START

Move
Forward/Left/Right

NO YES
If any If any metal
YES
obstacle
detected?
found?

NO

YES Keep moving Message is

until stop is displayed
pressed. on the
LCD

STOP

Fig 5.1 Flow chart

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5.1 Explanation

The above flow chart shows the design and implementation of mini size search robot.This flow
chart describes the how performs an action.
• In this flow chart firstly we switch on the project kit.
• Then start button is pressed .At that time the robot kit is started. After that it will search
the metal when the robot is moving
• When we press forward button the robot will move in forward direction.
• When we press reverse/back button the robot will move in reverse direction.
• When we press left button the robot will move in left side direction.
• When the right moving button is pressed, the robot will move towards the right direction.
• The robot moving depends on the press of keypad.
• When the robot is moving in any direction, and if any obstacle is found in between, the
robot will stop.
• It works on the ultrasonic sensors sensing the obstacles by the principle of echo. The
ultrasonic sensor has a transducer that converts a electrical signal to mechanical(sound)
waves which are emitted through the transmitting circuit and the echoes are received
through the receiver circuit and by using the time signal has been received distance is
calculated using a basic formula i.e. disitance=time*speed.
• If any obstacle is found in front of the ultrasonic sensor, the robot will stop immediately.
• At that time, the output is displayed on the LCD module which is interfaced with the
microcontroller.
• If any obstacle is not found, the robot will continue moving and detects metal objects.
• When the robot detects any metal through metal detector then there will be a change of
voltage at the input of the metal detector and that change is detected by the comparator
and it immediately sends the signal to the microcontroller which stops the H-Bridge
module and displays on the LCD that a metal object is detected.

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 • If any metal is not detected, the robot moves until the metal is detected (or) until the robot
is stopped manually either by pushing the stop button or by disconnecting the power
supply.
• Finally the robot will be stopped.

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