of contours
i
It. List ‹›t”utblcs
ii
iii

V. List of abbmviations

Ci-fAPT ERS

t. Fnt¥odu¥tion

1.1 Backgmund

1.2Objcciivc

1.4M âMOOgy

1.S Principal cnmFononts oFAulnn›4tic krakim; System

1 .S. 1 Scn6O1"

I .S.2 Transducer 5
1.5.3 Ultrasonic Sensnr

1.5.4 Opcnitiunnl smplifivr and ADC

6
1.5.5 Banking Ciicuii

9
1.6 Advantages uFAuiornatic Braking Sysiem
9

1I

12
 12

2.2 Maasiirentant prù ieipla and aRt'oóva use at ultrasonic saiuor 14

2.3 Advantages of ulaesonic sœiaœs IS

16

2.5 Tot angle and beam sprœd 16

2,6EVlofęn•imomsnßUbcOeœulommmic:wnaor l6

2.ß I Tcmpeicnfn• 17

17
2.6.3 Ahmsphetic ptessiiro 17

2.6.4 H‹nniói‹y t8

2.6,5 Ac4uxlic inlerfemiwe 18

2.7, I Composition 18

2.7.2 8hapc 19

2.7.3 Target oń oia‹tion |9

2.8 £IC gau' motor 19

2.8. I Applications 20

2.9 Servo operation 2I

2.10 Atduino UNO R3 22

3. Seoslag aod coøtrokiag uaJt

3. I Components oFscns ng and controlling unit ]4

3.i.I Arduino Une R3 24
3.J.2 Ultrasanic transducm J7

3.1.3 DC gear nioior 33

 3.1.4 ScWOMOtOf 34

5.1.5 Arduino 1.6 soflv'are â8

4. Result

4.2 Finnl overview of project 43

CONCLUB1OB

PUTUREIOPE 45

REFERENCES 46
 LIET 0£ TABLES

TABL E iNo. TITLE

1.1 Maximum and minimum ra-nging oF ulWsonic sensor

St›ecificetions of Arduino Uno 25

3.2 31

3.3 Specifications of OC gear motor 34

3.4 5pccificatJuns of 5crYcmolor

 LIST OF FIGURES

TITLE

1.1 Blwk diagram of the Autoinaiic 8nikieg Sysuin

1.2 Reduction in speed of vehicle

1.3 7

I.4 8

2.1 UlTHisonJc banging 14

Basic ulirnsonic operation 15

2.3 Scrvomotor mnv‹mient timing J2

25

3.2 Ultrasonic transducer I'IC-SR04 (Front atid back view) 30

Timtng diagram For the ultrasonic transducer NC-SR04 32

3.4 Targci angle range tcsi of ultrasonic transduecr 32

34

3.6 36
 LISTO[PLATES

PLATE

1.1 Autorruttic Backing them 5

3. I Dottom yivw of Au\omolic Braking Sys\«rn 37
 LI9T OF ABBREVIATIONS

ADC ^!^8to digital converter

Programmable întezføce CousÌîer

IDE
 CHAPTER —1

INTRODUCTION
1.I BACt¢CROUND

Driving is a common ac ivily for mos of the peogTc. Thv number oI believes

is increasing day by day. Now a day the I<chno1ogy has got cast shames

whict Ico¢ts increase in syccd. Tfie speed plays a viloT role To rnoininin time for longer

disanccs. Bui, ihis speed also belting a inajcr problem for caun's of road

accidents. The common bmking ig noi sufficient for avoidance of accidents when

driver ie not relive. Further intprovcmcn‹ hss la done in bmking system ›n ordet io

brake a vehicle when driver is Q brake i.e., it mpy nmds auiomaiic braking sy5lfim.

This outomufic braking system ullows the vehiclc lo bmkc without support of the

driver.

The main largct oF Ihe ultrasonic braking system is iliat, vehicles should

autooiaficslly brake when the sensors sens¢ the obstacle. This is a technology

for nutomobiles in sense an imminent forwnid with another vehicle or an

cbsuiclc. unit Ie brd‹e the ver\iclc 8€COnIi*gIy. which is Jane by the braking ci ui‹.

Thic sysinni includes m'o ultrasonic scurries viz. ultinsoitic wave

ulttnsonic wave receiver. The ultrasonic wove emitter provided in from portion of

an automatic braking system x'ekicIe, producing and entitling ultrasonic wax'cs

in a predeierrnincd distance in front of the vehicle. U ltixsnnic wave receiver is alsn

provided in front poriion ot Ihc vchielc, receiving the reflected ultrasonie wave

signal from the obstacle. The refiecied wave detection pulse) is memsueed io get ihr

disionce I<twccn vehicle and lhe obslaelc. The DC' gcac molcr s eonnc<led io lhe

wheels at v«hick and nowcr ifinut ie giveu to it Fn›m ArJuino hoard. Then f'IC

micmconlrriller i6 usod To conT@I \hc scrvo motor bad on d8TuTion pulse*

inflomtaTion and Ihc scrvo

rnolor in lum au\omaiically crmlrols tke bmking oleh vehicle. Thus. tkis new system

is llusigned to solve the problem whczc drivers may not be able la brake rnonuaTTy
csoclly at ttc required time, but the vehicle con stop uulomntically by scnsiy the
9bsaiclcs t9 avpió gn accident.

lit order io reduce the emission leveIs, mare wofk is Ifoirtg on For the

modificaiion of cngine worfr funciions nnd ull. There nrc mvcrnl kinds of braking

niechanism syslcms ihat would only can be applieoblc mcchanically. to niove

the idgoÏogy moze deep and brief The ouïoznotic bràking estem wiil be rnore

suflicsenï and salisfaelory in addihon to mcehanicat bta¥inb system.

in present yncntion, numbcr of vehicles arc eoming into cxistcncc

with newer technologies For in›glmcntction of human comFon and ri4wr

conditioning. To cxtcnó Éhe idzoTo in mot bricF manr+ez anó To ulke he step in

dillcrcnt way, may

autotriafi¢ breking syslcni wouló £u1fil1 Ihe melhoós of extcnsion oF Icchnicel

ordcz to oxoid the uccidenl. To ócvcÏop e aFcïy vehietc braking serem using

ultrasonic sensor end la design s vehicle with less human attention to the driving.

Thia projcct is nccossa lo b2 altncheó lo evezy yela icTo. Main Ty it is usod

when drive the vehicles in niahl time. Most1y the accident occuncd in the

ni8ht cirne üue lo long tiavel the driver my gel tized. No ilfe driver rmzy hit the
Ifont eide

vehiclc or rood sidc trccs. Dy sinó this piojccl ttc vehielc is stoppcd by auiomaiic

brag ing tystem. Se se can nvoid the occident.

1.3 CCOPE Ofi PROJECT

obs‹ccIe and to pmccss the oulpuf lïrml the ultrasonic sensm Ir drive If\e scrvomolnr

as an ariuaior.

Vehicles can automatically bnikc üue io obsiøc1cs when the sensor senses ihe

can Mp us ccnrroI lhc braking sysl<n of a vehicle. The nutornulivally braking

Trensmitter
(Ultiasonlcwave)

ObstacleDetected

UltraaonicReceiver

BraklngCircuit

VEHICLE BRAKE

Figure 1.I Bloek Diagram ef tMe Aulematle Bra\‹Ing sÿstent

1.5 PRINCIPAL COM POlNEN7G OF AUTOMATI C BRAKING GYSTEM

• SENSOR

• TRANSDUCER

• ULTI\ASONIC SENSOR

• OPERATIONAL A MrLf£IER AND ADC

i BRA Al hi€i C1RCtJIT

• DC GEAR MOTOR

• SERVOMOTOR

I.5.1 SEi•iSOR

A sensor is Bn cIo'trifla1 device that maps an cnvironmcniul altribuic io a

quantitaiive measurement. Each sensor is based on iniivvduntion principle which is

conversion ofl €WJgy from onc form io another form. Therc arc Two tmp0rTonT tcrms
• T \ Angle — Th s lcrm rcters tc ihc ”‹iH wsponsc' lintiialiuns ot u given

sensor. Sinco M ultre«onic wsvcs reflect off ihe target obj*ci, target angle

indices acceptable amounts of t Tt f‘or a givcrt sensor.

• Beam Spread — This icrm refers co The rnaximm angular spread of be ultrasonic

waves is they Icnvc the transducm.

1.5.2 TRANSDUCER

A Itansduccr is nn energy conversion device which converts unc fcrm uf

In ihe uiie:isonic sensors they are used io coflveri

etecteicol Energy inTJ ultraswHc cncrgy ar\d Vlc«-v B. In ihis salam pi8zuelfialric

Trbnâdu«firs arc urod, which crcsic uItas‹mic vibration through use of

piczoclccfric materials xuch as ccrtnin forms of crystals or ceramic polyrrrcrs.

Their working is bssed on the piezoelcclric elYcct. This clTcct reFen to the voltage

produced bcfween surFMgg Ofl4 solid, {non•¢onducTing substance) when a

mechanical stresa is applied to it. Conversely, when a voltage is applied

across suJxccs oF a solid th»\ exhibits piezoclcsiric cfTccl, Ihe solid undergoes

mechanical distortion.

I.5J ULTRASONIC SEbfSOR

Utltasonic ranging and d¢ieciing devices use hij;fi Frequency sound \vevcs

To delect presence oF on object and its zange. NozmaT

fmtuencY range oF hufnon cor is ioughly 20Hz to 20,0t/0Hz. U1hasonic sound

waves are sound waves thai ate above ihe singe of human ear. and thus have

frequency above 20,000Hz. An allrosonie scnsur nc rily consists of n

tninsduccr for

traneducl r and as cTccTcaT connection. These sensors src of two Ages:

• Ultrasonic Trensmliter — Before lninsmitting ltte ultrasonic save, there is a pan

pn I, ihcrc is Timing instmcTion means for generating a inslruction signed for

intermitlcitlly providing ullmnic eves. This sigriel will scn4 la an u1lrasonic

'^'8ve generator for gcmting uTlzasonic mores bas«£ on th« insertion signal

from aid tinting instruction means (ininsFotnt electrical energy iniu som d

wave). After

loward a road surlâcc la fin‹l oul the cbsuicic. The range that cbsia«lc deicclcd

is dads nn rhe ranye of ultrasonic suns n thac •scd.

Fig IJ Uirrasonfe Trensmfher

• Ultasen!c Receiver - If the ultrasonic wax'e delccls the obstacle. it wiI1 produce

a rejected wove. u1 asonic zucciycr is used for receiving be uT masonic Hayes

affected From Ihe road surface to gencrelc a rcccqlion siynal. There is

ulltasonic transducer IhaI 'iTT trane€orm back the sound eye To eTectricqT energy.

This eignoT amplified by an nmplificr. Tile amplified sij;ra1 is ccftipsto‹l w lh

tcI1mce sign»1 tc dmecl components in the amplified signal due tn ob4taclm on

Idle rood surface. The

rnapitudc of Ihc reference sipaT ur th« umpTificatiun factor uf the amplifier is

conirolleâ to mainlain i constanl nitio between the average of the reference signsl

1.54 OFERATIOFfAL AMPLIFIER AiND ADC

An opcmtionnl amplifier, usually refered in as op•emp, is a high gain

collage amplifier wi‹h dilTcmntial inpuls and a singl¢ output. The amplifier's

difFmntiBl inpuLs consist of an invening inpul ord a non-inverting input. The op•orny

ompTifiea only the difference in the volte$e between the two inpuis cellcd the

’differential ingut

votiegc'. The ouiguc voluige 9F tEc og-amP is coridollcd by Feeding a fraction of

oulput signal back to the inverting inpui. This is known as negative Feedback. Due

to

the negative feedback.

The amplified signal is e rgcam pulse '^'hicft is given co the ADC. ADC (Analog

to Digital Converter) converts input analog signal to corresponding digiiai signal.

The digirel signal is given io rtie microcontroller.

1.5A BRA MNG CIRCIJfT

The pioccsscd i.e. the an›pIificd digital signal is sent to the brd‹ing circuit.
CTC Peripheral TnWace Contrgl[er {or) PrggmmrnabTe Interface ConDeller) - The

r«icroconcoIIcrs but ma4e by microchip Icchuology. PTCA are used in rtiis zys\cm due

Io rtieir iow eosl and cidc a ailabiliiy. The numbers of inslruchons la perform a
varieiy uF opcroiions vary trum 35 inslruniuns in low-end I?TCs in abou\ 74

instructions ir tighmd PtCs. ft is pmgmnuned by using 9 lsnguegc.

The signal from the AUC is ptocesscd by Ihe PIC micnxontrol1er. ond

it givcs an insiruciion as nn ouiput, ihc servo

niolor. TI\c signal rcecivcd tïom if›r ADC con also bc Jisplay¢d on the LCD Jisplay

{which gives an audio•vieuoT ring on the windshield in the driver's field of view).

»nü I givcs ihc d sisnce &1wc<n lhc front où the vchiclc anJ tt\e obstacle. The

distanœ value of whtch outornptic booking should start is olreody siorgd in tire

automafically scnd.s Ihr signal te the ecrvo inotor which ifi tum bæ}‹iny
through mcchonicnl amirigcmmis.

J.5.6 DC GEAR MOTOR

A OC gear motor is a feirly *irnplt el‹stric gear noter ihat uses

elwtriciiy. gcar box and mag mie field io producc torquc, which lums ïhc rnotor. At

iis rnœt simple, DC gcnr ttiotor requires two niagnms oFopposite polarity anJ oM

elcelrie coil, which acte as nn electric magnei. The ecpclleni und ottmciivn

eleclromngnetic forces o£‹hc nr› w piovidc lie Icrquc and <a u thv DC ycar

acier te Itim. A gear box is

preszmt just allez the DC moior and a rotary ahoff ie connected io iL with îho help afi

this DC gcsr moior tup ihc vchielc wh‹<ls can bc rotetcd in this proj<<t.

1.5.7 GERYO MOTOfU

Th'e ouipui of the PlC is ihc input of the aervo moior. The servo moior

atlows For précise control of an$ulnr posilicn, vclociiy and accelcrafion. li consisis ofo

molor couplet io ri sensor for position Leedback. Thus, ii is o closed loop

iriechnnism thai unes position Ic<Jback io control iis motion end fina1 position.

The inpul is a signal,

either onalcg or digiutl, wprcwnlin$ lhv passion contntiindcd fur the outpui shaI\. The

rriea.sured pcs ition oL it's outpui ehnfl is conipnmd to Inc command pesiiioo

lthc external input Io The ntoTor). TF the output position differs £¥oTr) lhal required, an

error signal is generated which then causes the motor to mate in ciihcr diwcfion as

needed,

to bring tfic output shn it io the appropriate position. As the required position

approaches, the error signnl lettuces ‹a zero and the inolor stops.

The ouiput shafi of sci•vn motor is capable of iravelling somcivRue around

and I80 dcgr«vs, and it is mcchonially not cut›abIc of turning any Farlhm due la

v mechanical eton built on to Ihc main outfall gear. The angle through which the

oucflui shaft of lh servo motor need tu tzavcT is determined according to Ihc rustura
of the

is done by using n pair of crossed hclicnl gems and o grooved cylindrical component.

The larger qcs is mounted on idle ouiput shoI\ of” lhc servo motor and the smaller

is moun‹od or the n›cster cYlindx Piston rod. Thus, when iIt« output shaR of

the

and hence lhc lflrg0r gc•8f rot8ics in say flnticlmkwi

dimciion, the smaller gesr aud hence ihc master cylinder niston rod rotates in
Due o lhc yroove on the cyT indncaJ corrtponent transJ aTory

niolion is also pnxluccd. This is dv to a pin, one end oF which is inscncd in the

groove and Ihc other end i8 fixed rigidly Io a support. Thua, a combine ion of

translstory as well es totsry moiion s t›roZuv<€.

 Hence, iM fluid pressure is upglicd due tc slrciching out uF lhc n asivr

cylinder nieton ‹thus resulting in braking of chc vehicle. The Vision mtums to the

original pusiMon when Thv servo motor output shaft roustcs in clockwise direction.

Thus, ltte speed uf the vehicle rcducm for clockwise rololicin of the smaller

gear (i.c. aitticlockwisc ro‹at1on nf larger gain and hence tile servr mnlor

ou‹FuI shait}.Thux, die servo moior is used to conirol the brakes, when the PU

gives the sillrul io ihe sen'o motor. based npon the distance m‹nsurcd by moans

oF sensors. Tfi is consiiiutes the bmk ing circuit.

\.6 Advantages ef Aulomarle Bwklng System

• Discrel< distances ir moving rhjects san be deleclcd ar›d measured.

• Rcsis\ance Tu external disturbances such as yibro\iun, infrared

idiation. on›bicn‹ noise. and fiMl (Electro Magnetis lnicrfcmncc)

radia\iuo.

• Measures and Mercers distances io moving objects.

• 1mpervious to target maierials. surface and colour.

• Solid-uule units h:ix'c virtually unlimited, meintcnancc Free likspan.

• Defects smaTT objects over long ogezating distance.

• Ultriuonic sensors arc noi aITect& by dust. dirt or high inoistun•

 CHAPTER 2

REVIEW OF LITERATURE
 țn Ihę brgadeñ t definitiofi, a or is on ebjcct \vftosc pțtrȚ lgțe i6 to dolcci

events or changes in its environment, anó čicn provide a componding uulgui. A

sensor is B fylx' oF frsnsducer: scnson may provide various ty;›es of nutț›uI,

but rygicaî ly use cloc@coł or optical signals. For czømpîc, a É hcrmoeoupîc gezlcrołcs e

knrrwn vulteyc łihe outpui) in rcs/xmsc io iu tein¡›crafurc łihe citvirournenl). A

rnercu •in-glows thermometer, airnilctîy. œnverts measured îemperorure inio

expansion and contraction of a liquid, wt ict cnn be read on a calibnit‹xl glues tube.

(tart Ic sensor) and lamps which dir« or bdghtcn by touching ‹he bese,

&«ü cs innuincmble aP9liçelions oF which r•ost people øre never ewam. Wi h

advances in micro-machines and easy-îo•usc micro conuoÌîer platforms, be uses of

sensors have expended beyond ihe most tædifionnl fic1ds of tcmp¢rslurc,

pressure or flow measurement. fur example inîo MARG Magnełic+ Angular data

orid €iroviŞ) sensors. MorooTr, Analog SOnsoĂ suI*h aS poicntlomcT8rs onó forcc-

scnsing mit6Jors are still widely used Applications include manufacturing and

machinery, aimlancs and aozospaec, cnrs, rncó icirlc+ œd zobołics. II is am included

in our day•lo-dâ y like.

M[Wsonic mging and de •cting devices use high-frequency aound wavea to

d<1cct the presence of” an ubjcct and its ren$c. Th: systems either measure the echo
Section oF the sounJ Frorrt objecLs or detec lhc in •rzupłion of the .sounó beam as

the objects psss between the transmilter end river.

output in rcspcmse to received uîtras¢mic cnctgy. The normal lqucncy range for

human Itcań n8 is touyhIy 20 to 20,000 hcnz. Ulcasonic sound '^'8vw ate sound
naves ihat are abovc the range ul” huntan hcaring und thus, have o Froqmcy ubove

abeut 20.060 t*rtz. Amy fmquoncy abovo 20,060 tertr muy he considerod ultr°soriic.

Masa industrial proce ses, incTuding aTmost aT) source of Ñction+ crcou• sontc

The uTtrasonic Wnsducer proóuc«s ulaasonic signaTs. Thcec aignoJs are

propBgaleJ throu8h a s¢nsing inediuin and h\c sanie Irensduccr con be usM to delccl

thai conv<ms an cx«italion elcclrical siynal inlo ullnisonic cn‹rgy butsis. The

cnergy burstg tmvel ftom the uTtrogonic sensor. bgurtc¢ of objeçLv efid pm mnimÓ

total Ihc sensor as cchu¢s. Transdi›rm are dcriccs lhai conocrt «lcclncal

cncrgy lo

AnaTog eTecTcoT signaTs Chat are output from tfic transduccr.

The piezocleclri¢ cffecl tcFers io the vollügc produced lx.1wcen surfnccs of a

eoTid dielaTzic {non-conducting subsumce} when a meehanicaT stress is app1ied lo it.

Convciscly when a vvltagc is applicd ocn›ss ccnain surfocm of a .solia ihai

cxhibiis the piczoelecfric elTect, lltc solid undergoes a mechznical dislnrtion.

Such solids typically rcsoiuitc within nurraw fmqucncy rnngcs. Piczaele'ciric

inateiials nrc used in trensducm c.jj., phonoaraph ¢a:nridg¢s. micrupI\ones. and

sltain gaugcs that produce an e1ec@cal outp'ut liam a rr+echanieaT input. They m
o1so used in eaz¿ihones and

ultrssonic ttansiniitcrs ii\al pnxluce a mccl\anicnI oulpul t?om an clem\ricaI input.

U lirasnnic iransducees opeenie to mdinm ultnisonic xvavcs ihrough a medium such

as air. Transûuccrs gcnerally cr¢elc ultrasonic v bralions ihrou$h lhc use où

piczoclumlnc rnaI<riaIs such es cenain Forms of cryslsl or ccr«mis Folymen.

2.I.t Ultresoste sensing and comma

Ulitasun ie signals arc like audible sound waves, cxccpi the frequencies arc

much higher. Our ultrasonic transducers tavo piece metric crysisis which moasic to

a desired frequency and conmen electric energy into acoustic enngy and vioe vena.

Tire illustraiion shows how sound waves, tronsmitioti in the sha¡x• of a arc

reficcted finm o target brick in the transducer. An output signal is produced to

perfomi somc kind Of indlc8Hng or eonttDl function. A MinimuM dlSlBncc ffom tltc

Scn$of Is quired to provi& a time delay so ihat the ”echoes" car be inierpmied.

Variables which cnn atTccl the operation of ultrasonic sensing include, turgci

surface angle, reflective surface roughness or changes in Icinpcrature or humidity.

The tergcrs cen

hnve any kind of reflective fomi - even round objects.

2.2 Meesuremeot prioclpJe an4 elTeetlve use of Ultra Soolc 9ensor

U[u•asonic eensor Izonsroite ultrasonic waves fiorn ils sensar head and

ogzin Dkiew<d lhc ultrasonic wovcs TflccTeJ front an objccl. &asicttIly, in our

projccl ultrasonic sensor ranger of abouc 2 cenlimeircs to I mmm. Uy musuring ihe

lenyth of lime Alam the transmission To reception uFihc anic woyc+ it dcTcets the

position oflthc object. The ulfresonic Iru›sduccr produces utlresonic signal.

These signals arc

mtuming signals. In most aFnIica‹inns, che scuing n›cdiui» is sirnn1y air, An

uTlrnsonic mar IypiLalTy comprise aI Teal one uTtrasoniv tranMuccr whiLh

housing cmrlosing the ultrasonic transducer, nn electoral conncciion ord npiinnnll y,

an clo'tronic tn iI lit signal processing slsn envlosnl in the ltousiny.

Figure 2+2 gasTc Utcrasenie operation

2J Ads'aotgges of £iltreeonic ñ?ensors

Ulisonic have a lni of adx'aniages for using in real znPlicatirn. The

adyan\agrs of ultrasonic sensor on:

• Uiscrcrr distances iu mo 'ing objems can bu dcicclcd snd ntcosurrxl.

• Less ofTccicd by iorgct rnaicriols and surfaces, and no\ alTcctcd by

cnluur. Slid-slave unils hitve virtually unlimited. mainleMait c

free T be. U Ttrasonic can dclcct small ubjcxa over long

oproting

disliinccs.
• Re5ixtance to eMemal disturbances .such as vibmi ion. infmred

n+di<tinn, embicnl noise. and BM I (Elvclru M iLnclic ml r£en'ncc)

 • Measures and Jctais disiances ‹a mov ng objceis.
• impervious to Target rnau•riaTs, .surface and colour.

• So1id-state uniis hnre viriually unlimited, maintenance Flue

• Dciccis sfnall objects over 1ong opcrniing disuincc.

• Ultrseenic sensors am not aFcclcd by dust, Min nr high moie\um

2d Dlssdvenleges of Ultrasonle Sensors

home diadyantagcs of ulizzisonl¢ near ozs:

• Overheating oF e '•'ove emitter prec1udcs the cn¢rgy of ultrasonic wgvcs

• tnterfcmnce belween the projected waves and the reftwted waves takes ylace,

md development of sounding waves provides adverse efTeeis.

• II is in\possible la discern between rcfl‹x›‹<d wsvcs from ldc ‹oaJ stirfa and

reflected wovea from oder places or objocta.

2.57argei Angle and Bmni Spread

Thia Team re€era to the "tiTt Feyponee™ Tirniaztions of p given senaor. Sinm

ultrasonic soand wovcs mficci off inc iarg<u objcci, tar¢ci anb1es indicate

anccpieblc amounts oFfill For a diven sensor.

This ‹ei-rn is defin«d as W area in wh ch a zound wand wiN be sensed i€

passed ihrough the angel nrea. This is the maximum spreading oFthe ultrasonic

sound as ii leaves ihe imnsducer.

2.6 EPecfi of Ezsvizonmealel Factors oo Ulcrasoole sensor

The • nn• many fociors pecmi in the environment which can affect the

working uf ullrazonic sensor. arc:

2.6.I Temperarvre

The yeîal£y où sound in air s î 3,044 nchcs/s at 0 ’C, yt s üircc£ty

sound aîso incrcascs. Thcrcforc ida finch targcc produces art echo amer a certain time

d:ivy, aiul it” the temperature drogs. the fncasurcü lime for the c¢lio to rz'turn

incre even though the inrget hns not moved. This happens because the speed of

sounü üccwases, tetunting an ocho more slowly Ihan at the precious, warnier

temperature. lf varyitig ambi*pi isniPerntiirss are e›tpected in a spécifie application,

cornpcnsaTJon in the system fcr the changc in Sound S@cd Ts rgcontntcndcd.

2.6.2 Air Turbuleoee aod Convectlon eurreol

A particular temperature pzobîem is posert by œnvoction currenls that romain

nieny banJs oF varying temperature. IF thèse bsnds pass between the seusor nnd the

¢azgel. they wiki abrupTîy change ike speod où sound while present. No t§/gc où

previde complet high-résolution eermction at all times unikr thtse circunisiances.

ln xome applications it muy bc desirablc io install shicldinp aimind the sound bcam to
fgdUCû 0£ OliOTiüBtC vnriatio0S duc to convection currcnts. Avcraging it\e rclum times
frnm o number of echoes will olso help to ieduce die rnndom effect of convection.

m urcmcnt accDrflcy. Rcli8ble opt•r£t1lon will ‹ktcnor8tL•S howcvcr, in BrOeS of

uncsuslly low air nrersure. snproaching a vacuum.

2.6A Humidity

Humidity does ml significantly aflćçl łkę oț›crction oF pn ułtrgsçmic

measuring system. Cftøn¡¡cs in humidity do ftøve s slight effect, however, on ihø

absomtion oF sound. If the hufnidify produces sondcnsafion, sensors designed

io operate xrhen aft must bø used.

2.US Acoustic Interference

Special consideration rnusl be yiven ua envizonrrtmLs that œntain backgm«nd

noise in the ultrasonic fwquency speclrufn. For example, air Iõ oJ ihroubh a

nozzle, such as air jeLs used Foț clcpfiing machines. generates a 'Visiting

sound ' irh

hannonias in the ultrasonic rsngc. When in elf pfo1tintit§ Io a stream whûlÏtcr

directed at the sensor or nol, ultrasonic noise a‹ or around the sensor's Fmqucncy rr

ąy effect system operation. Typically, the levei of bnrkground noise is loxrer nt higher

Frequencies. out nanowcr bras engles work best Ï0 BIOS Wllh a high ultrasonic

background noise level. Oflnn n baffle nround ihc noise sourer

problem. Because cach application d›IYen, iesling for in\crf‘crcncc is suggested.

2.7 Senœr's Target Considerations

For de chng a îargc4, Éhc uîtrøsonic sensor uzkes into consideration the

2,7.1 Conipesltteu

Nearly all lergels reflect ultrasonic sound anJ therefore produce in echo ihst

ntoximufti clTcctive sensing range. The rcfIc<livily oF in objcci is ohm s Function

of frequency. Lewer frogueucies can have wduccd mfleccions hmm sonte ț›orous

targets, while higher frequencies reflect well finin mosi target materials. Precise

pcrfoimincc

5 if€RH005 CBS f•fIm be determined only through experimentation.

 A target oF virtually any shape can be dmoctod ultregonicolly if sufficient

echo returns to he ansor. Targets that arc smooth, Wet, and pzrgcndicu1ar to The

sensor‘s bmin produce sfronycr echoes IhBn inedularly shat›cñ tsrgels. A larger

target relative to saund wavelength will produce a sirongcr echo than n smaller iergct

until ihc inrgct is lorger ihan approximately 10 wavelengths ocross. Therefore.

smaller targets arc

betinr driecied with higher frequency sound. 1n some nppiicaiions n specific inigct

shape sueh as a sphere, eylinJcr, or internal cube comer can solve alignment problems

between the sensor and rim i ›rgei.

2.7 d Tsrget Orientation

No produo2 the srronyesi cchr<s, the sensor's been› should be pointed

toward the targ¢t. Ifl a smooth, flat lorgct is inclined ofT pe WicuTar, some of the echo

is dcficcléd away from tfic scar and the slrcngih of the echo is reduced. Targcis

ibat

nre smnller than the spot diameter of ihe imnsdiicer beam can usunlly be inclined

more ihan lower iaq;so. Sensors with lart;cr beam angles will t;cncrally

produce stronger echoes iron› flat \argeIs that are not PeIT<ndicuIar Ie Ihe Isis of

the soiuid T'nm. Sound waves smiling a target dirt a comic, irrngulnr surface will

diffum Grid reflect in many directions. Some of Ihe reflected energy mBy rclum ro

Ihr sensor as a weak but measurable erho. As olways, target suitnbiliiy musi be

evnlunied for eorh appltcation.

2.8 DC geer r«otor

mr minute and is icrmcd <s PI'M. The gear asscnthly helps in incrcxsiny the torque
onJ›rWttng hcspmJ. Usnylceo icombinn‹i»nuFgnn ink qeamwor, its

speed can bg duced In any dcsimble fiyurc. 1”hj5 concept a'hcre geara reduce the

coning o£gaar«J DC motor.

motor or gearbox nintor. It consisi.s of a electrir DC nintnr and a ncorbox or pcnr

motor torque. Therefore user can get Tower speed and high et Iorqu¢ Omny gear Tnour.

2.g. I Applications

2) Office Auioniaiion

3) RHhuiics: R‹›bclics Jimi. more, Roboiic iuy. Trscliin; Ruhulics. cic

3) both and Security: cl xtmnic IecI‹. dunr I‹›ck. sat*. donr locker. Ia‹ch closer

8) Bank Automation. ATM, Coin bonnier. Coin Srlcctor, loin Vnlidntor, Ban k noic

counter
9) A uinnintive
 The servo molcr has fioznę contrgT CirçUiLS ąr+d g gç+tentiüinctcr (a variable

rcstslor) that is cønnołcd to łhe outpul shalt. ïn the picture above, the pot can be

seen on fh¢ right side of tie circuit boerd. Thie Not Bllows \kc control circuitry to

rnrnilrr

the current nnglc of the servo møıor. tf tLe shnfi is ni the correct angle, ihcn the motor

shuis offi Tf ‹he circuit finJs that the angle is not corrcci, i‹ will ium the motor io

ik eozzoct prototype dizection until îhe ongîo is correct. The output shaR of úu• echo

is capable uF breaching scrncwhcru arouiul SBO lc$rocs. Usually, i‹ is somewhere in

the 210 6zgree range. but it varies by n›anuF«cnimr, A nocirol s‹rrvo is uzod io

control ari sngulßr motion of bEtlvcen 0 ond 180 dccc. A nomiol scrvo is

mcetBnically Vol Cppab1ț of turning gfiy £ant›cr due to a nwcîlgniçeî siop built on

la the mpin oużpuł

The amount of Fow¢r applied to ihe molar is țnoțxirtionnl iu the disønce

it needs io travel. So, if the shah needs to turn a lnrgc disinnce. the motor will run

at full speed. lf it need to rum only a well amoani, im motor will run ct a

slower speed. This is całied ptopertional contact.

The cnnimi wire ia used lo communicnie the angle. The ongle is determined

by the duration of e pulse that is applied to ike control '•'iæ. this is coI1ed l'ulsc

Coded M odulaiion. The servo expects to seø a pulse every 20 miiliscconds (0.02

seconds). The lcugth oF the pulse will dclennine how far iho motor iums. A I.5
millisecond pub', for example. viii make łîie motor lum to the 90 degree position

(oftcri cßI1c6 the ncutml position). IFihc pulo: is shorter ihan I.'j m Iliscvonrl, ihco the

rnolor will sum Ake shaR to cheer io 0 dcgmes. IWhite pulæ ig lenger čian I.3r«s, the
 Figure 2d Serie Nlotor movemeni tlming
From rtc figurc nbove, ihc duration of the palse dicintcs rtc anglc of tiic

output shaft shown as the blue circlc wiih the arrow). Note iltat ii tifncs hen arc

illuzteaiive and ige actual timings depcod on the mnior ojaftufaciueer. Ihe prinriple,

Arduino is o softwaw company, grojccI+ and community ‹ha dcsig-ns and

nianuFsctum computer open-suurce hurdwarc, cpcn-source software, snJ

rnicroconizoller-based kits Vor building üigiusl devices and interacTive objecLs that

can scnsc ond aonTrol physTcaT dcs'Tc€€.

The projccf is based on nticrocontroller board designs, producod by sevnal

ycnüurs, using verious rniczoconßo1Tcrs. These systems provide scIs ob digitizT and

Analog lO pins thai can inmteco to vsrious Expansion boards licnre6 sfiieldsl ard
olhez circuiTe. The baazds Feature seriaT oommunication inwrFaces, ir+cTuding

Universal Sccinl ßus (USU) un samt modc1s, Vor lcoJinb prugrams Ftoni

personal eornputm. £'or pzggmmming the micro¢ontroTlers. che Arduino pzojecT

provided an n graicd ö.wcIcymcnt enn runm mi (IDE) bascd un +i proc umming

I»ngu» namcd
 The firsi kduino was inlroducc8 in 2005, aiming lo provide n low cosi,

ezsy way for novices tnd grofc*sionaIs to cm*Ic devices ‹hat inferscc wi‹ft ‹lair

environm«nT us ng benar and ec£ualots. Cornrrton examples of such d¢v\cfis

intended for hedinner hobbyists incluJc simple robots, tlicrmoslals, end mo‹ion

dmociors.

Arduino LfNO IL3 boards aze avoidable commereio\Ty in preasacmblod form,

or es do-it-yoursc1f kiIv. The hsnlw4re design specifications ere openly

available, al lowin¡¡ the ArduinD bnanfs in be produced by anyone.

Arduino is a ioo1 for leaking eornputers lhoi can sense and conti”nI more of

the physical world than your d k\oP cornf›uicr. It‘s an onen-seurce gkysical

compucing plalfonn bo$cd on o simplc miciocontrollcr b'oaffi, aftfl o fivclopm0nt

cnvimnmcnt for writing softwam for the board.

Mossirrto Banzi helped intent the Arduino, a Iiny, easy-to•usc ogen•sourcc

niicroconlroller ihei's irrspixxl thousands of {<ople around ihe world la make

the coolest things ihey cnn imagine. Because, as he says. "You don't need

nnyone's

A rnicroconfrollcr is a small computer on a single integrclcd circuit containing

a pin:essor core, memory, rind programmable inputfouipui peripherals. The

Arduino Uno R3 is a inicroconlroller bosnJ which has T4 digital inpuu'ouiput pins (at”

which 6 can be used as PWM outpuis arid 6 can be used as anaiog inputs).

In faci, ihc Antuino Ian$ua$c is merely a sei ofC/C++ functions that can

be call cd from your code. The micrnconieoller shield is using as L293d Moior Orive

5hic1d is a c rcuH boant the uses a set of pins to ccuncci J i”cclly io rome of the

p›ns on the microcoulrollcr. A rlticld is zn cosy '•'ay in councci all of your

cxIcm4I component lugvñhcr. You con m shields to control molar relays,

LFDS, or
 CHAPTER 3

SENSING AND CONTROLLING

UNIT
 Tim Scnsing snd ConIro1Iing uniL is ihat pcrt ot ihis system which scnses thc

veloci ly snd ihcn scnds ncccssary ło łhc serio znoior and hencc to thc Au\

umalic ITrakinj; Unii. tis contnonenls consisl od Arduinr ar a n›icrocontrol1er,

Scrvo moior, ŁJltrnsonic Tmnsduncr and a powcr sourcc to kocp lhc systemu iunning.

Thc Atduino is codcd by o softwnre called Ar‹tuino 1.6. s languogc ptornoied by

thc company of ihe snme nnme. which acts :is n fme source coding. just like Andeoid.

3.1Components of Senslng and Coolrolllng IJnIl ICCIJ)

3. !J Ardw|soUcoRJ

Tim Unu is a microcontrollcr board baseJ un lhc ATmega328P. I‹ has

I4 digiutl inPur*ou‹Ixii pins (od •'hich /i cąn be use4 as I'WM oulpurs), 6 Anelog

lnpuis. a Ió MHz quaztz crystal, a USB conneclion, a powcz jeck, on ICSP hcader

and o bution. fi conteins evcryihinj; n<xdcd iu sunport thc fnicroconltóllcr: sin ply

connect it to n computcr with o USB cabfc or powcr ii wiih n AC•to-DC adnpinr or

baifeiy to get sivicd. You can tinlcr wilh your UNO wiihoui wo tng ioo ntuch

aboul doing something wrong, wonf case scenario you can wglace \ke chip For c

fc'^' dollars and

"Uno" nieBns one in fuilian nnd nas vhoscn to msrk Ihe releasc oF

Arduino Soffware t IDE) 1.0. The Uno board nnd version I .0 od Arduino Softwore

(IDE) were the rcfercnce vcnions oF Arduino. now evoIvc‹l io ncwcr rcleascs. The

Uno board is the fint in a • ri s od USB A&uino boanlt and the referencc model

Fot Ihe Arduino

Thc structum od Ardvino is irs diwdvanlage ds well. During building a project

you hnve to makc its sizc ne srnoll as possiblc. Bul wilh lhc big struciuits of Arduino
tike ATmega8 you can eosily meke your PCB g6 8mât[ as possible.

F'lgure 3.J Ardufne Uno LByout

Arduino

Dimensions

8 kb

Voltage

Table 5.! Technteal Speelficafieti of Ardulno Uno

Ne Arduino Uno can be powcnnJ via the U8B connection or with an

external power supgly. The power source is selected auIomatica\Iy. Ez\emd (nou-

US8) power
can eomc cithvr Fn›m on AC to-DC odupler (wall-wort) or bouoty. The aa«pier can

be conneci*d by plugging a 2.1 mrs ‹;critm-pesiiivc plug into tlu beard's pewy

jack. Lcadx ftnm a baitcry csn be insencd in ltte GND and V lN pin tenders of ihc

POWER

The board can opmatc on an cxu•maT supply of 6 ua 20 volts. Tf supplied with

less than 7V, Iiowex'cr, ‹he 5'V pin may sunpIy less ihan live vollv and he bond

may be une tbTe. TF using more Than T2V, the voltage ’’Bulan’ ’nay o’'’’a’ ord

zfisrnoge the board. The recommended ran8c is 7 to 12 volts.

• VIII: The input yolTegc to lhc Arduino board when it's using an eztcme) power

soums las opposed ie 5 volis fri›ri ttc USB connection w Attr mgulotcd

• SV: The regulated purer supply used to pnwcr ihc micixicontrollcr and

other components on the board. This cen come cithm tram VII•/ vin on

on-bcurJ eegulnior, or be supplied by USB or another regulaied SV .supply.

• 3Y3: A 3.3 soft supply gcnvraicd by lhv on-buard rcgululor. Maximum cunmi

GND: Ground pins.

Each oFLhe 14 digital nine on ‹he Uno can be used a-s an inf›ut or ourgut.

They opcraic ai 'i voIis. Each pin cen provide or acne e ntasimurn of 40 mA and hns

ari internal Full-un w.irtor \dismnnectvxI by default) oF20-50 k6hms. Io addition,

sons pins have specialized functions:

 • Sciial: 0 (RX) end 1 tTX). Used io mccivc tRX) and lninsmit tTX) TTS

serial dour. These pint are connecu•d Io the cozzesponding pies oF the

ATrnega8U 2 tJ5B•tmTTL Scnzl chip.

• Exicoial Inlcrrut›ts: 2 and 3. These pins can be configured ‹o ciggcr an

inicrnipl on a low value, a rising ur falling edge, cr u change in value. Sec

the etiachIntenunI\ I Function For dcuiils.

• PWM: 3, 5, 6, 9, 10, rind 1.1. Provide 8•bit PWM outpul with tte analogWriic(

• SPD: 10 (SS), I I (MOST), 12 tMISO)+ 13 (SCK). Th¢-sz pins support BPM

cominunicniion, whieh, although prox'idcd by ihc underlying hnrdwsre. is not

currcnity included in the Ardiiino language.

• LED: \3. There is a built-in LED connected to Jigilal pin 13. WTten ii\c pin is

Hl€iH value, the LED is on, when ihe pin is LOW. it's off.

3.1.2 Ultrnsonie Transducer

Uhmsonc ‹mnéuccm m ‹mnsduces hsi convx u msound new w

caI1ed ulitasound tmnsceivcrs, ninny u1IrasouiuI scnson besides being sensors

arc indeed o-ansceivers because Whm/ can both eenae and Wsmit. These devices

work on a principle sim Iar to thai at tfansdutcrs used iii radar aM sonar

systems, which

»vuuam o ñMwsofz ncgm by in pwGng €» cchws fhm mdio orsomB

*uvci rcsp<livcly. Active ullmnic sensors generate high-Fmqucncy sound wakes

and evaluate the echo which is received back by the scnaor. measuring ‹he time

inicrval &1wvcn sending the signal and re giving tIiv echo iu determine the di»\

ance ie an object. Passive ultrasonic sensors am tesically microphones ttat deieci

ultrasonic
 is pn'•scm under ceruHn con8ilions, convert i‹ iu an electrical si$nnI, end

mPon ii to s cnn›Fu‹cr.

Ulirzsnnic ptobcs and ultixsonic baths ate used to apply snund energy to

agiuite nar‹icIcs in a wide range of laborslrry applica\ioits. in ultrasonic transducer

is a device hat comoNs AC into ultrasound, as men cs The reverse, sound in o AC. Tn

ultrasonic, the Icrm tygieally refers to piezoelcclric IratisJuccrs or capaciiivc

transducers. P'iezoeTeczric cryaaTa change size ord ahape when e voltage is agpTied:

AC vo1iagc makes if›«m oscillate ai lhe same Frcqmcy and produee ulltasonic sound.

Capacitive tronsdum use elmtreriatic fields between a conduciiv* diaphnigm and

o backing plaic.

The beam paf\cm of a tmnsducer cen be d¢tcm\inA by he 8¢tin transducer

area end shape, Lhc ultrasound wavelength, and the sound velocity of The

propagation medium. The diaJ«ains show the souiul fi¢lds oF en unfocusccl and

s técusinj; uTrrasonie transducer in water. pTainTy at dilTcring cnczgy Teresa.

Since piczoclcc ric maiensls generals u voluigc when foroc i» applied to

them, they ccn Else v9rk as ultrasonic de\ec‹ors. Some systems use seFarcI<
transmiiters rind receivers, while oihcrs combine bufh fimctions inin a single

bi[imsound transmitter can nl en use non-piezoetectnc principles such as

ningn1o-sIrie\ion. Materials wilG ihis picperty ehungc site slightly when exposed io a

mognmicñld,ondmokrpmmicol nansârceri

A capacitar ("vondcnscr") microphonc has a ihin diaphrogm Ih¢l w oi«Is

to ultasound waves. Changes in Ike clcccric field t›cnvcen fh« dianhmgn› and a

closely xpacod bucking plntc convert sound signals to electric cuixcnis, which

c'nn be
 Ul\rasontc sensors arc widely usod in ears as parking sensors tu aid the driver

in reversing into pasting sgeccs. They are being lasted for a num&r of ocher

automotive used \neTuding ulttasonlc Topic deic¢tion end esszsting in eutonontous

UAV neVigBtiO0.
 Mgwclt(azndlb}UlrszoWcTzniu‹erHCdR04(F¥omandB&ckHe*)
Ulin ontc ranging rnoduic HC - SR04 providcs 2cm - 400cnt non-conlacl

incesurcn›cn‹ funciion, ihc ranging accuracy can reach \o 3n›n›. The modules includes
ultrasonic trnnsmiiters, eeceiver and control ci ;uif.

• Using IO fziggcr Foz at Izlet )0us higk level signal.

• The Modulc automaiically sem. cight40 kHz and deicct whcthcr therc

• IF čie signal back, through higli letel , t mc oFhigh outpui IO

Juration ig che Time froie s<ndiog ulwzonic te mtuming. Tesr

digfenp = (high letel timo ”x‹Iuciiy oFsound (340XU5) / 2.

Wirc connocting dirort as folluwing:

 • Trig$<r r»1sc fnp»‹

• 0V Ground

Waltzing Voltegv

Working Carrcnl I5ntA

4OHr
#m

MinRsngc 2cn
Meazurin¡¡ Angle IS degm•

Trigger Input Sigriel

lnpul TTL lever signBl and the rsng¢ in

Uimene ton

Table 3.2 Spmlflcatlon of Ultrasonic Transducer

The Ti rrtiny died iB She bcID'a'. You only not O supply a short I0uS

pu1se to the ifiggcr inpul io siort the mngtng, and then the module wiI1 smd out sn

II cycle bezsT of uTtraaound at 40 kHz and raige iLs echo. The Echo ie a distance objoct

thnl is pulse widih and ifr: ranyc in proportion .Ycu van +aIcuIaic the ninge

lhruugh the time interval b*mmn sending iriggcr sit,nal and reviving echo signal.

Fomiula:

yS / SB = centimetres or HS / I48 =inch:

Or
The rengc = high level time " vc1ocity(340M/S)/ 2
It is always s”ug$cslcd la use over 60ms mc«sur<mcni cycle, in order io pre vcnl ci r

Signal

internal

Figuee 3.4 Torgei sngJe range rear nf Ultrasonic Transducer

3.1 d DC gear motel

DC moiors ère cssontially a OC stiuei inotor which fins Wn*pee ially

d¢sig;ncd for how ncrtie, s ntc£ticaî rotalîon and smœÉh low•spccd chamctcristics.

Geared moior is a major with a closod Fccdback syst¢n› io 'hick Ihe position of tir
moror will bc communicaicd back io ihc conirol circuit in die motors. G cnrcd moiors

arc fomiœl from Four different elcnients: a DC rnolor, a position-sensing devicc

(a

potcntiornecez)a. gecr reducing pan and a conTroT unit. ATT of Thr•se components work

tog<1her to ntakc ihe molor to ucccpl conirol siymals thal tcprcscnl the dcsirc‹l

uulput 9f' i-rte mucor shaft and f›mver the D€' major uncil its shaft is tumod to rhe

riaht position. The shaft in g •d motors docsn”t rotatc as £rccîy es those

sensing device in a geared motor dcTcrminos the rotation of be shaft and Thus The way

the n\oior nccds lo lum in order lo arrive au the desirc‹l position. The sliding

mode conirol is robust io plnni unccnniniics und inamsitive to eziemat

disiiirbnnces. Ii is

cornrnonly need io Oct good dynsrnic performance of conimlloblc sysicms. Even ihni,

the chattering Fkenornena due to the finite speed of the switching devices can

alTect the system behovioar significunily. Bcsidcs, the sliding conitnl nccds lho

kimwlcdgc OU MBt)1€Tfl8IiCB) Tnod0l Of the sys\cm with boundod uaceriait›ties. Reduccd

<hettwii›y moy be nchieved wiihoui sncrificing robusi yerfomiance by cnmbining the

aitrnciive
 Flg US DC ge4r motor

Table 3J 5geei€M¥Gons of DC gear at olor

3.1.4 fierve
Meter

A servo system mainly consists at three basic cumpnnents — a

commited devict, a output minor. a foedbsct system. Tfiis is an quioinetic closed

leep coatrel sysicm. Here instead of controlling a device by applying the variable

input signal, ttc dm'icc is connollcd by e feedback signal geooetc'd by cor«t›ariny

output signal and mfcrcncc input signsl. When reference input signal or commend

signal is applied to the system, it is conq›arcd wiih oulput reference signal of the

syslcm produco‹l by output sensor, and a third signnl pmduced by a feedback

sysinm.
 Tlits third signal avis as an inpul signal oFconirollcd devioe. This input

signsl to the devica presrnle ae 19ng a-s ‹kcm i.s o logicol dilTcrrnw bctween

mfemncc inFut signal and the ouTput signeJ of iffe systczn. A?tcr the dcyic¢ achicvcs

yIs desircd output, thcm will bc nn lon8er čie logical dilTcrence bcfween

fvFercncc input signal aixl rcference ouTyu signal ofl dc aysTcrn. Thcn+ dc tfiird

signal pro£uced b'y comporing theses above seid signuls will not rcninin cucuj;lt tc

oIx'raIc the devicc Funhcr and lo produce a furtfier outguT o£ BysIem until ncxl

zc€emcc input signal or cornfnand sigruil is applicd lo the sysiem. the,

lhe primary iask of +i

scrvomechanism is to mainioin ii oulnut of a s teny gz the desired velue in the

along with some other spccial purposc oomponcnis ihal male n D.C moinr a servo. 1n

n s¢rvo uni‹. you will find a sfnall DC fnolor, a t›oteuIiomeIer, $car nrrangcn\<nI and

nn ininlligeni circuiiry. The ininlliBent circuiiry along wiih ihc pomniiomeinc

makes Ihc servo l+ rotate according £o our wishes. As know, a small @C ntoTur

will rotate

»'ith high sled bum the lorque 8eneratcd by iu rolation will nor be enough te ntovc

evcn a lighl lond. This is whcrc ihc gcar sysicm inside o scrvomcchnriiam comcs into

the pictufv. Tla gcar incchanism will take hij;Jt input speed of the motor (jsstJ nnd

at the ouiput, wc will get an ouipui specd which ix slower ihan originnl inpui specd bui

more praclieal and wiJcJy applicablu.

The outpui sholt of servomoior SG 90 ix cnpable of imvelling somewhere

Bround 180 dcgmcs. A nomtal Wmorfto£or is WW to cobtrol an ongul8r

tfFotion between 0 and I R0 dc6recs, and it is mechsniczlly nol cePable of fuming

any farther duc to a mcchuiceT slop built on ‹o the main oulpuT gcar. The angTc

through which the output shaw oFthe scrvoinolor necd io trsvc1 is dcterniined
accordin8 to ihe naturc
oFlhc siynol given la the molor »s input From its I'JC nticro«onIroIIcr. Dt< la

roiulicn of scrvor»otor in 1R0 deymes, the hrcLcs can he af›gIiod arid mlcascd

ñirough given brakes mechanism.

Eig 3.6 Sem'omolor

9gmm

(3.T72;V

Ta07e 3.4 Spcelflcatlons of senometor

3.1.5 A rdiñno ñI sofrwsrt

The oyen-seiucc Arduino Soflwom SIDE) n›ekcs it cczy \o •wite code and

wciticn in Jeva and basod on Processing and other open-source soflwam.

This soflware csn he uxed with nny Ardaino hoard.

The developed prognnn For success odour projeci as follows:

//includc <U1itasnnic.h> // Tncliules SR-04 Sensor Library.

U lttasonic ulttasonic(A0,A1 ), // (Trip PIN,Echo i•l N)

Servo servo ; // Cmating Servo object.

// declaring Motor Shield

tnt latchPin = 12,

// VaziebTe co store distance

in‹ left d - 0;

inc right d = 0,

int inca d = 30: // Max distance \e obstacle

void sctupt)
 // sorting up shield.

pinModala‹chf'in, OUTPUTS:

pinMndc(clockPin, OUTPUT);

servo I.a tackf 10); // Attaching scrvp to Pin No.)0

Play(35O):

void loorfj

front d = ultrasonic.Ranging(CMI, // n\ensuring Foml dislenve

iF{loom d < mcx d)

get d().

iftrigh‹ d > r«ax d›

 dvIuy{400):

deIay{400),

delay (500),

hslt():

else l

void Forward(void)] // Function For Forwanl movement.

digiinlWriin(latchPin, LOWS:

sh›ftOul(dataPin, clo«LPin. LSBFIRST, 3).

4isiéWriu(ufl£in.IGN)
void bsckwauI(void){ // fiuictiori for backc'd movement.

iligiiulWnic(lalchi•ia LDW}.

shiftOut(dB‹aPio, <lockPin, LSBFleST, 164a;

digiialWriietIaictPiri, HIGHj;

void halgvoid)( // function For stopping roboi.

4igiIatWriIe(leichFiw LOW).
shiROut(dataPin, clockPin, LSBFIRST, 32),

diginiWtiielloehPir. tllGllj:

told got d(void) // Auction To get distances.

servo I.wri\e{ 1s0). // Right f'esition

delay(30IAI):

righl d = ulcasonic.£tanaing/CM):
servo T.write{0}; H Fi-oez Positon

delay(300):

font d - ul\za8onic.Ronging{CM):

servo I.writc40); // LcI\ pos›i on of servo

Play(500):

left d = alirasonic. RangingtCM),

servo I.writet0}; // back to Fronl

ãeliy(250):
CHAPTER 4

RESULT
4.1 Result

working well and be whole sysT«m is successfully accomplished. The se £ distance

is dotonircd then tte vehicle sysi*ni is brsted whtn iht obstacle is ‹meeted. Tito

ranging accuracy of u Taasonic sensor in his protons is oboes 2crrt to Tm end works

efFcciivc1y within the prcscrit<d 1ifniI.

''ich a bafteriw and '^'hosc basking eysicm ia controlled by a DC gear moior and

xcrvornotor. This inctniquc is ccO'•fric1tdly and iltis work is In atlcmpt to rcduee

accidents while in cticicol driving conJilions. We h4ve tcsicd the work ifig of the

system by placing various objects ahead es obsusctcs. The system responded by

reducing the spoed of th¢ vehic1c when Ihe obstacle is placed al various

dislunces from ii. Also the system stoppod automniicaliy in restricted mms. It gave

vmy Bccur8ic mc8sDrcmcnt 8ccoflling io limit of vale inicrprclcfl.

CONCLUSION
CONCLIJSIOiN

ßraking Syrtem for Frnvard Collision Avoidance, intendcd io use in vchicles where

The drivers may no brakc rnonually, üut Ac spad ob ilfc vchiclc m bc reduced

automaticolly Jue la Ihe scnsing of Ihe obstacles. fi rcdum the ucci6mi levels anJ
Wende to same je iivcs ob aa may people. By doing TT\iB Project practicaTTy we gained

the knowloJgc abnut working oFauiumnlic biaking sysicnt end with this fulurc study

und rrxarck, we hope o devcloP je $ystm into a evm mom advanoed spez

confro) systüfn Vor auTornoblle safl8£y, while Tahzing then Ihis ¢c¢tainly rcguircs t

'nS oFwozk and Messing tige The progzamn\ing and oFcrstion of micro¢ontroTters

and the automobiTc sWcture. Hencc we believe Ihat Ehe iricorporation ob oTT

components in Automatic Brakin$ Sysxw will maxirnize saFety uixl ulso give such

syslcm a biggcr marfrct space and a compeiiiivc cdge in the mnrhct.

FUTURE SCOPE
*UTUREECOPE

The fulurc scope is to design and develop a conuol system based an an

autemolivc braking sysiein is caI1ed “AulomBtic Braking System". The Automatic

Braking Sysicm with uTuasonic sensor would alert driycr when the dismnce

between vehicle und obstac1u is in wilhin the sensing range zone then Ihc brakes

arc amlied. This is the new ination in his proToty$te desigfi rhal could be possibly

urod for all the vehicles. By mating it safer, iliis system will provide liter

guaranicc for vehicle's softly and ov id lms Thcmfor«. ‹he sofery

syscm of vehicles wiT\ & developed end may hnvc more marJccl dcnuinds.

IT can be krther used for Merge tpo of hcaw/ vehicles like , trucks,

cranes, irectors. cic. We can sumly get il\c inFormelioti abuut if\c obsioclc dc\ec‹ion

sense zone a’’o’di"B to vehicle condition. Tt i¥ verify uzo£al to public sector and

uscts. T‹ is a1so uv+ids lite ucaidwtiv in Inrgc ur nieiropoliuin cities. So we feel ii is u

beticr ides for automatically braking of vehicle with mo&roTe cogs

REFERENCES
 REFERENCES

1. hłIp://mcrn&T.rcnnłisI.com/pbandzzs/ccu.ha. This Link zcFczs ło Icchnicał

documenf Ihet conlains inFormaiion about eleclronic control unii.

2. http://www.on 1car.comf this wcbsiie coninine lechnical ariiclcs, tmokx and

msnuols Ihal hclp us fiud what's wtony with our vchiclc and wfnt wcdcd to

3. David Epsilon, An cmbcJdcJ sohwarc prcmicr, Pearson cducaiicti, 1999.

4. Joshua I'żmr. Fcmand9 S»co, Viccnic MI lancs, Antonio Jirnlez. J•lio C.

Oiuz and Trima ilr Podro, an RFl D buscd Inlclligcni Vehicle spccd

cunlrollcr usiag aciivc caffic sigrinls, SENSORS 20lI1, ł5872 5888;

doi: 10.3390/s 100605872.

Van NL's. N; Houlcnbos. M; van SC Hagen. I: tmprovii 8 Specd

behevior. The Po entieł od in-C'ar Bpeed Assistoice and Sgced Limit

Credibilily. IET in‹ci. T nsp. sąd. 20o8, i, i*3-33o.

MI tam V. Onicva. fi. Pezęz. J. De Podre. T. GonTąlęz. C. Conoel od

VelociJad AJaptalivo gura Entouios Urbanus Cungcslicnados. R«v.

Ibcroam, Bulome\. InFormaf. JrxL2009, 66-73.