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RoboTronix

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About the User Guide

RoboTronix is a workshop especially designed for newbie's and robotics enthusiasts. Thisworkshop may give you a basic brief idea of the working of a robot. It will help the students to

build the concepts of electronics. It is very easy to learn and also interesting to implement upon.

This kit consists of very basic electronic components like diode, resistor, LEDsand transistors.

Using these kit students can develop their own logic for building up a robot. This kit includes thefollowing types of robots:

Line follower.

Obstacle avoider

Object follower

Photophobic

Phototrophic

Wall Follower Boomerang

Fire Fighter

Mobile controlled robot

Sound controlled robot

All these robots can be built with the help of a main board provided with this kit. The main board

is designed using basic electronic components like resistors and transistors.

PROPRIETARY NOTICE

This document contains proprietary information furnished for evaluation purposes only; except with the express written permission of Technophilia, such information

may not be published, disclosed, or used for any other purpose. You acknowledge and agree that this document and all portions thereof, including, but not limited to,

any copyright, trade secret and other intellectual property rights relating thereto, are and at all times shall remain the sole property Technophilia and that title and full

ownership rights in the information contained herein and all portions thereof are reserved to and at all times shall remain with Technophilia. You acknowledge and

agree that the information contained herein constitutes a valuable trade secret of Technophilia. You agree to use utmost care in protecting the proprietary andconfidential nature of the information contained herein.

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Contents

1. RobotTronix Package Content .................................................................................................... 6

1.1 MAIN BOARD ..................................................................................................................... 7

1.1.1 Transistor ....................................................................................................................... 7

1.1.2 Berg strip ........................................................................................................................ 7

1.1.3 Diode .............................................................................................................................. 8

1.1.4 Resistor .......................................................................................................................... 8

1.1.5 Capacitor ........................................................................................................................ 8

1.1.6 LED ................................................................................................................................ 9

1.1.7 Circuit diagram mother board ........................................................................................ 9

1.1.8 Description ..................................................................................................................... 9

1.2 MULTIPURPOSE OPTICAL SENSOR (MPOS) ........................................................... 11

1.2.1 Circuit diagram ............................................................................................................ 11

1.2.2 Description ................................................................................................................. 11

1.3 General purpose robotic vehicle chassis ............................................................................. 12

1.4 DC geared motors ............................................................................................................... 12

1.5 Caster wheels ...................................................................................................................... 12

1.6 Battery (9V) ........................................................................................................................ 13

1.7 Batter snapper ..................................................................................................................... 13

1.8 Screws and nuts................................................................................................................... 13

1.9 Screw driver ........................................................................................................................ 13

2. LINE FOLLOWER .................................................................................................................. 14

2.1 Description ........................................................................................................................ 14

2.2 Connection diagram ............................................................................................................ 14

2.3 Logic ................................................................................................................................... 14

2.4 Configuration ...................................................................................................................... 15

2.4.1 White surface black line follower ................................................................................ 15

2.4.2 Black surface white line follower ................................................................................ 15

2.5 Working .............................................................................................................................. 15

3. OBSTACLE AVOIDER ........................................................................................................... 16

3.1 Description .......................................................................................................................... 16


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3.3 Logic ................................................................................................................................... 16

3.4 Configuration ...................................................................................................................... 16

3.5 Working .............................................................................................................................. 16

4. OBSTACLE FOLLOWER ...................................................................................................... 17

4.1 Description .......................................................................................................................... 17

4.2 Connection Diagram ........................................................................................................... 17

4.3 Logic ................................................................................................................................... 17

4.4 Configuration ...................................................................................................................... 17

4.5 Working .............................................................................................................................. 17

5. PHOTOPHOBIC....................................................................................................................... 18

5.1 Description .......................................................................................................................... 18


5.3 Logic ................................................................................................................................... 18

5.4 Configuration ...................................................................................................................... 18

5.5 Working .............................................................................................................................. 18

6. PHOTOTROPHIC .................................................................................................................... 19

6.1 Description .......................................................................................................................... 19


6.3 Logic ................................................................................................................................... 19

6.4 Configuration ...................................................................................................................... 19

6.5 Working .............................................................................................................................. 19

7. WALL FOLLOWER ............................................................................................................... 20

7.1 Description .......................................................................................................................... 20


7.3 Logic ................................................................................................................................... 20

7.4 Configuration ...................................................................................................................... 20

7.5 Working .............................................................................................................................. 20

8. MOBILE CONTROLLED........................................................................................................ 21

8.1 Description .......................................................................................................................... 21


8.3 Logic ................................................................................................................................... 21

8.4 Configuration ...................................................................................................................... 21

8.5 Working .............................................................................................................................. 21

9. SOUND SENSOR ROBOT ...................................................................................................... 23

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9.1 Description .......................................................................................................................... 23

9.2 Circuit diagram ................................................................................................................... 23

9.3 Logic ................................................................................................................................... 23

9.4 Configuration ...................................................................................................................... 23

9.5 Working .............................................................................................................................. 23

10. FIRE FIGHTING ROBOT ..................................................................................................... 24

10.1 Description ........................................................................................................................ 24

10.2 Connection Diagram ......................................................................................................... 24

10.3 Logic ................................................................................................................................. 24

10.4 Configuration .................................................................................................................... 24

10.5 Working ............................................................................................................................ 24

11. BOOMERANG ROBOT ........................................................................................................ 25

11.1 Description ........................................................................................................................ 25

11.2 Connection diagram .......................................................................................................... 25

11.3 Logic ................................................................................................................................. 25

11.4 Configuration .................................................................................................................... 25

11.5 Working ............................................................................................................................ 25

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1. RobotTech Package Content

Sr. No Product Quantity

1. Main board 1

2. Multi Purpose Optical Sensors 2

3. DTMF module 1

4. Sound sensor cum timer circuit 1

5. General purpose robotic vehicle chassis 1

6. DC geared motors 2

7. Wheels 2

8. Caster 2

9. 9 Volt 6F22M Battery 2

10. Battery Snapper (Battery Caps) 2

11. Spacers, Nuts and Bolts -

12.

Screw driver 1

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1.1 MAIN BOARD

The main board of Robotronixis a multipurpose board. Students just have to connect thesensors on its exposed data pins for its various applications. This main board consists of simple

components like (Resistors, Capacitors and Transistors).

1.1.1 TransistorA transistor is a device used to amplify and switch electronic signals. It is made up of a

solid piece of material (silicon), with three terminals for connection to an external circuit. There

are two types of transistors used here (NPN-BC557A and PNP-BC548).A transistor has three terminals Emitter, Base and Collector. The transistor can be

switched on or off based on the logic voltage (0 or 1) applied on the base.Transistor Type Voltage on base State of Transistor

NPN 0 OFF

1 ON

PNP 0 ON

1 OFF

.

1.1.2 Berg stripThey are used for the connection of the sensors depending upon the robot to be built. On

the board you can find five three pin berg strips denoted as IN1, IN2, IN1, IN2 and BZIN. The

three pins of the berg strip are +ve, -ve and data (you can notice on the board it is written as - +

D).

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1.1.3 DiodeA diode is an electronic component with two terminals that allows electric current to flow

in only one direction i.e., from positive to negative. The most common function of a diode is to

allow electric current in one direction while blocking current in the opposite direction.

1.1.4 ResistorA Resistor is an electronic component which restricts the flow of current. A resistor has

some resistance which is measured in Ohms as weight is measured in Kilograms. The symbol ofOhms is

1.1.5 CapacitorA capacitor or condenser is a passive electronic component consisting of a pair of

conductors separated by a dielectric (insulator). A capacitor has some capacitance which is

measured in Farads. The symbol is F.

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1.1.6 LED

A LED (Light Emitting Diode) is nothing but a diode that emits light when a voltage is

applied to it and it is used almost everywhere because it consumes very less current.

1.1.7 Circuit diagram mother board

1.1.8 DescriptionThe circuit seen above is of the main board, Robotronix. As we can see in the above

circuit diagram, 7 transistors have been used. Four of them are NPN (Q1, Q2, Q3 and Q4) and

the rest of the three are PNP (Q5, Q6 and Q8).

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There are 6 three pin berg strip on the board. IN1, IN2, IN1 and IN2 are the data pins

which are used for switching on and off the motors. IN1 and IN1 controls one motor whereas

the other motor is controlled by pins IN2 and IN2. BZ is used for the buzzer operation.

BZOUT2 is used for giving the output to the motors.The data pins of IN1 and IN2 are connected to the base of the transistors Q5 and Q6

respectively. Now suppose the data pins of IN1 and IN2 has got the data 0, Q5 and Q6 will beon which in turn will switch on Q1 and Q2 respectively by giving the data 1 to the base of thesetransistors. The +ve pin of the motor are connected to positive power supply by default while the

ve pin are left open. When Q1 and Q2 is switched on, theve pin of the motor is connected to

ground which causes the motors to rotate and the robot starts moving in the forward direction.

In short, the motors are switched on when the data on IN1 and IN2 is 0 and the motorsare switched off when the data is 1.

The data pins of IN1 and IN2 are connected to the base of the transistors Q3 and Q4

respectively. Now suppose the data pins of IN1 and IN2 has got the data 1, Q3 and Q4 will be

on which in turn will switch on Q1 and Q2 by giving the data 1 to these transistors. The +ve pinof the motor are connected to positive power supply by default while the ve pin are left open.

When Q1 and Q2 is switched on, the ve pin of the motor is connected to ground which causesthe motors to rotate and the robot starts moving in the forward direction.

In short, the motors are switched on when the data on IN1and IN2is 1 and the motors

are switched off when the data is 0.

The berg strip BZ is connected to a PNP transistor Q8, The fire sensor is connected tothis pin. Whenever the sensor detects fire, the data 0 from the sensor is given to Q8 because of

which the transistor is on which in turn switches on the Buzzer. The other berg strip BZ gives a

data 1 whenever the buzzer is on or data 0 whenever the buzzer is off. All the three pins on

BZOUT2 are shorted.There are two connectors on the board i.e., LS and DS. These connectors are used for

connecting to batteries to the board. LS (Logic Supply) is used for providing power supply to the

entire board but not the motors and DS (Driver Supply) is used for providing power supply to themotors only.

There are two slider switches on the board LSS (Logic Supply Switch) and DSS (Driver

Supply Switch). These switches are used for the switching of LS and DS.

The green colored connectors are used for connection the motors to the board. It has got 4pins. Two pins for each motor. Theve terminal of the motors should be individually connected

to the connector denoted as C. M1 and M2 is used for connecting the +ve terminal of the motor.

The Buzzer acts as a sound output in Fire fighting robot.

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1.2 MULTIPURPOSE OPTICAL SENSOR (MPOS)

1.2.1 Circuit diagram

1.2.2 DescriptionMultipurpose sensors mean that these sensors can be used for line sensing, obstacle

sensing and light sensing.

Students can build various robots having different application using these sensors. The

sensors are very simple to understand. They consist of a LED (transmitter) and a Photodiode(receiver). This sensor works on the principle of reflection of light. The photodiode is connected

in the reverse bias condition. The LED converts electrical energy to light energy and the

photodiode does the opposite. The positive of photodiode is connected to the base of a NPN

transistor. The collector of the transistor is the data pin of the sensor.When the light of the LED falls on the photodiode after being reflected from the surface,

the photodiode starts generating voltage. The base of the transistor connected to it receives the

equivalent voltage of the photodiode. If the voltage is greater than 0.7 volts, the transistor is onand if the voltage is less than 0.7 volts the transistor is off. When the transistor is on, the data is0 and the data is 1 when the transistor is off. This sensor is a digital sensor.

This sensor is connected to the berg strip on the board and based on the output given by

this sensor the respective operation is performed.

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1.3 General purpose robotic vehicle chassis

The physical frame on which all the components are mounted is the chassis. This is thebasic framework of a robot. It is designed in such a way considering all the physical parameters

of the robot and function which the robot is going to perform.

1.4 DC geared motorsDC geared motors are the motors which run on DC supply. They are mainly designed to

drive the wheels which are attached to it. The speed of the DC geared motor is 150 RPM at 9V.An electric motor is all about magnets and electro-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 two bar magnets with their ends

marked "north" and "south," then the north end of one magnet will attract the south end of theother magned. 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.

1.5 Caster wheelsCaster wheels are also known as free wheels. The chassis provided is designed in such a

way that the robot cannot balance itself on the two wheels provided, it needs 2 more wheel for

balancing. These wheels will move in the direction of the main motors. It is used to provide 360

rotation.

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2. LINE FOLLOWER

2.1 Description

The line following robot is a robot which follows the line and runs on the track provided.It follows the black line on white surface and vice versa. In this main board we are not using anykind of micro-controller instead the robot is designed just using two sensors (MPOS).

2.2 Connection diagram

2.3 LogicThe sensors need to be placed in the holes provided at the lower front end of the chassis.

When the sensor is on the white surface the data given by the sensor is 0 and when the sensor ison the black surface, the data given by the sensor is 1.When the sensor is on the white surface the data given by the sensor is 0 and when the

sensor is on the black surface, the data given by the sensor is 1.

If the circuit diagram is perfectly observed, it can be noted that the sensors connectedonto IN1 and IN2 will make the motors work only if the input is 0 and the sensors connected on

IN1 and IN2 will make the motors work only if the input is 1.

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2.4 Configuration

2.4.1 White surface black line follower Connect the left sensor on IN1 and right sensor on IN2

When both the sensors are on white, the data on IN1 and IN2 is 0

When the sensor is on black surface, the data is 1

2.4.2 Black surface white line follower

Connect the left sensor on IN1 and right sensor on IN2

When both the sensors are on white, the data on IN1 and IN2 is 0

When the sensor is on black surface, the data is 1

2.5 WorkingLet us consider the example of a robot following a black line on a white surface, when

both the sensors are on the white surface the robot will move forward because the data on both

the sensors is 0. Now when the left sensor is on the black line the left motor (wheel) will stop

because the data on IN1 is 1 and the right wheel will be moving because the data on IN2 is 0. Sothe robot will take a left turn. Similarly when the right sensor is on the black line, the right motor

(wheel) will stop because the data on IN1 is 1 and the right wheel will be moving because the

data on IN2 is 0. So the robot will take a right turn.

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3. OBSTACLE AVOIDER

3.1 DescriptionObstacle means an obstruction in the path of robot movement. As the name suggests,

the obstacle avoider robot will be moving and if any obstacle comes in its path, it avoids the

obstacle and continues its movement.


3.3 LogicHere the logic is simple. Whenever there is an obstacle in front of the robot or the sensor,

the data given by the sensor is 0, whenever there is no obstacle, the data given by the sensor is 1.

Based on the logic output data given by the sensors the robot performs its function i.e., avoiding

the obstacle.

3.4 ConfigurationThe MPOS sensors are used for this purpose. They are connected on the three pin berg

strips. Left sensor is connected to IN2and right sensor is connected to IN1.

3.5 WorkingThe sensors which are connected are IN1 and IN2 are used for obstacle sensing. When

the right sensor which is connected on IN1senses an obstacle, the left motor stops and the right

motor moves forward causing the robot to make a left turn. When the left sensor which isconnected to IN2 senses an obstacle, the right motor stops and the left motor moves forward

causing the robot to make a right turn. When there are no obstacles in front of the robot, the

robot will keep on moving forward.

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4. OBSTACLE FOLLOWER

4.1 DescriptionThis robot is designed in a way to follow the obstruction in its path. The robot will move

in the same direction as of the obstacle.

4.2 Connection Diagram

4.3 LogicHere the logic of the robot whenever there is an obstacle in front of the robot or the

sensor, the data given by the sensor is 0, whenever there is no obstacle, the data given by the

sensor is 1. Based on the logic output data given by the sensors the robot performs its functioni.e., following the obstacle

4.4 ConfigurationThe MPOS sensors are used for this purpose. They are connected on the three pin berg

strips. Left sensor is connected to IN1 and right sensor is connected to IN2.

4.5 WorkingThe sensors which are connected are IN1 and IN2 are used for obstacle sensing. When

the right sensor which is connected on IN2 senses an obstacle, the right motor stops and the left

motor moves forward causing the robot to make a right turn. When the left sensor which is

connected to IN1 senses an obstacle, the left motor stops and the right motor moves forward

causing the robot to make a left turn. When there are no obstacles in front of the robot, the robotwill keep on moving forward.

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5. PHOTOPHOBIC5.1 Description

The word phobic means fear. Photophobicmeans fear of light. It means that wheneverlight falls on the robot it changes its track and moves away from it.


5.3 LogicThe logic for this robot is when light falls on the particular sensor, the robot has to move

in the opposite direction. Suppose if the light falls on left sensor then the motor should move tothe right, if the light falls on the right sensor then the robot should move to left.

5.4 ConfigurationHere the MPOS are used as light sensors. The sensors are connected on the three pin berg


5.5 WorkingMPOS which is used here as light sensor, which gives the data as 0 when light falls on it

and data as 1 when there is no light falling on it. The sensors are connected to IN1 and IN2 as

shown in the above circuit diagram. Here the robot by default will not be moving. But when light

falls on it, the robot starts moving. When light falls on the right sensor, the data on IN1 is 0

which makes only the right motor to move forward causing the robot to make a left turn. Whenlight falls on the left sensor, the data on IN2 is 0 which makes only the left motor to move

forward causing the robot to make a right turn. Hence our robot is avoiding the light as it isafraid of it.

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6. PHOTOTROPHIC

6.1 DescriptionPhototrophic means towards the direction of the light. This robot is designed insuch a

way that it will always move toward the light.


6.3 LogicThe logic over here is the robot should move towards the light, i.e., when light falls on

the left sensor, the robot should take a left turn and when light falls on the right sensor, the robot

should take a right turn.

6.4 ConfigurationHere the MPOS are used as light sensors. The sensors are connected on the three pin berg


6.5 WorkingMPOS which is used here as light sensor, which gives the data as 0 when light falls on it

and data as 1 when there is no light falling on it. The sensors are connected to IN1 and IN2 as

shown in the above circuit diagram. Here the robot by default will not be moving. But when light

falls on it, the robot starts moving. When light falls on the right sensor, the data on IN2 is 0which makes only the left motor to move forward causing the robot to make a right turn. When

light falls on the left sensor, the data on IN1 is 0 which makes only the right motor to moveforward causing the robot to make a left turn. When light falls on both the sensors, the robotmoves in the forward direction.

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7. WALL FOLLOWER

7.1 DescriptionThis particular robot is designed in a way to follow the wall which means it move along

the wall maintaining a constant distance with the wall. In accordance with the wall the robot willchange its path and follow it completely.


7.3 LogicWhen Sensor1 which is of more range senses the wall and the sensor2 which is of less

range is not sensing the wall, the robot will move forward. When both the sensors detect the wall

the robot should move away from the wall. When none of the sensors have detected the wall, the

robot should move towards the wall in order to maintain a constant distance with the wall.

7.4 ConfigurationThe sensor with more range which is placed at the front should be connected to IN2 and

the sensor with less range should be placed at the back and should be connected to IN1. With the

above configuration, the robot will follow the wall which is on its left side.

7.5 WorkingLet us consider the example of a robot which is following the left wall. The sensors are

connected as mentioned in the configuration. When sensor1 which is of high range connected to

IN2 senses the wall, the data on IN2 is 0 and when sensor2 which is of less range connected to

IN1 is not sensing the wall, the robot moves in the forward direction. When both sensor1 andsensor2 is have sensed the wall, the data on both IN1 and IN2 is 0 which makes the right motorto stop and the left motor to move forward making the robot take a right turn which means the

robot moves away from the wall. When both the sensors are not sensing, the data on IN1 and

IN2, is 1 which makes the left motor to stop and right motor to move forward making the robotto make a left turn, which means the robot moves towards the wall. Hence the robot moves along

the wall maintaining a constant distance with it.

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8. MOBILE CONTROLLED

8.1 DescriptionThis robot is extended by a DTMF (Dual tone Multi Frequency) module. This robot is

built in such a way that it can be controlled with the help of a cell phone. The students can

control the robot with their mobile phones from anywhere in the world.


8.3 LogicThe data required by the motor to run has to be 0 and 1. When you press any button onyour keypad a corresponding unique binary code is generated. These codes are provided to the

robot. The codes are nothing but 1s and 0s which help is moving the robot.

8.4 ConfigurationThe DTMF module has to be connected in such a way that D0 is connected to the data

pin of IN2 and D2 is connected to the data pin of IN1.On the DTMF module, you have two

more connections of which the phone should be connected to IN and the power supply from the

board should be connected to + -.

8.5 WorkingThe DTMF module consists of a DTMF IC, and 6 LEDs.For driving the robot through a

mobile, you need to follow the table for giving the data to the motors. The LEDs are used forindicating the output of the DTMF IC corresponding to the key pressed on the keypad of the

mobile phone. When a particular key from your mobile is pressed then the data is given to the

robot to move. The DTMF IC has a feature to accept the data only at a particular frequency and

the rest of all is rejected. The keypad present on your mobile phone lies in 8 different frequencybands. When a particular key is pressed, the corresponding frequency is emitted which is

converted into binary data by the DTMF IC and given to the robot. The robot moves according to

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the data provided by DTMF IC based on the frequency it had receive from the mobile phone.

The table below shows the binary data which is given as the output by the DTMF module

when a particular key on the mobile phone is pressed.

KEY PRESSED 8 D3 4 D2 2 D1 1 D0

1 0 0 0 1

2 0 0 1 0

3 0 0 1 1

4 0 1 0 0

5 0 1 0 1

6 0 1 1 0

7 0 1 1 1

8 1 1 O 0

9 1 0 0 1

0 1 0 1 0# 1 0 1 1

* 1 1 O 0

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9. SOUND CONTROLLED ROBOT

9.1 DescriptionThis robot works on the basis of sound received by it. When anyone claps the robot will

move according to the number of claps it listens to.

9.2 Circuit diagram

9.3 Logic

The sound sensor consists of a microphone. The external sound we make is recognizedby this mic. Whenever we clap the data given is 1 and if not it is default 0. Based on the number

of claps generated in a given time, a two bit binary data is generated. These two bits are givenfrom the sound sensor to the pins IN1 and IN2. The robot moves around based on the data

generated on IN1 and IN2.

9.4 ConfigurationThe sound sensor should be connected to IN1 and IN2.

9.5 WorkingThis module consists of a microphone and an HCF4027be (flip flop IC).

The flip-flop IC is used as a counter circuit. There are 2 LEDs on the module. According to t hesequence of our clap the LEDs will glow.

According to the data displayed on the LED, the data is sent to the motor. The robot can

move forward, left, right and stop.

Also a switch has been provided on the sound sensor to simulate the clap manuallywithout actually clapping.

There are two potentiometers on the sound senor module. The potentiometer named sense

is used to adjust the sensitivity of the sound sensor.

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10. FIRE FIGHTING ROBOT

10.1 DescriptionThis robot will is very helpful in detecting the presence of fire which helps in avoiding

accidents. As soon as the robot detects fire, it stops and makes an alarm sound indicating the

presence of fire.

10.2 Connection Diagram

10.3 LogicThe sensor used here for making of this robot is the MPOS. Here the sensor is acting as a

fire sensor. It consists of an IR receiver. The fire (heat) always emits infrared radiation. These IRrays can be received by this receiver and accordingly it can forward the data for the working of

robot. This sensor gives the data 0 whenever fire is detected and the buzzer is on and robot stopsmoving. The data from the sensor is 1 when there is no fire and the buzzer is off and the robot is

moving forward.

10.4 ConfigurationThe MPOS acting as a fire sensor should be connected to BZ. And the data pin of IN1

and IN2 should be connected to BZOUT2.

10.5 WorkingWhenever the sensor detects fire, it gives the data 0, which switches on the transistor Q8

which in turn will switch on the buzzer. When the buzzer is on, the data on BZOUT2 is 1 which

is given to IN1 and IN2. When the data on IN1 and IN2 is 1 the motors will stop moving.Whenever there is no fire, the data from the sensor is 1, so the buzzer is switched off as

Q8 is off. When the buzzer is switched off, BZOUT2 is 0, so IN1 and IN2 which is connected to

BZOUT2 is also 0, this data 0 makes the robot move in the forward direction.

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11. BOOMERANG ROBOT

11.1 Description

As the name itself suggests, boomerang. This robot comes back to the point from which itstarted moving.


11.3 LogicThere is a switch on the front end of the module. The robot is initially moving forward.

When it hits the wall, the switch is pressed and some sound is made. The MIC attached to it

detects and gives the data accordingly to the robot. The IC 555 present in the module works inmonostable mode. When it hears the sound, the trigger is given to the IC and the time for robot

to turn is set.

11.4 ConfigurationThe berg strip IN1 is connected is connected to the berg strip on the sound sensor. Also

one MPOS sensor has to be connected to IN2, which will act as a dummy sensor.

11.5 WorkingWhen the board is switched on the robot moves in the forward direction because the data

on both IN1 and IN2 is 1, which is given by the sound sensor and dummy sensor respectively.

Whenever the robotic which is moving forward hits an obstacle a small sound is generated which

is absorbed by the sound sensor after which data 0 is given for particular time period to IN1during which the robot will make the turn. The time period for which the data 0 is generated by

the sensor can be adjusted by the potentiometer named TIME. This time period decides the

angle of rotation of the robot. To get a boomerang robot, the potentiometer has to be adjusted insuch a way that the robot takes a turn of 180 only when it hits an obstacle.

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