Interim Report 2015-16 Autopilot Car Parking System

Interim Report 2015-16 Autopilot car parking system
CHAPTER 1
INTRODUCTION
Traffic congestion is one of the major problems in several developing countries due to lack of
an efficient traffic management system. Car parking is a key factor in addition to the congestion
problem. Parking spaces are not maintained properly, and the end users are not guided efficiently to
park their vehicles. All such issues can be resolved with the help of parking monitoring system. In
this project we are discussing about autopilot car parking system. In this busy life by using efficient
car parking time can be saved to a great extend. In this project we are using autopilot system inside
the car. Zigbee for wireless communication, it communicates between car and slots. IR sensors in the
car used as line follower and obstacle detectors detects the obstacles in the track. By combined action
of these sensors car moves in the proper track. Webcam for detection of unoccupied slot by capturing
the images of the slot continuously and comparing with the reference image. PIC controls zigbee and
IR sensors.
1.1 OBJECTIVES
The main objective of this project is to avoid unnecessary time conception to find an empty slot
in car parking area by automatic efficient car parking. It also helps to reduce the traffic in the parking
area and also reduce the accidents inside the parking area. So that in this system there is the
recognition of the available slot at the entrance itself. By adopting this system in limited space more
vehicles can be parked.
1.2 NEED FOR THIS WORK
By using autopilot car parking system the major problems regarding parking can be solved.
This system helps in efficient car parking. In a limited car parking space more number of cars can be
parked efficiently compared to normal car parking. And creates more saleable space by using this
system. By using different sensors the presence of any other vehicles or people in the track can be
identified. So that accidents can be avoided. This system provides security for both individual and
vehicle. Here time consumption is a great advantage.
Department of E.C.E. 1 M.E.A ENGG.COLLEGE

CHAPTER 2
LITERATURE SURVEY
2.1 CAR PARKING SYSTEM COMMANDED BY ANDROID APPLICATION
BONDE D J introduced an IEEE paper based on automatic car parking by android application.
Autopilot is an autonomous car maneuvering system that moves a vehicle from a traffic line into a
parking spot to perform parallel, perpendicular or angle parking. Automatic parking system aims to
enhance the comfort and safety of driving in constraint environments where much attention and
experience is required to steer the car. The parking maneuver is achieved by means of coordinated
control of the steering angle and speed which takes into account the actual situation in the
environment to ensure collision free motion within the available space.
The incredible self parking system using the control of an app installed in smart phones is
similar to this project. The car is controlled via a special app and can start it. This system works
using combination of sensors on the car and the car park. The movement of car can be viewed
through our smart phones. Line sensors are used to detect the nearby objects and car will move
through specialized track. Distance sensors measure distance between car and obstacles. Parking
slots are controlled by computer. Sensors in car park allow computer systems to tell the car where
there are spaces. Car gets into the port safely. Owners can simply call their car via an app and it will
come and meet them.
2.2. SELF DRIVING CARS

Self-driving cars are designed to navigate safely through city streets. They have sensors designed to
detect objects as far as two football fields away in all directions, including pedestrians, cyclists and
vehicles or even fluttering plastic shopping bags and rogue birds. The software processes all the
information to help the car safely navigate the road without getting tired or distracted. Self driving
cars features can save on electric vehicle battery costs. This technology could also boost charging
efficiency. Wireless charging begins to appear in electric car vehicle can cover same distance with
smaller batteries.

2.3. AUTOMATIC PARKING MANAGEMENT SYSTEM AND PARKING FEE

COLLECTION BASED ON NUMBER PLATE RECOGNITION
This paper discussed on automatic parking system and electronic parking fee collection
based on vehicle number plate recognition by M.M Rashid.. The aim of this research is to develop
and implement an automatic parking system that will increase convenience and security of the public
parking lot as well as collecting parking fee without hassles of using magnetic card. The auto parking
system will able to have less interaction of humans and use no magnetic card and its devices. In
additions to that, it has parking guidance system that can show and guide user towards a parking
space. The system used image processing of recognizing number plates for operation of parking and
billing system. Overall, the systems run with pre-programmed controller to make minimum human
involvement in parking system and ensure access control in restricted places. This paper presents
algorithm technology based method for license plate extraction from car images followed by the
segmentation of characters and reorganization and also develop electronics parking fee collection
system based on number plate information. Automatic parking system, autocorrelation, image
processing, mean square error, plate number recognition
The car license plate recognition identification is an important application in the field of
Intelligent Transport System (ITS) and Electronic toll collection (ETC). The objective is to extract
and recognize vehicle registration numbers from car images, process the image data finally utilize for
access record and prepare electronic bill. Electronic toll collection (ETC) or Electronic Car parking
payment is one of the major research topics in intelligent transportation system (ITS). ETC is an
implementation of a road pricing concept in order to create benefits such as increasing the capacity
of toll stations, reducing a toll paying time, enhancing the convenience and safety of travelers, and
minimizing air pollution and fuel consumption. It enables freeway to parking lot, toll plaza, and
bridge, tunnel, and turn pike operators to save on staffing costs while reducing delay for travelers and
improve overall traffic performance and parking system. Moreover, monitoring the vehicle traffic
and the management of parking areas are the most labor-intensive job. Therefore the research on
systematic full automatic parking system is proposed. It differs from conventional parking system,
no magnetic card is used to record the entry and exit time of. Also, it is designed in such away that it
has the ability of giving out the information regarding parking free spaces to users before entering
the parking spaces. In the recent years, License Plate Recognition (LPR) are having a wide impact in
people’s life as their scope is to improve transportation safety and mobility and to enhance
productivity through the use of advanced technologies. This system is useful in many fields and

places such as parking lots, private and public entrances, border control,. For the past two decades,
there have been various studies for number plate recognition in images. Early day’s number plate
recognition systems employed detection methods based on techniques such as edge analysis , color
analysis , character recognition technology to identify vehicles by automatically reading the license
plates. Basically, to build this system it consists of some major parts which are vehicle number plate
extraction, characters segmentation, and characters recognition Vehicle number plates extraction
from the car plate images. Before extracting the number plate, the captured vehicle image should
have been converted into binary format . After extracting the number plate, the characters are
segmented using vertical and localization on the binary image. Optical Character
The aim of the system is to recognize the license plate number of car of the parking place by
algorithmic and introduce magnetic card less parking and billing activities. Firstly the car image is
captured. Then, the system should extract the number plate of the car alone for the segmentation of
character purpose. This plate localization algorithm is based on combining morphological operation
sensitive to specific shapes in the input image with a good threshold value by which the license plate
is located. A big percentage of localization of License plates is achieved by this algorithm. This
variance can further compound the complexity for an algorithm to ascertain what area of a vehicle
constitutes a license plate and what area is not. Therefore, the algorithm must rule out a vehicle's
mirror, headlight, bumper etc. In general, algorithms look for geometric shapes of rectangular
proportion. However, since a vehicle can have many rectangular objects on it, further algorithms are
needed to validate that the identified object is indeed a license plate. To accomplish this, key
components of the algorithm look for characteristics that would indicate that the object is a license
plate. The algorithm searches for a similar background color of unified proportion and contrast as a
means to differentiate objects on a vehicle. Vehicles are moving objects and their rate of velocity
must be accounted for in the algorithm's design. This speed creates further complexity as a license
plates image is angularly skewed and subjected to refractory issues from light changes.
2.4. ROTARY AUTOMATED CAR PARKING SYSTEM
In International Journal of Engineering Science and Innovative Technology (IJESIT)

Volume 4, Issue 2, March 2015 408.Lack of space availability has always been a problem in urban
areas and major cities and to add to it there are cars parked callously on the streets that further limit
the space. In order to handle the issue of parking in busy places various types of vehicle parking
systems are used worldwide namely Multi-level Automated Car Parking, Automated Car Parking

System, Volkswagen Car Parking and many more. The present project work is aimed to develop a
reduced working model of a car parking system for parking 6 to 24 cars within a parking area of
32.17 m². It is an amalgamation of the already developed parking systems with the added advantage
of reduced space occupancy by the design of a simpler and compact parking system that is rotary and
occupies vertical parking space. The chain and sprocket mechanism is used for driving the parking
platform and a one fourth hp brake motor shall be implemented for powering the system and
indexing the platform. The platform is fabricated to suit the working model. The procurement and
manufactured items are in hand and are ready to be assembled with the structure. This model is
further useful for various branches of engineering in order to develop different types of automations
like PLC, micro controller and computerization. By testing and analyzing the working model we can
definitely get the view to develop the parking lots at difficult and busy commercial places. design
automation, load modeling, Mechanical parking system, rotary parking system. The Rotary
Automated Car Parking System (RACPS) belongs to the class of rotary smart car parking systems.
The traditional parking systems such as multilevel or multi-storey car parking systems (non-
automated), robot car parking systems, automated multilevel car parking systems etc have been
implemented on a huge scale. But these systems have a major disadvantage of large space
consumption which is successfully eliminated with the use of a rotary car parking system . Moreover,
the latter provides the added benefits of flexible operation without the need of an attendant and added
security and least chances of vehicle damage. Since the model makes use of composite parts, it is
easy to assemble and dismantle and is thus more convenient than the traditional car parking systems.
The rotary model is specifically designed to accommodate multiple cars in the horizontal space of
two. The structure can accommodate six cars in the space of two and can even be customized to hold
a greater number depending upon the requirements of the user and can be efficiently put to use in
much space crunched areas. The basic structure of the RACPS can be described depicts the
interconnection between the various subsystems of the project. Mechanical parking equipment is also
called stereo garage. As compared to the existing parking arrangements, the most obvious advantage
is maximum space utilization; it is safer and more convenient. The RACPS is totally automated with
the user being given a unique ID corresponding to the trolley being allocated to him/her. This kind of
equipment is useful to solve the issue of limited parking space available in busy cities. Evidently, it
can be seen that the number of private cars is increasing every year. Private garages, where only a
single car can be housed at a time, do not provide a feasible solution to the problem since many
families own more than one car. So the task was to design mechanical equipment that can store 6
cars in one normal garage. It is called a rotary parking shaft. The idea is to park and move cars with

no disturbance to the already parked cars in RACPS. The RACPS has been designed and all the
composite parts in it have been manufactured and assembled. Analysis of the model has to be done
while developing a life size model. The mechanical model has been designed and the software as
well as the control circuit has been implemented successfully. It demonstrates the working of the
planned rotary parking system. The size and number of trolleys can be customized according to the
needs and capacity of the organization or garage space availability.
2.5. AN INTELLIGENT CAR PARK MANAGEMENT SYSTEM BASED ON

WIRELESS SENSOR NETWORKS
Wireless sensor networks (WSNs) have attracted increasing attentions from both
academic and industrial communities. It can be deployed in various kinds of environments to
monitor and collect information. In this paper, we describe a WSN-based intelligent car parking
system. In the system, low-cost wireless sensors are deployed into a car park field, with each parking
lot equipped with one sensor node, which detects and monitors the occupation of the parking lot. The
status of the parking field detected by sensor nodes is reported periodically to a database via the
deployed wireless sensor network and its gateway. The data base can be accessed by the upper layer
management system to perform various management functions, such as finding vacant parking lots,
auto-toll, security management, and statistic report. We have implemented a prototype of the system
using crossbow motes. The system evaluation demonstrates the effectiveness of our design and
implementation of the car parking system. In recent years, wireless sensor networks have attracted a
great amount of attention . A wireless sensor network consists of a large number of low-cost sensor
nodes which can be self-organized to establish an ad hoc network via the wireless communication
module equipped on the nodes. Each sensor node is also equipped with various kinds of sensors,
computation units, and storage devices. These functional parts enable sensor nodes to be easily and
rapidly deployed to cooperatively collect, process, and transmit information. WSNs have a great
potential to be used in future pervasive computing systems as they can be embedded into our daily
living environment and provide sensory data for localization and surveillance. Taking the advantages
of sensing and wireless communication, wireless sensor networks have already found many civil and
military applications, such as smart home, intelligent buildings, health-care, wild environmental
monitoring, battle surveillance, etc. In this paper, we describe the design and implementation of an
intelligent car park management system based on low-cost wireless sensor networks. With the
approaching of the automobile epoch, the demand on intelligent parking service is expected to grow
rapidly in the near future. This emerging service will provide automatic management and high

security measures, as well as convenience to the customers .A few existing studies focused on the
applications of car parking system using sensor technologies. The system in adopts cameras to
collect the information in car parking field. However, video sensors have two disadvantages; one is
that a video sensor is energetically expensive, and the other is that a video sensor can generate a very
large amount of data which can be very difficult to transmit in a wireless network. These greatly
limit the application of video sensors. In our WSN-based car part management system, the nodes are
equipped with light, sound and acoustic sensors. Wireless sensor nodes are deployed to the parking
lots to monitor and detect the occupation status of the parking lots, and to cooperatively process and
transmit the information to a management system. By using the management system, the managers
and administrators will be able to get the information about the parking field, including statistics and
real-time information. In addition, the management system can alert the illegal mobility of the car
parking in the field. The system can also record the duration of a car parking and perform auto
payment of parking fee. We have built a prototype of the system using the cross products and the
extended Crossbow X Mesh networks architecture .The remaining part of this paper is organized as
follows. Section 2 briefly describes the related works. paper described an intelligent car park
management system based on a wireless sensor network and analyzed the requirements of real car
park management systems. Based on the analysis, we proposed the main system functions and
designed the system architecture. We also implemented a prototype system to realize the designed
functions using the crossbow products of motes. Our evaluation demonstrated that the prototype
system can effectively satisfy the requirements of a WSN-based intelligent car park management
system. We believe that wireless sensor networks can be a very promising technology to be used in
future intelligent car parking systems. We will enhance our existing work in the following aspects.
First, we will deploy our wireless sensor networks into a real car park to test its performance and
perform further analysis on the optimization of the algorithm and strategy. Second, we will establish
an information disseminating platform for this system to publish the interesting and helpful
information to the users of the car parking system. Third, we will combine the car park management
system with our on-going projects of mobile agent based mobile computing platform and intelligent
transportation system to provide the users more effective and efficient transportation services based
on pervasive computing technologies

2.6 GAPS IN LITERATURE

 Complete action is controlled by mobile, since losing the mobile will disable the entire
function.
 Number plate is differed in term of color, size and type from country to country. Different
algorithm has to be applied for different type of number plates
 Background color is black and character color is white,
 It is restricted to 3 letters with 1 to 4 numbers
 Analysis is based on one-row plate number
 High cost.

CHAPTER 3
PROPOSED WORK
3.1 DESCRIPTION OF PROPOSED WORK
Autopilot car parking system deals with parking issues in buildings and malls. It uses sensors
on car and in car park to drive it. The automatic parallel parking algorithm localizes a sufficient
parking place along the road side, attains a convenient start location for the car in front of the parking
place and performs a parallel parking maneuver. This project involves lot of sensors, zigbee, webcam
etc. The vacant slot in parking area is detected by image processing using webcam. Here we are
using two sensors, one is distance sensor and the other is line sensor. Car moves on track by using
line sensor while surrounding obstacles are detected by distance sensor. Communication between car
and slot s is done by using zigbee. By the action of webcam car enters slot by detecting vacant
slot.car can be taken out of slot by application in matlab. This method is very cost effective and can
be implemented in any car. All system is under the control of security. Secured system achieved by
using webcam.
3.2 BLOCK DIAGRAM
SLOT CONTROLLER
PC MATLAB
Fig:3.1 slot controller
Vacant slots are detected by webcam. when car enters the parking area, webcam captures images
continuously and this captured images are compared with the reference images and their differences
are computed hence find out the vacant slots. These functions are implemented using matlab. Car can
be taken out of the slots by using an application in matlab.

VEHICLE CONTROLLER
Fig:3.2 vehicle controller
3.3 BLOCK DIAGRAM DESCRIPTION
3.3.1 ZIGBEE
ZigBee is a wireless technology developed as an open global standard to address the unique
needs of low-cost, low-power wireless M2M networks. The ZigBee standard operates on the IEEE
802.15.4 physical radio specification and operates in unlicensed bands including 2.4 GHz, 900 MHz
and 868 MHz. The 802.15.4 specification upon which the ZigBee stack operates gained ratification
by the Institute of Electrical and Electronics Engineers (IEEE) in 2003. The specification is a packet-
based radio protocol intended for low-cost, battery-operated devices. The protocol allows devices to
communicate in a variety of network topologies and can have battery life lasting several years. The
ZigBee protocol has been created and ratified by member companies of the ZigBee Alliance. Over
300 leading semiconductor manufacturers, technology firms, OEMs and service companies comprise
Department of E.C.E. 10 M.E.A

ENGG.COLLEGE
the ZigBee Alliance membership. The ZigBee protocol was designed to provide an easy-to-use
wireless data solution characterized by secure, reliable wireless network architectures.
Fig:3.3 zigbee
ZigBee is a low-cost, low-power, wireless mesh network standard targeted at the wide development
of long battery life devices in wireless control and monitoring applications. Zigbee devices have low
latency, which further reduces average current. ZigBee chips are typically integrated with radios and
with microcontrollers that have between 60-256 KB flashes memory. ZigBee operates in the
industrial, scientific and medical (ISM) radio bands: 2.4 GHz in most jurisdictions worldwide;
784 MHz in China, 868 MHz in Europe and 915 MHz in the USA and Australia. Data rates vary
from 20 kbit/s (868 MHz band) to 250 kbit/s (2.4 GHz band). The ZigBee network layer natively
supports both star and tree networks, and generic mesh networking. Every network must have one
coordinator device, tasked with its creation, the control of its parameters and basic maintenance.
Within star networks, the coordinator must be the central node. Both trees and meshes allow the use
of ZigBee routers to extend communication at the network level. ZigBee builds on the physical
layer and media access control defined in IEEE standard 802.15.4 for low-rate WPANs. The
specification includes four additional key components: network layer, application layer, ZigBee
device objects (ZDOs) and manufacturer-defined application objects which allow for customization
and favor total integration. ZDOs are responsible for some tasks, including keeping track of device
roles, managing requests to join a network, as well as device discovery and security. ZigBee is one of
the global standards of communication protocol formulated by the significant task force under the
IEEE 802.15 working group. The fourth in the series, WPAN Low Rate/ZigBee is the newest and
provides specifications for devices that have low data rates, consume very low power and are thus
characterized by long battery life. Other standards like Bluetooth and IrDA address high data rate
applications such as voice, video and LAN communications.

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APPLICATION
 Home Entertainment and Control — Home automation such as in QIVICON,[8] smart

lighting,[9] advanced temperature control, safety and security, movies and music.
 Wireless sensor networks — Starting with individual sensors like Telosb/Tmote and Iris from
Memsic
 Industrial control
 Embedded sensing
 Medical data collection
 Smoke and intruder warning
 Building automation
The ZigBee Smart Energy V2.0 specifications define an Internet protocol to monitor, control,
inform and automate the delivery and use of energy and water. It is an enhancement of the ZigBee
Smart Energy version 1 specifications.[15] It adds services for plug-in electric vehicle charging,
installation, configuration and firmware download, prepay services, user information and messaging,
load control, demand response and common information and application profile interfaces for wired
and wireless networks. It is being developed by partners including:
 HomeGrid Forum responsible for marketing and certifying ITU-T G.hn technology and products
 HomePlug Powerline Alliance
 International Society of Automotive Engineers SAE International
 IPSO Alliance
 SunSpec Alliance
 Wi-Fi Alliance.

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3.3.2 IR SENSOR
An Infrared (IR) sensor is used to detect obstacles in front of the robot or to differentiate between
colours depending on the configuration of the sensor. An IR sensor consists of an emitter, detector
and associated circuitry. The circuit required to make an IR sensor consists of two parts; the emitter
circuit and the receiver circuit. The emitter is simply an IR LED (Light Emitting Diode) and the
detector is simply an IR photodiode which is sensitive to IR light of the same wavelength as that
emitted by the IR LED. When IR light falls on the photodiode, its resistance and correspondingly, its
output voltage, change in proportion to the magnitude of the IR light received. This is the underlying
principle of working of the IR sensor.IR sensors are also used to distinguish between black and white
surfaces. White surfaces reflect all types of light while black surfaces absorb them. Therefore,
depending on the amount of light reflected back to the IR receiver, the IR sensor can also be used to
distinguish between black and white surfaces. Infrared technology addresses a wide variety of
wireless applications. The main areas are sensing and remote controls. In the electromagnetic
spectrum, the infrared portion is divided into three regions: near infrared region, mid infrared region
and far infrared region.
The wavelengths of these regions and their applications are shown below.
 Near infrared region — 700 nm to 1400 nm — IR sensors, fiber optic
 Mid infrared region — 1400 nm to 3000 nm — Heat sensing
 Far infrared region — 3000 nm to 1 mm — Thermal imaging
The frequency range of infrared is higher than microwave and lesser than visible light. For optical
sensing and optical communication, photo optics technologies are used in the near infrared region
as the light is less complex than RF when implemented as a source of signal. Optical wireless
communication is done with IR data transmission for short range applications. An infrared sensor
emits and/or detects infrared radiation to sense its surroundings. The working of any Infrared
sensor is governed by three laws: Planck’s Radiation law, Stephen – Boltzmann law and Wien’s
Displacement law. Planck’s law states that “every object emits radiation at a temperature not equal
to 00K”. Stephen – Boltzmann law states that “at all wavelengths, the total energy emitted by a
black body is proportional to the fourth power of the absolute temperature”. According to Wien’s
Displacement law, “the radiation curve of a black body for different temperatures will reach its
peak at a wavelength inversely proportional to the temperature”. The basic concept of an Infrared
Sensor which is used as Obstacle detector is to transmit an infrared signal, this infrared signal

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bounces from the surface of an object and the signal is received at the infrared receiver. There are
five basic elements used in a typical infrared detection system: an infrared source, a transmission
medium, optical component, infrared detectors or receivers and signal processing. Infrared lasers
and Infrared LED’s of specific wavelength can be used as infrared sources. The three main types
of media used for infrared transmission are vacuum, atmosphere and optical fibers. Optical
components are used to focus the infrared radiation or to limit the spectral response. Optical lenses
made of Quartz, Germanium and Silicon are used to focus the infrared radiation. Infrared receivers
can be photodiodes, phototransistors etc. some important specifications of infrared receivers are
photosensitivity, detectivity and noise equivalent power. Signal processing is done by amplifiers
as the output of infrared detector is very small.
DISTINGUISHING BETWEEN BLACK AND WHITE COLORS
It is universal that black color absorbs the entire radiation incident on it and white color reflects the
entire radiation incident on it. Based on this principle, the second positioning of the sensor couple
can be made. The IR LED and the photodiode are placed side by side. When the IR transmitter emits
infrared radiation, since there is no direct line of contact between the transmitter and receiver, the
emitted radiation must reflect back to the photodiode after hitting any object. The surface of the
object can be divided into two types: reflective surface and non-reflective surface. If the surface of
the object is reflective in nature i.e. it is white or other light color, most of the radiation incident on it
will get reflected back and reaches the photodiode. Depending on the intensity of the radiation
reflected back, current flows in the photodiode.
If the surface of the object is non-reflective in nature i.e. it is black or other dark color, it absorbs
almost all the radiation incident on it. As there is no reflected radiation, there is no radiation incident
on the photodiode and the resistance of the photodiode remains higher allowing no current to flow.
This situation is similar to there being no object at all.

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Fig: 3.4 distinguishing black and white surfaces
The positioning and enclosing of the IR transmitter and Receiver is very important. Both the
transmitter and the receiver must be placed at a certain angle, so that the detection of an object
happens properly. This angle is the directivity of the sensor which is +/- 45 degrees.
The directivity is shown below.
fig: 3.5 directivity
In order to avoid reflections from surrounding objects other than the object, both the IR transmitter
and the IR receiver must be enclosed properly. Generally the enclosure is made of plastic and is
painted with black color.

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Fig: 3.6 obstacle sensor
Fig: 3.7 IR sensor
3.3.3 PIC16F877 CONTROLLER

Exciting new range of inexpensive controller boards, ideal for standard embedded
applications and incorporating into machinery, control systems and robots. Our new PIC16F877
Controller board features the powerful Microchip PIC16F877 Microcontroller, one of the most
popular microcontrollers on the market. Combined into a easy to use and ready to run board
complete with all the necessary components for plugging directly into your system.
The PIC16F877 Microcontroller includes 8kb of internal flash Program Memory, together with a
large RAM area and an internal EEPROM. An 8-channel 10-bit A/D convertor is also included
within the microcontroller, making it ideal for real-time systems and monitoring applications.

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fig: 3.8 PIC
The PIC microcontroller PIC16f877a is one of the most renowned microcontrollers in the industry.
This controller is very convenient to use, the coding or programming of this controller is also easier.
One of the main advantages is that it can be write-erase as many times as possible because it use
FLASH memory technology. It has a total number of 40 pins and there are 33 pins for input and
output. PIC16F877A is used in many pic microcontroller projects. PIC16F877A also have many
application in digital electronics circuits. PIC16f877a finds its applications in a huge number of
devices. It is used in remote sensors, security and safety devices, home automation and in many
industrial instruments. An EEPROM is also featured in it which makes it possible to store some of
the information permanently like transmitter codes and receiver frequencies and some other related
data. The cost of this controller is low and its handling is also easy. Its flexible and can be used in
areas where microcontrollers have never been used before as in coprocessor applications and timer
functions etc.
PIN 1: MCLR
The first pin is the master clear pin of this IC. It resets the microcontroller and is active low, meaning
that it should constantly be given a voltage of 5V and if 0 V are given then the controller is reset.
Resetting the controller will bring it back to the first line of the program that has been burned into the
IC.

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Fig: 3.9 reset
A push button and a resistor is connected to the pin. The pin is already being supplied by constant
5V. When we want to reset the IC we just have to push the button which will bring the MCLR pin to
0 potential thereby resetting the controller.
PIN 2: RA0/AN0
PORTA consists of 6 pins, from pin 2 to pin 7, all of these are bidirectional input/output pins. Pin 2
is the first pin of this port. This pin can also be used as an analog pin AN0. It is built in analog to
digital converter.
PIN 3: RA1/AN1
This can be the analog input 1.
PIN 4: RA2/AN2/Vref-
It can also act as the analog input2. Or negative analog reference voltage can be given to it.
PIN 5: RA3/AN3/Vref+
It can act as the analog input 3. Or can act as the analog positive reference voltage.
PIN 6: RA0/T0CKI
To timer0 this pin can act as the clock input pin, the type of output is open drain.
PIN 7: RA5/SS/AN4

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This can be the analog input 4. There is synchronous serial port in the controller also and this pin can
be used as the slave select for that port.
PIN 8: RE0/RD/AN5
PORTE starts from pin 8 to pin 10 and this is also a bidirectional input output port. It can be the
analog input 5 or for parallel slave port it can act as a ‘read control’ pin which will be active low.
PIN 9: RE1/WR/AN6
It can be the analog input 6. And for the parallel slave port it can act as the ‘write control’ which will
be active low.
PIN 10: RE2/CS/A7
It can be the analog input 7, or for the parallel slave port it can act as the ‘control select’ which will
also be active low just like read and write control pins.
PIN 11 and 32: VDD
These two pins are the positive supply for the input/output and logic pins. Both of them should be
connected to 5V.
PIN 12 and 31: VSS
These pins are the ground reference for input/output and logic pins. They should be connected to 0
potential.
PIN 13: OSC1/CLKIN
This is the oscillator input or the external clock input pin.
PIN 14: OSC2/CLKOUT
This is the oscillator output pin. A crystal resonator is connected between pin 13 and 14 to provide
external clock to the microcontroller. ¼ of the frequency of OSC1 is outputted by OSC2 in case of
RC mode. This indicates the instruction cycle rate.

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Fig: 3.10 crystal oscillator
PIN 15: RC0/T1OCO/T1CKI
PORTC consists of 8 pins. It is also a bidirectional input output port. Of them, pin 15 is the first. It
can be the clock input of timer 1 or the oscillator output of timer 2.
PIN 16: RC1/T1OSI/CCP2
It can be the oscillator input of timer 1 or the capture 2 input/compare 2 output/ PWM 2 output.
PIN 17: RC2/CCP1
It can be the capture 1 input/ compare 1 output/ PWM 1 output.
PIN 18: RC3/SCK/SCL
It can be the output for SPI or I2C modes and can be the input/output for synchronous serial clock.
PIN 23: RC4/SDI/SDA
It can be the SPI data in pin. Or in I2C mode it can be data input/output pin.
PIN 24: RC5/SDO
It can be the data out of SPI in the SPI mode.
PIN 25: RC6/TX/CK
It can be the synchronous clock or USART Asynchronous transmit pin.
PIN 26: RC7/RX/DT
It can be the synchronous data pin or the USART receive pin.
PIN 19,20,21,22,27,28,29,30:

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All of these pins belong to PORTD which is again a bidirectional input and output port. When the
microprocessor bus is to be interfaced, it can act as the parallel slave port.
PIN 33-40: PORT B
All these pins belong to PORTB. Out of which RB0 can be used as the external interrupt pin and
RB6 and RB7 can be used as in-circuit debugger pins.
FEATURES
 Includes Powerful Microchip PIC16F877 Microcontroller with 8kb Internal Flash Program
Memory
 Operating Speed at 10MHz
 Direct In-Circuit Programming for Easy Program Updates
 Up to 28 I/O points with easy to connect standard headers
 RS232 Connection with MAX232
 Internal EEPROM
 8 Channel 10-bit A/D Convertor
 One 16-bit Timer with Two 8-bit Timers
 Power and Programming LED
 Reset Button
 Ideal as an Interchangeable Controller for Real-Time Systems
All port connectors are brought out to standard headers for easy connect and disconnect. In-Circuit
program download is also provided, enabling the board to be easily updated with new code and
modified as required, without the need to remove the microcontroller.
All the necessary support components are included, together with a Power and Programming LED
for easy status indication. Plus a reset switch for program execution and a RS232 connection for
data transfer to and from a standard RS232 port, available on most computers.
The new PIC16F877 Controller is the ideal solution for use as a standard controller in many
applications. The small compact size combined with easy program updates and modifications,
make it ideal for use in machinery and control systems, such as alarms, card readers, real-time
monitoring applications and much more. This board is ideal as the brains of your robot or at the
center of your home-monitoring system. Save time and money, by simply building your ancillary
boards and monitoring circuits around this inexpensive and easy to use controller.

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Fig: 3.11 microchip
FEATURES
 Includes Powerful Microchip PIC16F877 Microcontroller with 8kb Internal Flash Program
Memory
 Operating Speed at 10MHz
 Direct In-Circuit Programming for Easy Program Updates
 Up to 28 I/O points with easy to connect standard headers
 RS232 Connection with MAX232
 Internal EEPROM
 8 Channel 10-bit A/D Convertor
 One 16-bit Timer with Two 8-bit Timers
 Power and Programming LED
 Reset Button
 Ideal as an Interchangeable Controller for Real-Time Systems
3.3.4 DRIVER CIRCUIT
L293D is a typical motor driver or motor driver IC which allows DC motor to drive on either
direction. L293D is a 16-pin IC which can control a set of 2 dc motors simultaneously in any
direction. It means that you can control 2 DC motor with a single L293D IC. Dual H-bridge motor
driver integrated circuit(IC). The L293D can drive small and quiet big motors as well. It works on
the concept of H-bridge. H-bridge is a circuit which allows the voltage to be flown in either
direction. As you know voltage need to change its direction for being able to rotate the motor in
clockwise or anticlockwise direction. Hence H-bridge IC are ideal for driving a DC motor. In a
single L293D chip there two H-bridge circuit inside the IC which can rotate two DC motors
independently. Due to its size it is very much used in robotic application for controlling DC motors.

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There are 2 enable pins for L293D. pin 1 and 9, for being able to drive the motor, the pin 1 and 9
need to be high. For driving the motor with left H-bridge you need to enable pin 1 to high. And for
right H-bridge you need to make the pin 9 to high. If any one of the either pin 1 or pin 9 goes low
then the motor in the corresponding section will suspend working. It’s like a switch.
In electronics, a driver is an electrical circuit or other electronic component used to control

another circuit or component, such as a high-power transistor, liquid crystal display (LCD), and
numerous others. They are usually used to regulate current flowing through a circuit or is used to
control the other factors such as other components, some devices in the circuit. The term is often
used, for example, for a specialized integrated circuit that controls high-power switches in switched-
mode power converters. An amplifier can also be considered a driver for loudspeakers, or a constant
voltage circuit that keeps an attached component operating within a broad range of input voltages.
Typically the driver stage(s) of a circuit requires different characteristics to other circuit stages. For
example in a transistor power amplifier, typically the driver circuit requires current gain, often the
ability to discharge the following transistor bases rapidly, and low output impedance to avoid or
minimize distortion.
Fig:3.12 L293D

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There are four input pins for L293D, pin 2,7 on the left and pin 15, 10 as shown on the pin diagram.
Left input pins will regulate the rotation of the motor connected across left side and right input for
the motor on the right hand side. The motors are rotated on the basis of the inputs provided across the
input pins as LOGIC 0 or LOGIC 1. In simple need to provide LOGIC 0 or LOGIC 1 across the
input pins for rotating the motor.
3.3.4.1 L293D LOGIC TABLE

Let’s consider a Motor connected on left side output pins (pin 3, 6). For rotating the motor in
clockwise direction the input pins has to be provided with Logic 1 and Logic 0.
• Pin 2 = Logic 1 and Pin 7 = Logic 0 | Clockwise Direction

• Pin 2 = Logic 0 and Pin 7 = Logic 1 | Anticlockwise Direction
• Pin 2 = Logic 0 and Pin 7 = Logic 0 | Idle [No rotation] [Hi-Impedance state]
• Pin 2 = Logic 1 and Pin 7 = Logic 1 | Idle [No rotation]
In a very similar way the motor can also operate across input pin 15, 10 for motor on the right hand
side.
3.3.4.2 CIRCUIT DIAGRAM FOR L293D MOTOR DRIVER IC

CONTROLLER
Fig:3.13 driver circuit

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3.3.4.3 VOLTAGE SPECIFICATION

VCC is the voltage that it needs for its own internal operation 5v; L293D will not use this
voltage for driving the motor. For driving the motors it has a separate provision to provide motor
supply VSS (V supply). L293d will use this to drive the motor. It means if you want to operate a
motor at 9V then you need to provide a Supply of 9V across VSS Motor supply.
The maximum voltage for VSS motor supply is 36V. It can supply a max current of 600mA per
channel. Since it can drive motors Up to 36v hence you can drive pretty big motors with this l293d.
VCC pin 16 is the voltage for its own internal Operation. The maximum voltage ranges from 5v and
up to 36v.
3.3.5 DC MOTOR
A DC motor is any of a class of electrical machines that converts direct current electrical
power into mechanical power. The most common types rely on the forces produced by magnetic
fields. Nearly all types of DC motors have some internal mechanism, either electromechanical or
electronic; to periodically change the direction of current flow in part of the motor. Most types
produce rotary motion; a linear motor directly produces force and motion in a straight line.
DC motors were the first type widely used, since they could be powered from existing direct-current
lighting power distribution systems. A DC motor's speed can be controlled over a wide range, using
either a variable supply voltage or by changing the strength of current in its field windings. Small DC
motors are used in tools, toys, and appliances. The universal motor can operate on direct current but
is a lightweight motor used for portable power tools and appliances. Larger DC motors are used in
propulsion of electric vehicles, elevator and hoists, or in drives for steel rolling mills. The advent of
power electronics has made replacement of DC motors with AC motors possible in many
applications.
Fig:3.14 DC motor

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3.3.5.1 WORKING PRINCIPLE OF A DC MOTOR
A motor is an electrical machine which converts electrical energy into mechanical energy.
The principle of working of a DC motor is that "whenever a current carrying conductor is placed in a
magnetic field, it experiences a mechanical force". The direction of this force is given by Fleming's
left hand rule and it's magnitude is given by F = BIL. Where, B = magnetic flux density, I = current
and L = length of the conductor within the magnetic field.
3.3.5.2 FLEMING’S LEFT HAND RULE

If we stretch the first finger, second finger and thumb of our left hand to be perpendicular to
each other and direction of magnetic field is represented by the first finger, direction of the current is
represented by second finger then the thumb represents the direction of the force experienced by the
current carrying conductor.
3.3.5.3 ELECTROMECHANICAL ENERGY CONVERSION
An electromechanical energy conversion device is essentially a medium of transfer between an input

side and an output side. Three electrical machines (DC, induction and synchronous) are used
extensively for electromechanical energy conversion. Electromechanical energy conversion occurs
when there is a change in magnetic flux linking a coil, associated with mechanical motion.
Electric Motor: The input is electrical energy (from the supply source), and the output is mechanical
energy (to the load).
Electric Generator: The Input is mechanical energy (from the prime mover), and the output is
electrical energy.
3.3.5.4 CONSTRUCTION
DC motors consist of one set of coils, called armature winding, inside another set of coils or a set of
permanent magnets, called the stator. Applying a voltage to the coils produces a torque in the
armature, resulting in motion.
Stator
The stator is the stationary outside part of a motor.

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 The stator of a permanent magnet dc motor is composed of two or more permanent magnet pole
pieces.
 The magnetic field can alternatively be created by an electromagnet. In this case, a DC coil
(fieldwinding) is wound around a magnetic material that forms part of the stator.
Rotor
 The rotor is composed of windings (called armature windings) which are connected to the
external circuit through a mechanical commutator.
 The rotor is the inner part which rotates.
 Both stator and rotor are made of ferromagnetic materials. The two are separated by air-gap.
Winding
A winding is made up of series or parallel connection of coils. Armature winding - The winding
through which the voltage is applied or induced. Field winding - The winding through which a
current is passed to produce flux (for the electromagnet). Windings are usually made of copper.
3.3.6 BUZZER
A buzzer or beeper isan audio signaling device, which maybe mechanical, electromechanical,
or piezoelectric. Typical uses of buzzers and beepers include alarm devices, timers and confirmation
of user input such as a mouse click or keystroke. The first electric buzzer was invented in 1831
by Joseph Henry. They were mainly used in early doorbells until they were phased out in the early
1930s in favor of musical chimes, which had a softer tone piezoelectric buzzers, or piezo buzzers, as
they are sometimes called, were invented by Japanese manufacturers and fitted into a wide array of
products during the 1970s to 1980s.
Fig:3.15 buzzer

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This advancement mainly came about because of cooperative efforts by Japanese

manufacturing companies. In 1951, they established the Barium Titanate Application Research
Committee, which allowed the companies to be "competitively cooperative" and bring about several
piezoelectric innovations and inventions.[Early devices were based on an electromechanical system
identical to an electric bell without the metal gong. Similarly, a relay may be connected to interrupt
its own actuating current, causing the contacts to buzz. Often these units were anchored to a wall or
ceiling to use it as a sounding board. The word "buzzer" comes from the rasping noise that
electromechanical buzzers made. A joy buzzer is an example of a purely mechanical buzzer. They
require drivers. A piezoelectric element may be driven by an oscillating electronic circuit or other
audio signal source, driven with a piezoelectric audio amplifier. Sounds commonly used to indicate
that a button has pressed are a click, a ring or a beep.
3.3.7 WEBCAM
A webcam is a video camera that feeds or streams its image in real time to or through
a computer to computer network. When "captured" by the computer, the video stream may be saved,
viewed or sent on to other networks via systems such as the internet, and email as an attachment.
When sent to a remote location, the video stream may be saved, viewed or on sent there. Unlike
an IP camera (which connects using Ethernet or Wi-Fi), a webcam is generally connected by
a USB cable, or similar cable, or built into computer hardware, such as laptops.The term 'webcam'
(a clipped compound) may also be used in its original sense of a video camera connected to
the Web continuously for an indefinite time, rather than for a particular session, generally supplying
a view for anyone who visits its web page over the Internet. Some of them, for example, those used
as online traffic cameras, are expensive, rugged professional video cameras.
Fig: 3.16 webcam

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Webcams can be used as security cameras. Software is available to allow PC-connected cameras to
watch for movement and sound,[6] recording both when they are detected. These recordings can then
be saved to the computer, e-mailed, or uploaded to the Internet. In one well-publicised case,[7] a
computer e-mailed images of the burglar during the theft of the computer, enabling the owner to give
police a clear picture of the burglar's face even after the computer had been stolen. Recently webcam
privacy software has been introduced by such companies such as Stop Being Watched or Webcam
lock. The software exposes access to a webcam and prompts the user to allow or deny access by
showing what program is trying to access the webcam. Allowing the user to accept a trusted program
the user recognizes or terminate the attempt immediately.

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CHAPTER 4
CIRCUIT DIAGRAM
POWER SUPPLY
Fig:4.1 power supply
VEHICLE CONTROLLER
Fig:4.2 circuit diagram of vehicle controller

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4.1 CIRCUIT DIAGRAM DESCRIPTION
POWER SUPPLY
When switch sw2 is ON then 8v power supply is available and to filter any ripples or
variations in voltage 1000uf capacitor is used. Then an IC 7805 is used to convert 8v to 5v(VCC)
and to filter the voltage fluctuations a 0.1 uf capacitor is used .A 220v resistor is connected in series
with the LED connected at the output to limit the voltage. So that the LED will be safe from high
voltage. Here the presence of supply is indicated by LED.
VEHICLE CONTROLLER
A webcam is placed on the slots on the parking area. It captures images continuously and
detects the vacant slots. This information is communicated through ZIGBEE to the car. In the car
there are two IR sensors .The track which is black reflects less compared to the white. So the
reflections are sensed by the sensors and the car moves through the correct path. As zigbee consists
the information of vacant slots. Car enters the vacant slots.
Zigbee is used to communicate between car and slot. One of the zigbeeis placed in the
vehicle and other in the parking area. There are TX, RX pins in zigbee and also a ground pin and
VCC which is 5v.TX transmits the data from zigbee to RX pin of PIC 18F452.RX pin of zigbee is
connected to TX pin of PIC.
PIC 18F452 is a microcontroller which controls zigbee,IR sensor. It has A,B,C,D,E PORTS
in which E port is analog port and remaining ports are digital. Here VCC is 5v.Which is connected to
32, 11 pins and 31, 12 pins are connected to ground. A crystal of 8MHZ is used to provide clock for
PIC which is connected in 13, 14, pins. To avoid any variations in clock a22PF capacitor are
connected across the crystal. In first pin RESET is connected and a push button switch SW1 is given
when switch is close PIC resets and when switch is open VCC is provided.
Two IR sensors are provided in the vehicle in the left and right part which tracks the vehicle
on correct path .Track which is black region reflects less hence reflections can’t be sensed by the IR
sensors. Region outside the track is white. In white region there are high reflections and sensors will
be active. When the vehicle deviates its path towards right the sensors on the left reflects less and
sensors on right reflects more .So the vehicle turn towards left and this way car follows the correct

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track. Then vehicle moves on and reaches the region of first slot. If this slot is vacant vehicle enters
the first slot. If first slot is not vacant, vehicle moves towards second slot and vehicle enters the slot.
To detect any obstacles in the track an IR sensor (obstacle sensor)is used which is connected
to the digital pin of the PIC. When there is obstacles in the track, light from LED reflects from the
obstacles to the photodiode. If so the vehicle is stopped and the buzzer connected to the digital pin of
PIC by means of a transistor in which the base is connected to 1k resistor to limit the current flowing
to the transistor. The emitter is grounded so the collector connected to the buzzer. When digital pin is
high, collector and emitter pin of transistor shorted and the 8v connected to the buzzer flow through
the transistor to ground and buzzer produces sound. When digital pin is low transistor will be OFF.
when the obstacle being removed the car moves through the track. Two IR sensors are used in the
left and right of the car. Track and slots are made black and other portions remains white. In black
portions reflections will be less. So the IR sensor will not be active and in the white portions there is
reflections there is reflections which is sensed by the IR sensor.
When both IR sensors are active car moves forward and when both are deactive car
stops.when IR left active ,IR right deactive car moves right and when IR left deactive, IR right active
car moves left.When slot 1 is vacant car moves forward through the track and stops in the first
junction.and turns right and gets parked in the first slot. similarly when slot 2 is vacant car moves
forward through the track and stops in the second junction and turns right and parked in the second
slot.car can be taken out of slot by an application using matlab.
4.2 ADVANTAGES OF PROPOSED WORK
 Less cost
 All systems are under the control of security.
 Secured system achieved using webcam.
 Time saving.
 Reduce traffic and congestion.

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CHAPTER 5
CONCLUSION
Autopilot car parking is a better system which provides efficient parking. It provides higher
level of security for the vehicles parked in the respective parking spot. System is completely
controlled by the security thereby it avoid unauthorized access of the vehicle. Hence it provides high
level of security. This system reduces the congestion in the parking area and helps to overcome the
difficulty of the driver to find a place for parking and also reduces accidents in the parking area. The
complete action is processed automatically so entire function doesn’t require more time. Hence time
consumption is also an important advantage of this system, also by using this system in a limited car
parking space more number of cars can be parked effectively compared to normal parking.

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REFERENCE
[1] Automatic car parking system commanded by android application IEEE paper. BONDE.D
J.MMIT University of pune.
[2] Patrick Sebastian, Hamada R.H. Al-Absi, Justin Dinesh Daniel Devraj and Yap Vooi Voon,
"Vision based automated parking System", 10th International conference on Information Science,
Signal Processing and their Applications (ISSPA 2010), no. 1, pp. 757-760, 2010.
[3] M.A.R. Sarkar, A.A. Rokoni, M.O. Reza, M.F. Ismail, "Smart Parking system with image
processing facility", I.J. Intelligent Systems and Applications, 2012, vol. 3, pp. 41-47
[4] Boulton, Clint. “Nissan Lays Out Roadmap for Autonomous Cars.” The Wall Street Journal
Blog. July 2014. Online. http://blogs.wsj.com/cio/2014/07/17/nissan-lays-out-road-map-for-
autonomouscars/.
[5] Wikipedia. Parking Assist System.2014.Online. http://en.wikipedia.org/wiki/Intelligent_Parking_

Assist_System.
[6] Wikipedia. Automatic Parking. 2014. Online. http://en.wikipedia.org/wiki/Automatic_parking.
[7] Tesla Motors Team. Tesla Blog. October 2014. Online. http://www.teslamotors.com/blog/dual-
motor-model-s-and-autopilot.
[8]Wikipedia.AutonomousCruiseControlSystem.2014.Online.http://en.wikipedia.org/wiki/Autonomo
us_cruise_control_system.
[9] Gorzelany, Jim. “Why GM Probably Won’t Call Its Super Cruise Car ‘Self-Driving.’’ Forbes.
September 2014. Online. http://www.forbes.com/sites/jimgorzelany/2014/09/08/why-gm-
probablywont-call-its-super-cruise-car-self-driving/.
[10] Weiss, C.C. “Toyota Details Its Automated Highway Driving System.” Gizmag. October 2013.
Online. http://www.gizmag.com/toyota-automated-highway-driving/29378/.
[11] Automated Vechile Institute. 2014. Online. http://www.usfav.com/currentAV.html.
[12] Lux Research. 2014. Online. http://www.luxresearchinc.com/.
[13] Silberg, Gary. Self-Driving Cars: Are We Ready? KPMG. October 2013.

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[14]. Vanessa W.S. Tang, Yuan Zheng, Jiannong Cao.Internet and Mobile
ComputingLabDepartment of Computing,The Hong Kong Polytechnic University,
P.R.China
[15] M. M. Rashid, A. Musa, M. Ataur Rahman, and N. Farahana, A. Farhana. International Journal
of Machine Learning and Computing, Vol. 2, No. 2, April 2012

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1.2 NEED FOR THIS WORK

Department of E.C.E. 1 M.E.A ENGG.COLLEGE

2.2. SELF DRIVING CARS

Department of E.C.E. 2 M.E.A ENGG.COLLEGE

2.3. AUTOMATIC PARKING MANAGEMENT SYSTEM AND PARKING FEE

Department of E.C.E. 3 M.E.A ENGG.COLLEGE

2.4. ROTARY AUTOMATED CAR PARKING SYSTEM

In International Journal of Engineering Science and Innovative Technology (IJESIT)

Department of E.C.E. 4 M.E.A ENGG.COLLEGE

Department of E.C.E. 5 M.E.A ENGG.COLLEGE

2.5. AN INTELLIGENT CAR PARK MANAGEMENT SYSTEM BASED ON

Department of E.C.E. 6 M.E.A ENGG.COLLEGE

Department of E.C.E. 7 M.E.A ENGG.COLLEGE

2.6 GAPS IN LITERATURE

Department of E.C.E. 8 M.E.A ENGG.COLLEGE

3.1 DESCRIPTION OF PROPOSED WORK

3.2 BLOCK DIAGRAM

Fig:3.1 slot controller

Department of E.C.E. 9 M.E.A ENGG.COLLEGE

Fig:3.2 vehicle controller

3.3 BLOCK DIAGRAM DESCRIPTION

Department of E.C.E. 10 M.E.A

Department of E.C.E. 11 M.E.A

 Home Entertainment and Control — Home automation such as in QIVICON,[8] smart

 Medical data collection

 Smoke and intruder warning

 HomePlug Powerline Alliance

 International Society of Automotive Engineers SAE International

Department of E.C.E. 12 M.E.A

 Near infrared region — 700 nm to 1400 nm — IR sensors, fiber optic

 Mid infrared region — 1400 nm to 3000 nm — Heat sensing

 Far infrared region — 3000 nm to 1 mm — Thermal imaging

Department of E.C.E. 13 M.E.A

DISTINGUISHING BETWEEN BLACK AND WHITE COLORS

Department of E.C.E. 14 M.E.A

Fig: 3.4 distinguishing black and white surfaces

The directivity is shown below.

fig: 3.5 directivity

Department of E.C.E. 15 M.E.A

Fig: 3.6 obstacle sensor

Fig: 3.7 IR sensor

3.3.3 PIC16F877 CONTROLLER

Department of E.C.E. 16 M.E.A

fig: 3.8 PIC

Department of E.C.E. 17 M.E.A

Fig: 3.9 reset

This can be the analog input 1.

Department of E.C.E. 18 M.E.A

PIN 10: RE2/CS/A7

PIN 11 and 32: VDD

PIN 12 and 31: VSS

PIN 13: OSC1/CLKIN

This is the oscillator input or the external clock input pin.

PIN 14: OSC2/CLKOUT

Department of E.C.E. 19 M.E.A

Fig: 3.10 crystal oscillator

PIN 15: RC0/T1OCO/T1CKI