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Transcript of presentation
We Will Show Our Project
Through Three Parts
LOCATOR ROBOT DESCRIPTION
The main idea of this project is to find and track the pipes or cables that lie under ground. The main of the project is to simplify the maintain of buried pipes and cables need to change ascertain pipe or maintain it maybe they don’t know the right location of pipe,and need to dig a larger area of space required and maybe expect a wrong location or lead to a break in the pipeline or surrounding cables .
Pipe & cables robot locator movement depends on the signal that is detected from pipes or cables. The pump will pump paint to the ground continuously when the maximum signal is found
Dig a large
What’s The Problem?
What Suggestion Solution?
The first part of report shows the history of underground detector through discusses
the main causes for needed to use detector
or search device.
in addition to show the dependent method used
for locate metal pipe that use for transfer water
and electricity cable , because is not visible
due to covered under ground
Then show our future automated solution for pipe and cable through design four
wheel robot to detect pipe or cable .
First underground detector invented to detect metal , in 1881, Alexander Graham Bell invented the first metal detector
The problem lies in the lack of knowledge of the exact location of water pipeline, that required to dig a great many deeply distances to Locate the site of the water pipeline, also requires time and effort and maybe lead to a break in the pipeline or surrounding cables
Traditional Method Used For Locate A Buried Pipe
Reading blueprints and plans
TRANSMITTER AND RECECVIER
Relationship Between The Transmitter
The main basic of our Project depends on Transmitter and Receiver to be able to detect pipeline and cable locator, so in transmitter and receiver chapter we show all the merits of the two devices and how to apply the resulting signal to detect pipe or cable location by use transmitter to sends a signal in certain way to the pipe or cable then the receiver that fixed on robot body will search about transmitted signal through pipe so the pipe and cable here treated as an antenna.Thenshow the methods for applying signal.
Is an electronic circuit which transforms electric power from a battery or electrical mains into a radio frequency alternating current, which reverses direction millions to billions of times per second.
We selected the 555 timer,555 timers can generate
wide range of frequencies by changing the
value of resistors (R1) ,resistor(R2),and the
Is an electronic device that receives radio waves
and converts the information carried by them
to a usable form.
Transmitters offer more than one frequency choice:
Applying Signal And The Best Method For
Search About Pipe And Cable
We have three methods of applying the transmitter signal to the pipe under test each method differs from the others in terms of precision and principle of operation .each method will be explained briefly.
•Direct connect method
How fast it leaks off is determined by
Cable diameter,wet or dry soil conditions,
and signal frequency
Low (<10 kHz): These frequencies usually provide the most accurate locate in congested areas (the lower the frequency, the better). best for long distances and for locate special pipe within groups,used with direct-connect is the preferred method
Medium (30 kHz - 90 kHz): Medium frequency allows tracked power cables ,and the tracing distance is one mile or less. used with Dyne-Coupler Method or induction mode
High (130 kHz - 350 kHz):High frequency is best for sweeping a large area to locate all buried cables,used with the Dyne-Coupler and the induction mode
Applying Signal Method s
Direct -connect method
The Dyna-Coupler Method
Use this only when there is no other buried conductors present, or when locating all conductive buried services in a general area.Place the Transmitter on the ground over the cable to be located. The Transmitter hinge should be in line with the cable path, as shown below. Be certain that the Transmitter is directly over the cable to be located.Then turn the Transmitter on and choose 33 kHz signal or higher
Connecting directly to the cable or pipe you want to trace (power cables only if they can be deenergized)is the most accurate method of cable locating. Connecting the Transmitter directly isolates the signal to one cable.
Voltage greater than (240) volts will damage equipment and cause personal injury and death. Make all, so we can’t use direct method for detecting power cables so we chose dyna-coupler method.
One of the problems that could occurs in determining the signal is when the pipe is T-shaped, and the soulation by use screw drive as shown
The relationship between receiver and robot
locator ROBOT DESCRIPTION
The main of the project is to simplify the maintain of buried pipes and cables by using a robot instead of traditional way which may be have a high error rate. Pipe & cables robot locator movement depends on the signal that is detected from pipes or cables. The receiver is mounted on the center of robot to allow the robot to follow the signal detected from the pipe so we can determine the pipe track . The robot motion can be controlled by tow DC motor .The DC motors are in turn are controlled by a micro controller as response to receiver signal .
Robots are programmable physical machines that have sensors and actuators, to perform a certain task. Perception algorithms process the sensor inputs, a control program decides how the robot should behave based on its goals and current circumstances. Commands are sent to the motors to make the robot to do some tasks. Some robots are mobile, but others are rooted to a fixed location.Thus to qualify as a robot, a machine has to be able to do two things:
1) Get information from its surroundings.
2) Do something physical–such as move or manipulate objects.
robot components and their tasks
1.Robot Chassis and actuator:
Includes wheeled or any type of chassis with all the necessary actuators fitted on the chassis to achieve desired goal.
Since the robot is autonomous, portable power supply is needed. Among the important parameters that are important in choosing the power supply are:
•Power storage capacity
•Weight and Size
in our robot we will use a chargeable 12 Volts DC battery that suitable.
It will help monitor the surroundings of the robot and feedback an important information to the robot regarding its surroundings. With the gathered information, the robot will then decide on its movements.
The controller will act as the brain of the robot. It will control the movement of the robot based on the preloaded program as well as the feedback from the sensors.
in our project we will used PIC16f877a to be able to control with robot and organize the relationship between receiver and motor movement direction on the other hand between ultrasonic and motor .
Is a device that moves fluid (Liquid or Gases) by mechanical action . In this project we will use an electrical pump with 12volt (DC) supply. The pump will be used for painting the pipe track. The PIC controller will send a pulse for the pump to start pumping paint when the pipe is found.
6.Tank OR Bottle:
Is an reservoir that use for storing a paint or a colored water that will draw on the ground by the pump .
7. The mechanical structure
Is the whole chassis of the robot the structure will form the base where all the components.
The brain of pipe and cable locator robot is PIC microcontroller through control of the movement of robot as signal detects by receiver so the task of controller to organize the motor movement.
To achieve accurate tracking for pipe we will program the controller to be able to deal with analog signal that is emitted from the pipe. Through the received signal we can move the robot to follow the maximum signal which represents the center of the pipe .
Robot Operation description:
the transmitter must be connected as shown:
Then we will put the robot over the expected track of the pipe then run the robot and receiver that hold on robot body by a same switch.
The PIC sends pulses for two motor to rotate with same direction so robot with move forward
If a signal detected by receiver
the robot will rotate until found the maximum signal which represents the center of pipe or cable.
Then the robot will follow the maximum signal through output pins of PIC.
If no signal is detected by receiver the robot will search for the signal by rotating 360 º.
The pump will pump paint to the ground continuously when the maximum signal is found.
If the robot reaches to branch of the pipe, the receiver antenna is mounted on the front of the robot so the signal will be lost, therefore the robot will rotate to find the max signal again. The controller will send signal for the tow motor to move forward and follow the pipe.
The maximum signal at any branch maybe right or left, but the screw driver will control with the direction of signal ,when the screw driver connect to the right of the main pipe the signal will flow to the right of branch, when the screw driver connect to the left of the main pipe the signal will flow to the left of branch.
Rotate to left or right will be controlled by the two motors. To rotate left the motor on the right will be on and the motor on the left will be turned off .the reverse operation can be used to rotate right.
When the robot reach to the needed distance, we can turn off the transmitter device then robot will rotate and can’t find any signal at these cases. After a certain period of time without detecting the signal the controller will stop the robot
If we want to resume locate pipe, we can start from the last point checked .
Prepared By :
Hassan W. Mari'e
Hashem I . Shamasneh
Jaber M. Hasoon
Supervisor : Dr.Falah Mohamad