IR Tracking Robot

I got idea from EFY magazine and implemented along with my friends. It works well.

AMV: A Monostable Multivibrator

The robot described here senses a 38 kHz IR radiations and moves towards that direction. The system consists of three sections viz., sensor, controller and driver. The sensing section detects the 38 kHz IR radiation. The controller section processes the information from the sensor and provides the input to the driver section which has stepper motors for driving the robot.

The output of the sensors is fed to the monostable multivibrator which serves as the input to the microcontroller. Depending on the input sequence obtained the microcontroller performs sequential operation and gives out its decisions, which is a sequence of bits to drive stepper motors.

Since the microcontroller output is not sufficient to drive the stepper motor, a high voltage, high current Darlington array has been used to drive the motors. In the process of reaching the target, if an obstacle is encountered, the robot changes its path and again starts tracking the incoming IR radiation.

Robot Sensing Section


Robot Driving Section







Program

;Program Starts Here
$MOD51
ORG 0000H
CLR A
MOV P1, A
MOV P2, A
MOV P3, #0FFH
MOV R1, #11H
MOV R2, #11H
BACK: MOV C, P3.2
JB P3.0, NEXT
CPL C
NEXT: ANL C, P3.1
JC STRAIGHT
MOV C, P3.1
ANL C, P3.2
CPL C
ANL C, P3.0
JC LEFT
MOV C, P3.2
ORL C, /P3.1
ANL C, /P3.0
JC RIGHT
LJMP BACK
LEFT: MOV R3, #04H
FIRST: MOV A, R2
MOV P2, A
ACALL DELAY
RL A
MOV R2, A
DJNZ R3, FIRST
LJMP BACK
RIGHT: MOV R4, #04H
SECOND: MOV A, R1
MOV P1, A
ACALL DELAY
RR A
MOV R1, A
DJNZ R4, SECOND
LJMP BACK
STRAIGHT: MOV R3, #04H
THIRD: MOV A, R1
MOV P1, A
RR A
MOV R1, A
MOV A, R2
MOV P2, A
RL A
MOV R2, A
ACALL DELAY
DJNZ R3, THIRD
LJMP BACK
DELAY: MOV R6, #64
H1: MOV R7, #255
H2: DJNZ R7, H2
DJNZ R6, H1
RET
END

;Program Ends Here

Source: EFY Magazine

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