DIPLOMA
IN
MECHANICAL ENGINEERING
BY
2004-2005
DEPARTMENT OF MECHANICAL ENGINEERING
CERTIFICATE
Register number:_________________________
This is to certify that the project report titled AUTOMATED
GUIDED VEHICLE submitted by the following students for the
award of the degree of bachelor of engineering is record of
bonafide work carried out by them.
Done by
Mr./Ms_______________________________
_______________
Guide
Coimbatore 641651.
Date:
Submitted for the university examination held on
___________
_________________
Internal Examiner
Examiner
________________
External
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ACKNOWLEDGEMENT
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ACKNOWLEDGEMENT
our
college
and
our
beloved
chairman
to us.
principal
for
are
also
Department Prof.
grateful
to
the
Head
of
.., for
&
sincere
thanks
to
..,
of
Mechanical
for
her
kind
our
guide
Department
guidance
&
and
NON
TEACHING
staffs
of
MECHANICAL
ENGINEERING
DEPARTMENT,
.(COLLEGE NAME).
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CONTENTS
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CONTENTS
CHAPTER
PARTICULAR
ACKNOWLEDGEMENT
SYNOPSIS
1. INTRODUCTION
2. DESCRIPTION OF EQUIPEMENT
3. DESIGN PARAMETERS
4. FABRICATION
5. WORKING PRINCIPLE
6. LIST OF MATERIALS
7. COST ESTIMATION
8. APPLICATIONS AND ADVANTAGED
9. DISADVANTAGES
10. CONCLUSION
11. SUGGESTIONS FOR FUTURE IMPROVEMENT
PAGE No.
BIBLIOGRAPHY
PHOTOGRAPHY
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SYNOPSIS
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SYNOPSIS
In our project we are eliminating the need of conveyers, pallet trolley, etc to handle
material transfer in heavy industries. For purpose we are designing automated guided
vehicle controlled by microprocessor controller. In the available methods of material
handling manpower, fuel power is used. By the end of 2020, fuel deposit in the world
completely depleted.
To avoid this type of problems and reduce manpower requirement we need other
type of automation is called automated guided Vehicle. The microcontroller is used to
control the vehicle path automatically. The rechargeable battery is supplying power to the
automated guided vehicle.
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Chapter-1
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INTRODUCTION
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CHAPTER-1
INTRODUCTION
The power stored in the battery is used to drive the DC motor that causes the
movement to AGV. The speed of rotation of DC motor i.e., velocity of AGV is
controlled by the microprocessor controller.
For mass production of the product, the machining operations decide the
sequence of machining. The machines designed for producing a particular product are
called transfer machines. The components must be moved automatically from the bins to
various machines sequentially and the final component can be placed separately for
packaging. Materials can also be repeatedly transferred from the moving conveyors to the
work place and vice versa.
Less Maintenance
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Chapter-2
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DESCRIPTION OF THE
EQUIPEMENT
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CHAPTER-2
DESCRIPTION OF THE EQUIPEMENT
The existing AGVs, pallet trucks, trolley use petrol or diesel as fuel for running
and for operating them we use the manpower. These types of vehicles consume liter
of fuel for a period of one hour.
For overcoming this we designed AGV which is drawn power from the storage
battery. The power stored in the battery is used to drive the DC motor that causes the
movement to AGV. The speed of rotation of DC motor i.e., velocity of AGV is
controlled by the microprocessor controller.
Battery assembled on the AGV is easily replaceable and detachable, used for
charging the battery, while the AGV is under roof. Path programmed for the AGV in a
micro controller chip can be altered when required.
COMPONENTS OF AGV:
(1) Battery
(2) D.C. motor
(3) Trough
(4) L-angle frame
(5) Gear drive
(6) Wheel
(7) Microcontroller
1. BATTERY UNIT:
INTRODUCTION:
In isolated systems away from the grid, batteries are used for storage of excess
solar energy converted into electrical energy. The only exceptions are isolated sunshine
load such as irrigation pumps or drinking water supplies for storage. In fact for small
units with output less than one kilowatt. Batteries seem to be the only technically and
economically available storage means. Since both the photo-voltaic system and batteries
are high in capital costs.
(1)
Low cost
(2)
Long life
(3)
High reliability
(4)
(5)
Low discharge
(6)
Minimum maintenance
(A)
(B)
We use lead acid battery for storing the electrical energy from the solar panel for
lighting the street and so about the lead acid cells are explained below.
Battery is the heart of the electrical systems in a AGV. The battery supplies the
essential current. It is an electrical device used for storing energy in chemical form,
which can be released as electricity as and when required. The battery supplies the
current for starting the motor and the driving motor.
Battery rating:
The fully charged battery is maintained at room temperature and the discharge is
adjusted at the rate of 5% of the specified ampere-hours capacity. The battery discharge
at a rate of 7.5 Amps it will withstand 20 hours.
Battery capacity:
The capacity of the battery is defined as the amount of current depends upon
number of plates, area of the plates, and quantity of the electrolyte, temperature. 6 Volts
battery requires 15, 17, 19, 21 plates per cell.
Battery life:
Battery life is defined as the time for which it can serve without any damage.
Overcharging caused by the overheating and the excessive gas bubbling reduces the
battery life. The battery life greatly depends on materials workmanship and maintenance.
The positive and negative electrodes of a lead acid battery are immersed in dilute
sulfuric acid. When the battery is fully charged, there is lead peroxide on the positive
plate and the negative plate as the active materials.
Where high values of load current are necessary, the lead-acid cell is the type most
commonly used. The electrolyte is a dilute solution of sulfuric acid (HSO). In the
application of battery power to start the engine in an auto mobile, for example, the load
current to the starter motor is typically 200 to 400A. One cell has a nominal output of
2.1V, but lead-acid cells are often used in a series combination of three for a 6-V battery
and six for a 12-V battery.
The lead acid cell type is a secondary cell or storage cell, which can be recharged.
The charge and discharge cycle can be repeated many times to restore the output voltage,
as long as the cell is in good physical condition. However, heat with excessive charge
and discharge currents shortends the useful life to about 3 to 5 years for an automobile
battery. Of the different types of secondary cells, the lead-acid type has the highest
output voltage, which allows fewer cells for a specified battery voltage.
CONSTRUCTION:
Inside a lead-acid battery, the positive and negative electrodes consist of a group
of plates welded to a connecting strap. The plates are immersed in the electrolyte,
consisting of 8 parts of water to 3 parts of concentrated sulfuric acid. Each plate is a grid
or framework, made of a lead-antimony alloy. This construction enables the active
material, which is lead oxide, to be pasted into the grid. In manufacture of the cell, a
forming charge produces the positive and negative electrodes. In the forming process, the
active material in the positive plate is changed to lead peroxide (pbo). The negative
electrode is spongy lead (pb).
The
electrolyte is put in at the time of installation, and then the battery is charged to from the
plates. With maintenance-free batteries, little or no water need be added in normal
service. Some types are sealed, except for a pressure vent, without provision for adding
water.
CHEMICAL ACTION:
discharges, lead peroxide from the positive electrode combines with hydrogen ions to
form water and with sulfate ions to form lead sulfate. Combining lead on the negative
plate with sulfate ions also produces he sulfate. There fore, the net result of discharge is
to produce more water, which dilutes the electrolyte, and to form lead sulfate on the
plates.
As the discharge continues, the sulfate fills the pores of the grids, retarding
circulation of acid in the active material. Lead sulfate is the powder often seen on the
outside terminals of old batteries.
sulfating on the plate lowers the output of the battery, charging is necessary.
On charge, the external D.C. source reverses the current in the battery. The
reversed direction of ions flows in the electrolyte result in a reversal of the chemical
reactions. Now the lead sulfates on the positive plate reactive with the water and sulfate
ions to produce lead peroxide and sulfuric acid. This action re-forms the positive plates
and makes the electrolyte stronger by adding sulfuric acid.
At the same time, charging enables the lead sulfate on the negative plate to react
with hydrogen ions; this also forms sulfuric acid while reforming lead on the negative
plate to react with hydrogen ions; this also forms currents can restore the cell to full
output, with lead peroxide on the positive plates, spongy lead on the negative plate, and
the required concentration of sulfuric acid in the electrolyte.
Charge
Pb + pbO + 2HSO
2pbSO + 2HO
Discharge
On discharge, the pb and pbo combine with the SO ions at the left side of the
equation to form lead sulfate (pbSO) and water (HO) at the right side of the equation.
One battery consists of 6 cells, each have an output voltage of 2.1V, which are
connected in series to get a voltage of 12V and the same 12V battery is connected in
series, to get a 24 V battery. They are placed in the water proof iron casing box.
Always use extreme caution when handling batteries and electrolyte. Wear gloves,
goggles and old clothes. Battery acid will burn skin and eyes and destroy cotton and
wool clothing.
The quickest way of ruin lead-acid batteries is to discharge them deeply and leave
them stand dead for an extended period of time. When they discharge, there is a
chemical change in the positive plates of the battery. They change from lead oxide when
charge out lead sulfate when discharged. If they remain in the lead Sulfate State for a few
days, some part of the plate dose not returns to lead oxide when the battery is recharged.
If the battery remains discharge longer, a greater amount of the positive plate will remain
lead sulfate. The parts of the plates that become sulfate no longer store energy.
Batteries that are deeply discharged, and then charged partially on a regular basis can fail
in less then one year.
Check your batteries on a regular basis to be sure they are getting charged. Use a
hydrometer to check the specific gravity of your lead acid batteries. If batteries are
cycled very deeply and then recharged quickly, the specific gravity reading will be lower
than it should because the electrolyte at the top of the battery may not have mixed with
the charged electrolyte.
Check the electrolyte level in the wet-cell batteries at the least four times a year
and top each cell of with distilled water. Do not add water to discharged batteries.
Electrolyte is absorbed when batteries are much discharged. If you add water at this time,
and then recharge the battery, electrolyte will overflow and make a mess.
Keep the top of your batteries clean and check that cables are tight. Do not tighten
or remove cables while charging or discharging. Any spark around batteries can cause a
hydrogen explosion inside, and ruin one of the cells, and you.
On charge, with reverse current through the electrolyte, the chemical action is
reversed. Then the pb ions from the lead sulfate on the right side of the equation re-form
the lead and lead peroxide electrodes. Also the SO ions combine with H ions from the
water to produce more sulfuric acid at the left side of the equation.
CURRENT RATINGS:
Lead-acid batteries are generally rated in terms of how much discharge currents
they can supply for a specified period of time; the output voltage must be maintained
above a minimum level, which is 1.5 to 1.8V per cell.
Note that the ampere-hour unit specifies coulombs of charge. For instance, 200
A.h. corresponds to 200A*3600s (1h=3600s). The equals 720,000 A.S, or coulombs.
One ampere-second is equal to one coulomb.
7.2*10^5C. To put this much charge back into the battery would require 20 hours with a
charging current of 10A.
The ratings for lead-acid batteries are given for a temperature range of 77 to 80F.
Higher temperature increase the chemical reaction, but operation above 110F shortens
the battery life. Low temperatures reduce the current capacity and voltage output. The
ampere-hour capacity is reduced approximately 0.75% for each decreases of 1 F below
normal temperature rating. At 0F the available output is only 60 % of the ampere-hour
battery rating.
SPECIFIC GRAVITY:
Measuring the specific gravity of the electrolyte generally checks the state of
discharge for a lead-acid cell. Specific gravity is a ratio comparing the weight of a
substance with the weight of a substance with the weight of water.
For instance,
concentrated sulfuric acid is 1.835 times as heavy as water for the same volume.
Therefore, its specific gravity equals 1.835. The specific gravity of water is 1, since it is
the reference.
In a fully charged automotive cell, mixture of sulfuric acid and water results in a
specific gravity of 1.280 at room temperatures of 70 to 80F. as the cell discharges, more
water is formed, lowering the specific gravity. When it is down to about 1.150, the cell is
completely discharged.
The decimal point is often omitted for convenience. For example, the value of
1.220 in figure (7) is simply read twelve twenty. A hydrometer reading of 1260 to
1280 indicates full charge, approximately 12.50 are half charge, and 1150 to 1200
indicates complete discharge.
The importance of the specific gravity can be seen from the fact that the opencircuit voltage of the lead-acid cell is approximately equal to
For the specific gravity of 1.280, the voltage is 1.280 = 0.84 = 2.12V, as an
example. These values are for a fully charged battery.
2. The negative and positive terminals of the battery are connected to the
respective terminals of the battery charge.
3. The charging current is discharged to the current value. The current is adjusted
to one ampere per positive plate.
4. Charging is connected till the formation of the gas, then the charging current is
decreased and continued till there is no further increase in the specific gravity.
Note that the reversal of current is obtained just by connecting the battery VB and
charging source VG with + to + and to-, as shown in figure. The charging current is
reversed because the battery effectively becomes a load resistance for VG when it higher
than VB. In this example, the net voltage available to produce charging currents is 1512=3V.
Float charging refers to a method in which the charger and the battery are always
connected to each other for supplying current to the load. In figure the charger provides
current for the load and the current necessary to keep the battery fully charged. The
battery here is an auxiliary source for D.C. power.
The constant voltage of 24V comes from the solar panel controlled by the charge
controller so for storing this energy we need a 24V battery so two 12V battery are
connected in series.
With proper care, lead-acid batteries will have a long service life and work very
well in almost any power system. Unfortunately, with poor treatment lead-acid battery
life will be very short.
2. D.C MOTOR :
The torque can produce mechanical rotation. Motors are classified as series
wound, shunt wound motors.
Principles of operation:
Movement of
Conductor
Magnetic flux
Current carrying
Conductor
Fig no. 5
The motor runs according to the principle of Flemings left hand rule. When a
current carrying conductor is placed in a magnetic field is produced to move the
conductor away from the magnetic field.
The conductor carrying current to North and South poles is being removed. In the
above stated two conditions there is no movement of the conductors. Whenever a current
carrying conductor is placed in a magnetic field. The field due to the current in the
conductor but opposes the main field below the conductor. As a result the flux density
below the conductor. It is found that a force acts on the conductor to push the conductor
downwards.
If the current in the conductor is reversed, the strengthening of the flux lines
occurs below the conductor, and the conductor will be pushed upwards.
As stated above the coil side A will be forced to move downwards, where as the
coil side B will be forced to move upwards. The forces acting on the coil sides A and B
will be the same coil magnitudes, but their directions will be opposite to one another. In
DC machines coils are wound on the armature core, which is supported by the bearings,
enhances rotation of the armature. The commutator periodically reverses the direction of
current flow through the armature. Thus the armature rotates continuously.
Let's start by looking at the overall plan of a simple 2-pole DC electric motor. A
simple motor has 6 parts, as shown in the diagram below.
An armature or rotor
A commutator
Brushes
An axle
A field magnet
An electric motor is all about magnets and magnetism: a motor uses magnets to
create motion. If you have ever played with magnets you know about the fundamental
law of all magnets: Opposites attract and likes repel.
So if you have 2 bar magnets with their ends marked north and south, then the
North end of one magnet will attract the South end of the other. On the other hand, the
North end of one magnet will repel the North end of the other (and similarly south will
repel south). Inside an electric motor these attracting and repelling forces create rotational
motion.
In the diagram above and below you can see two magnets in the motor, the
armature (or rotor) is an electromagnet, while the field magnet is a permanent magnet
(the field magnet could be an electromagnet as well, but in most small motors it is not to
save power).
Electromagnets and Motors:
To understand how an electric motor works, the key is to understand how the
electromagnet works. An electromagnet is the basis of an electric motor. You can
understand how things work in the motor by imagining the following scenario.
Say that you created a simple electromagnet by wrapping 100 loops of wire
around a nail and connecting it to a battery. The nail would become a magnet and have a
North and South pole while the battery is connected.
Now say that you take your nail electromagnet, run an axle through the middle of
it, and you suspended it in the middle of a horseshoe magnet as shown in the figure
below. If you were to attach a battery to the electromagnet so that the North end of the
nail appeared as shown, the basic law of magnetism tells you what would happen: The
North end of the electromagnet would be repelled from the north end of the horseshoe
magnet and attracted to the south end of the horseshoe magnet. The South end of the
electromagnet would be repelled in a similar way. The nail would move about half a turn
and then stop in the position shown.
You can see that this half-turn of motion is simple and obvious because of the way
magnets naturally attract and repel one
another. The key to an electric motor is
to then go one step further so that, at the
moment that this half-turn of motion
completes, the field of the electromagnet
flips. The flip causes the electromagnet
to complete another half-turn of motion.
You flip the magnetic field simply by changing the direction of the electrons
flowing in the wire (you do that by flipping the battery over). If the field of the
electromagnet flipped at just the right moment at the end of each half-turn of motion, the
electric motor would spin freely.
The Armature:
In this figure, the armature winding has been left out so that it is easier to see the
commutator in action. The key thing to notice is that as the armature passes through the
horizontal position, the poles of the electromagnet flip. Because of the flip, the North
pole of the electromagnet is always above the axle so it can repel the field magnet's North
pole and attract the field magnet's South pole. If you ever take apart an electric motor you
will find that it contains the same pieces described above: two small permanent magnets,
a commutator, two brushes and an electromagnet made by winding wire around a piece of
metal. Almost always, however, the rotor will have three poles rather than the two poles
as shown in this article. There are two good reasons for a motor to have three poles:
It causes the motor to have better dynamics. In a two-pole motor, if the
electromagnet is at the balance point, perfectly horizontal between the two poles of
the field magnet when the motor starts; you can imagine the armature getting
"stuck" there. That never happens in a three-pole motor.
Each time the commutator hits the point where it flips the field in a two-pole
motor, the commutator shorts out the battery (directly connects the positive and
negative terminals) for a moment. This shorting wastes energy and drains the
battery needlessly. A three-pole motor solves this problem as well.
It is possible to have any number of poles, depending on the size of the motor and
the specific application it is being used in.
3. TROUGH :
This is the part where the materials to be handled are stored in. It is made of
plastic. A material does not get affected or the handling of materials is easy by this
specific equipment.
4. L ANGLE FRAME:
The frame is constructed in mild steel. The frame shape is as like a letter L, so
that is called L-angle frame.
5. GEAR WHEEL:
The gear wheel is used to drive the wheel movement of Automated Guided
Vehicle (AGV). It is made up of cast iron.
6. WHEELS :
Four wheels are used, two are made of nylon having 100 mm diameter. And other
two are made of rubber having 147 mm diameter. Nylon wheels are front wheels and
other two are used as rear wheels.
7. MICROCONTROLLER:
Code-protection
Peripheral Features:
13 I/O pins with individual direction control
High current sink/source for direct LED drive
25 mA sink max. per pin
25 mA source max. per pin
TMR0: 8-bit timer/counter with 8-bit programmable prescaler
PIN DIAGRAM:INTRODUCTION:This
document
contains device-specific
information
operation
PIC16F84A
for
of
the
the
device.
Additional information
may be found in the
PICmicro Mid-Range Reference Manual, (DS33023).
The
PIC16F84A
The data memory (RAM) contains 68 bytes. Data EEPROM is 64 bytes. There are
also 13 I/O pins that are user-configured on a pin-to-pin basis. Some pins are multiplexed
with other device functions. These functions include:
External interrupt
Change on PORTB interrupt
Timer0 clock input
Table shows the details the pinout of the device with descriptions and details for each pin.
MEMORY ORGANIZATION
There are two memory blocks in the PIC16F84A.These are the program memory
and the data memory. Each block has its own bus, so that access to each block can occur
during the same oscillator cycle. The data memory can further be broken down into the
general purpose RAM and the Special Function Registers (SFRs).
The operations of the SFRs that control the core are described here. The SFRs
used to control the peripheral modules are described in the section discussing each
individual peripheral module.
The data memory area also contains the data EEPROM memory. This memory is
not directly mapped
into the data memory,
but
is
indirectly
address
The
of
EEPROM
64
data
memory
the
EEPROM
Additional information on device memory may be found in the PICmicro MidRange Reference Manual, (DS33023).
are
physically
above
the
physically
The data memory is partitioned into two areas. The first is the Special Function
Registers (SFR) area, while the second is the General Purpose Registers (GPR) area. The
SFRs control the operation of the device. Portions of data memory are banked. This is for
both the SFR area and the GPR area. The GPR area is banked to allow greater than 116
bytes of general purpose RAM.
The banked areas of the SFR are for the registers that control the peripheral
functions. Banking requires the use of control bits for bank selection. These control bits
are located in the STATUS Register. Figure 2-1 shows the data memory map
organization. Instructions MOVWF and MOVF can move values from
the W register to any location in the register file (F), and vice-versa.
The entire data memory can be accessed either directly using the absolute address
of each register file or indirectly through the File Select Register (FSR) (Section 2.4).
Indirect addressing uses the present value of the RP0 bit for access into the banked areas
of data memory. Data memory is partitioned into two banks which contain the general
purpose registers and the special function registers. Bank 0 is selected by clearing the
RP0 bit (STATUS<5>). Setting the RP0 bit selects Bank 1. Each Bank extends up to 7Fh
(128 bytes). The first twelve locations of each Bank are reserved for the Special Function
Registers. The remainders are General Purpose Registers implemented as static RAM.
GENERAL PURPOSE REGISTER FILE
Each General Purpose Register (GPR) is 8 bits wide and is accessed either directly
or indirectly through the FSR (Section 2.4). The GPR addresses in bank 1 are mapped to
addresses in bank 0. As an example, addressing location 0Ch or 8Ch will access the same
GPR.
STACK
The stack allows a combination of up to 8 program calls and interrupts to occur.
he stack contains the return address from this branch in program execution. Midrange
devices have an 8 level deep x 13-bit wide hardware stack. The stack space is not part of
either program or data space and the stack pointer is not readable or writable. The PC is
PUSHed onto the stack when a CALL instruction is executed or an interrupt causes a
branch.
The INDF register is not a physical register. Addressing INDF actually addresses
the register whose address is contained in the FSR register (FSR is a pointer). This is
indirect addressing.
NEXT
movlw
0x20
;initialize pointer
movwf
FSR
; to RAM
clrf
INDF
incf
FSR
;inc pointer
btfss
FSR,4
;all done?
goto
NEXT
CONTINUE
:
;YES, continue
An effective 9-bit address is obtained by concatenating the 8-bit FSR register and
the IRP bit (STATUS<7>), as shown in Figure 2-1. However, IRP is not used in the
PIC16F84A.
I/O PORTS
Some pins for these I/O ports are multiplexed with an alternate function for the
peripheral features on the device. In
general, when a peripheral is enabled,
that pin may not be used as a general
purpose I/O pin. Additional information
on I/O ports may be found in the
PICmicro
Mid-Range
Reference
Manual, (DS33023).
bit
(=1)
will
make
the
corresponding PORTA pin an input, i.e., put the corresponding output driver in a hiimpedance mode.
Clearing a TRISA bit (=0) will make the corresponding PORTA pin an output, i.e.,
put the contents of the output latch on the selected pin. Reading the PORTA register reads
the status of the pins whereas writing to it will write to the port latch. All write operations
are read-modify-write operations. Therefore a write to a port implies that the port pins are
read, this value is modified, and then written to the port data latch. Pin RA4 is
multiplexed with the Timer0 module clock input to become the RA4/T0CKI pin. The
RA4/T0CKI pin is a Schmitt Trigger input and an open drain output. All other RA port
pins have TTL input levels and full CMOS output drivers.
STATUS,
CLRF
PORTA
RP0
;
; Initialize PORTA by
; clearing output
; data latches
BSF
STATUS,
MOVLW
0x0F
RP0
; Select Bank 1
; Value used to
; initialize data
; direction
MOVWF
TRISA
TIMER0 MODULE
8-bit timer/counter
Timer0 Operation
Clearing bit T0SE selects the rising edge. Restrictions on the external clock input
are discussed below. When an external clock input is used for Timer0, it must meet
certain requirements. The requirements ensure the external clock can be synchronized
with the internal phase clock (TOSC). Also, there is a delay in the actual incrementing of
Timer0 after synchronization.
Prescaler
The prescaler is not readable or writable. The PSA and PS2:PS0 bits
(OPTION_REG<3:0>) determine the prescaler assignment and prescale ratio. Clearing
bit PSA will assign the prescaler to the Timer0 module.
When the prescaler is assigned to the Timer0 module, prescale values of 1:2,
1:4, ..., 1:256 are selectable. Setting bit PSA will assign the prescaler to the Watchdog
Timer (WDT). When the prescaler is assigned to the WDT, prescale values of 1:1, 1:2, ...,
1:128 are selectable. When assigned to the Timer0 module, all instructions writing to the
TMR0 register (e.g. CLRF 1, MOVWF 1, BSF 1,x....etc.) will clear the prescaler. When
assigned to WDT, a CLRWDT instruction will clear the prescaler along with the WDT.
Note: Writing to TMR0 when the prescaler is assigned to Timer0 will clear the prescaler
Count, but will not change the prescaler assignment.
INT INTERRUPT
External interrupt on RB0/INT pin is edge triggered: either rising if INTEDG bit
(OPTION_REG<6>) is set, or falling, if INTEDG bit is clear. When a valid edge appears
on the RB0/INT pin, the INTF bit (INTCON<1>) is set. This interrupt can be disabled by
clearing control bit INTE (INTCON<4>). Flag bit INTF must be cleared in software via
the interrupt service routine before re-enabling this interrupt.
The INT interrupt can wake the processor from SLEEP (Section 6.11) only if the
INTE bit was set prior to going into SLEEP. The status of the GIE bit decides whether the
processor branches to the interrupt vector following wake-up.
TMR0 INTERRUPT
An overflow (FFh 00h) in TMR0 will set flag bit T0IF (INTCON<2>). The
interrupt can be enabled/disabled by setting/clearing enable bit T0IE (INTCON<5>)
(Section 4.0). 6.8.3 PORB INTERRUPT An input change on PORTB<7:4> sets flag bit
RBIF (INTCON<0>). The interrupt can be enabled/disabled by setting/clearing enable bit
RBIE (INTCON<3>) (Section 3.2). 6.8.4 DATA EEPROM INTERRUPT At the
completion of a data EEPROM write cycle, flag bit EEIF (EECON1<4>) will be set. The
interrupt can be enabled/disabled by setting/clearing enable bit EEIE (INTCON<6>)
(Section 5.0).
The User defined registers, W_TEMP and STATUS_TEMP are the temporary
storage locations for the W and STATUS registers values. Example 6-1 does the
following:
PUSH
MOVWF
W_TEMP
SWAPF
STATUS, W
MOVWF
STATUS_TEMP
ISR :
:
:
POP
SWAPF
MOVWF
STATUS
SWAPF
W_TEMP, F
SWAPF
W_TEMP, W
Note 1: For a change on the I/O pin to be recognized, the pulse width must be at least
TCY wide.
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Chapter-3
---------------------------------------------------------------------------------------
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DESIGN PARAMETERS
---------------------------------------------------------------------------------
CHAPTER-3
DESIGN PARAMETERS
Components
Material
Specification
L-Angle
Mild steel C 40
20 x 15 mm
Ball Bearing
HSS
SKF 6202
Trough
Plastic
.0152 m
Gear wheel
Cast iron
78 teeth
29 teeth(pinion)
D.C motor
..
12 V / 2 A
Front Wheels
Nylon
100 mm
Rear Wheels
Rubber
147 mm
DESIGN CALCULATION:
66 mm
Total area
4 x 66 = 264 mm
Total Load
40 Kg (Approx.)
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Chapter-4
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FABRICATION
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CHAPTER-4
FABRICATION
Al the materials & components for our project are bought from the respective
markets. Mild steel l-angles, sheet metals, bearings, d.c motor, trough, battery, nylon &
rubber wheels, cast iron gear, mild steel shafts.
L-angle are cut into required number of pieces as per the dimension and welded
together 7 the sheet metal is welded over it to form the base of the AGV. Wheels are
joined to the AGV by using suitable methods.
Battery and d.c motor are fixed with the base of the AGV by using the bolts and
nuts. Gears are mounted on the output shafts of the d.c motor & they are coupled with the
gears that are mounted on the shafts of the front & rear wheels respectively. Trough is
also placed on the base of the AGV by using nut & bolt arrangement.
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Chapter-5
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WORKING PRINCIPLE
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CHAPTER-5
WORKING PRINCIPLE
The straight line motion drive is provided by the DC motor fixed at the rear wheel
shaft of AGV. The supply of the current is given by the battery provided on the sheet
metal.
The stored energy from the battery is supplied to D.C motor. The
straight
line
movement of the AGV is done by the d.c motor (12 V/ 2A). The motor is fixed at the rear
wheel shaft of the AGV. The supply to the motor is given by battery (12 V/7 Ah). This
battery also gives the supply of current to the microcontroller.
The already energy stored in battery is sent to d.c motor control circuit. The d.c
motor works according to the program written on the microcontroller chip. (i.e.) AGV
moves to a distance of specified value and at that instant power supply to d.c motor is cut
off and again a power supply is given to the d.c motor so that the AGV moves in a curved
path. So the specified path which is needed for us is obtained by the above procedure.
In our project lead-acid battery is used. The lead-acid batteries output is given to
the control unit. Control unit having four relays, they are connected to the two D.C motor
in Forward and reverse rotation of operation.
Relay 1
Forward Direction
Relay 2
Reverse Direction
Relay 3
Left Turn
Relay 4
Right Turn
At first vehicle is moving in forward direction when the switch is on. The path is
already programmed in a control unit. Then the control unit activates the proper relay so
that the vehicle moves in forward direction for particular time period. Then the vehicle
turns in left direction for particular time period. Then the vehicle turns right for particular
time period.
The straight line motion is provided in the back wheel drive with the help of spur
gear mechanism. The straight line movement of the AGV is done by the d.c motor (12 V/
2A). The motor is fixed at the rear wheel shaft of the AGV with the help of proper
arrangement.
The Left/Right motion is provided in the front wheel drive with the help of rack
and pinion mechanism. The left/right movement of the AGV is done by another d.c motor
(12 V/ 2A). The motor is fixed at the front wheel shaft of the AGV with the help of
proper arrangement.
Vcc
10/63V
Vcc
5
10K
Vcc
0.1
Vcc
14
10K
10
12V
1K
10K
1N4007
100K
1.5K
RELAY
1
Vcc
5.6V
0.1
150K
10K
150K
11
MICROCONT
ROLLER
2
16F84
5.6V
BC547
1K
1N4007
12V
RELAY
P.M.D.C.
MOTOR-1
Vcc
BC547
10K
1K
12V
12
1N4007
33pF
CRYSTAL
12MHZ
33pF
P.M.D.C.
MOTOR-1
RELAY
P.M.D.C.
MOTOR-2
15
16
13
P.M.D.C.
MOTOR-2
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Chapter-6
---------------------------------------------------------------------------------
---------------------------------------------------------------------------------
LIST OF MATERIALS
---------------------------------------------------------------------------------
CHAPTER-6
LIST OF MATERIALS
Components
Material
Quantity
L-Angle
Mild steel C 40
Ball Bearing
HSS
Trough
Plastic
Gear wheel
Cast iron
2
29 teeth(pinion)
D.C motor
..
12 V / 2 A
Front Wheels
Nylon
Rear Wheels
Rubber
Microcontroller
16F84 IC
Battery
Lead-acid
12V D.C
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Chapter-7
---------------------------------------------------------------------------------
---------------------------------------------------------------------------------
COST ESTIMATION
---------------------------------------------------------------------------------
CHAPTER-7
COST ESTIMATION
1. MATERIAL COST:
Components
Material
L-Angle
Mild steel C 40
Ball Bearing
HSS
Trough
Plastic
Gear wheel
Cast iron
D.C motor
..
Front Wheels
Nylon
Rear Wheels
Rubber
Microcontroller
Battery
Lead-acid
Amount (Rs)
2. LABOUR COST:
LATHE, DRILLING, WELDING, GRINDING, POWER HACKSAW, GAS CUTTING,
PCB DESIGNING AND MACKING:
Cost =
3. OVERHEAD CHARGES
=
=
Overhead Charges =
=
TOTAL COST
Total cost
=
=
Total cost for this project
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Chapter-8
---------------------------------------------------------------------------------------
---------------------------------------------------------------------------------
CHAPTER-8
8.1 APPLICATIONS
Open field work.
Using replaceable, battery, it can be used in indoors also.
Used in assembly section.
8.2 ADVANTAGES
Low running cost.
Battery power source.
Pollution free.
By using EPROM it can be used in FMS.
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Chapter-9
---------------------------------------------------------------------------------------
---------------------------------------------------------------------------------
DISADVANTAGES
---------------------------------------------------------------------------------
CHAPTER-9
DISADVANTAGES
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Chapter-10
---------------------------------------------------------------------------------------
---------------------------------------------------------------------------------
CONCLUSION
---------------------------------------------------------------------------------
CHAPTER-10
CONCLUSION
This brings you to the end of this project a challenging venture for the four of us.
It has been a valuable experience for us thought out this project. We have had opportunity
to learn more about the automation.
We also take this opportunity to which our heartful thanks to all those persons who
gave their support and encouragement during the course of project.
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Chapter-11
---------------------------------------------------------------------------------------
---------------------------------------------------------------------------------
CHAPTER-11
SUGGESTIONS FOR FUTURE IMPROVEMENT
The following further improvement has to be done in our project. They are,
Solar power with Solar panel tracking can be included in this AGV.
The obstacle sensor is used to sensing obstacle in our path, so that
the system made as a safety one.
Also Sensors at every corner will provide more accident safe.
Tripper arrangement in trough helps easy material handling.
Automatic gear mechanism will provide variety of speed.
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BIBLIOGRAPHY
---------------------------------------------------------------------------------
BIBLIOGRAPHY
A.K.SAWHNEY.
TEXT
BOOK
OF
ELECTRICAL,
ELECTRONICS,
A.K.
THERAJA.
TEXT
BOOK
OF
ELECTRICAL
TECHNOLOGY
G.R.NAGPAL. POWER PLANT ENGINEERING KHANNA PUBLISHERS,
DELHI.
T.THIYAGARAJAN.
FUNDAMENTALS
OF
ELECTRICAL
AND
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PHOTOGRAPHY
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