SENSOR OPERATED OBSTACLE SENSING AND

PATH FINDING VEHICLE

What we do
WORKING PRINCIPLE
We are using a three sensors which is placed on front of the car first sensor is placed at the center
and other once are placed at left and right position of middle sensor. the general theory is
considered for the working of the sensors because we are using a IR sensors.
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 - Left Turn

Relay 3 - Right Turn

At first vehicle is moving in forward direction when the switch is on.

The IR transmitter and receiver circuit is used in our project.
The sensor is used to senses the obstacle in the vehicle path (Because it is fixed in front of the
vehicle). It is giving the signal to the control unit whenever the obstacle. Then the control unit
activates the proper relay so that the vehicle turns in left direction for particular time period.
Then the vehicle turns right suddenly.
Then once again sensor senses the obstacle, and giving signal to the control unit
If the obstacle is until there, then left turn and after wards right turn. Then
Once again goes to the above procedure. If there is no obstacle, the vehicle moves on forward
direction and senses the obstacle. Then once again goes to the above procedure. The straight line
motion is provided in the back wheel drive with the help of spur gear mechanism. The straight
line movement of the Path Finding Robot is done by the d.c motor (12 V/ 2A). The motor is
fixed at the rear wheel shaft of the Robot 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 Path Finder is done by another d.c
Motor (12 V/ 2A). The motor is fixed at the front wheel shaft of the Robot with the help of
proper arrangement.

When any kind of obstacles are placed on front of the vehicle that time the IR sensors are detect
some signals which is send by transmitter and received by receiver. When the right side receiver
is received any obstacle signals that time the right sided rack and pinion gear mechanism is
working with the help of D.C motor and the vehicle will be turend on the left side or right side.
In that project we are developed a very simple rack and pinion mechanism for simply turned on
left or right side.generaly is it not possible to directly change the direction of vehicle.
This kind of vehicle is generally used in the various fields. In that projects we are using two D.C
motors one is placed in horizontal position for forward direction of vehicle and another motor is
placed at in vertical position or perpendicular to the first motor. The first motor is connected to
the spur gear.and second one is connected to the rack and pinion gear mechanism.the shaft of the
motor is connected to the pinion and this pinion is engaged in the rack. But in this project we are
used straight line rack we are replacing this to quarter circular rack. The diameter of the quarter
circular rack is depends upon maximum turning motion of the vehicle.

APPLICATIONS
1. Materials handling
2. Machine loading and unloading
3. Machining
4. Maintenance
5. Assembly
6. Inspection
7. Welding
8. Spray painting / finishing