International Journal of Trend in Scientific

Research and Development (IJTSRD)

International Open Access Journal
ISSN No: 2456 - 6470 | www.ijtsrd.com | Volume - 2 | Issue – 1

Driverless Metro Train Shuttle between the

Stations u
using LabVIEW

Manoj Kumar M1, Hemavathi.R2, H. Prasanna Kumar3

PG Scholar (C&I), Dept. of EE, UVCE, Bangalore, Karnataka, India 1

Assistant Professor, Dept. of EE, UVCE, Bangalore, Karnataka, India 2,3

ABSTRACT
The aim of this paper is to illustrate an improvement in with the first UTO lines date from 1981. However a
the existing technology used in metro train movements. fully driverless system was only implemented
implement in 2003
This train is equipped with a controller and an IR in Singapore, while the 75 Km Dubai line is the longest
Object sensor that enables the automatic stopping of the metro line in the world. There has been a continuous
train from one station to another station.
ation. This paper research intended to enhance the overall automation
presents the development process of a prototype for a system functions and performance of the Metro trains.
driverless train implemented using a RASPBERRY PI In modern days metro train transportation
tr has become
controller. Simulation for the system's circuits is done the most economical and safe way of public
with LabVIEW software. The hardware circuit is transportation system. It helps to connect two major
interfaced with actuators and sensors for automation cities and provides a high speed transportation services
purposes using LabVIEW. A hardware comprised of to the public. The unmanned metro train (Driverless)
IR sensor, RASPBERRI PI are assembled in a allows a highly secure and high performance means of
prototype train. A LabVIEW CODE is used for transportation. The prototype makes use of
programming the controller. A Smoke sensor is also microcontroller to control the train movements. It also
interfaced to detect any smoke or gas present in the controls passenger counting and generates a warning
train. signal including automatic opening and closing of
doors. The train runs between n two predefined stations.
Keywords: IR sensor, Raspberry PI, MPU_6050, Metro It also provides a facility of collision avoidance in case
train. of two trains being on the same track. The distance
between two stations is also predefined. The train runs
I. INTRODUCTION:
between two stations without human intervention. It
A lot of advancement has been made in Railroad provides a reset switch to the passenger which acts as
transport. A huge transformation has occurred starting an emergency braking system to stop the train in case
with the early steam operated engines to the most of emergency. The main idea of the approach is to
recent bullet train. Many developments in railroad allow automatic metro train system which is completely
transport has utilized the existing infrastructure, w
where unmanned and is precise and errorless in its operation.
operati
the existing metro system is being modernized and Counting of passengers happens by using bidirectional
equipped with automatic train control and safety system detection by IR and photo diode arrangement.
in order to make them more efficient. Driverless
Now-a-days
days driverless metro trains which are used in
automated concepts have been adopted, and the first
most of the developed countries like Germany, France,
recorded implementation was the London under underground
and Japan etc. These trains are equipped with the CPU
Victoria line, opened in 1967. The Unmanned Train
which controls the train. The train is programmed for a
Operation (UTO), which is featured by the highest
specific path. Every station on the path is defined and
degree of automation, is not a very recent development

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 International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470

also the stoppage timing of the train and distance unnecessary accidents. The speed of the train is
between the two stations is predefined. Modern controlled by applying PID Controller using arduino
technologies are being integrated in almost all aspects Uno and LabVIEW with the sensor accelerometer as a
of our life including transportation, where a lot of feedback.
advancement has been made. Railroad transport, for
instance, has undergone a huge transformation, starting II. METHODOLOGY
with the early steam operated engines to the most
The proposed system includes DC Motors, Stepper
recent bullet train.
motor, various sensors like IR sensor and smoke sensor,
In the proposed system, the train is equipped with a Raspberry Pi controller, Buzzer and seven segment
controller and a IR Object sensor that enables the display. In the proposed system speed control is
automatic stopping of the train from one station to automated using PID controller and LabVIEW. The
another station. The hardware circuit is interfaced with presence of smoke (if any) is detected by the smoke
actuators and sensors for automation purposes using sensor and an alert is given by a Buzzer. The station or
LabVIEW. The hardware is assembled in a prototype obstacle is recognised by IR object sensor and the train
train. The LabVIEW CODE is used for programming is stopped An alert is made for three times before the
the controller. A Smoke sensor is also interfaced to door opens, the door remains open for 20 seconds and
detect any smoke or gas in the train to avoid then the alert is made for three times and the door
closes.

Figure 1: Block diagram

1. HARDWARE REQUIREMENTS B. Seven segment display:

A. RASPERRY PI: Here seven segment display is used to display the time
in seconds from 19 to 0 meanwhile the doors remain
The Raspberry Pi 3 Model B is the third generation
open till the count become zero.
Raspberry Pi. This powerful credit-card sized single
board computer can be used for many applications and C. Buzzer:
supersedes the original Raspberry Pi Model B+ and
A buzzer or beeper is an audio signalling device, which
Raspberry Pi 2 Model B.
may be mechanical, electromechanical, or piezoelectric.
Here, Raspberry Pi is used as a controller, using this Typical uses of buzzers and beepers include alarm
various sensors, motors, buzzer and seven segment devices, timers and confirmation of user input such as a
display are interfaced using LabVIEW. mouse click or keystroke.

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 International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470

Here Buzzer is used to make sound before opening and The sensor uses the I2C-bus to interface with the
closing the door. The buzzer will alarms three times as Arduino. Accelerometer function is to measure the tilt
programmed. angle of x, y, z axis. The difference between actual tilt
with reference is the error given to the input of PID
D. Stepper Motor:
controller, the output of the PID controller is scaled to
Stepper motor is a special type of electric motor that PWM input ranging from 0 to 1 for controlling the
moves in precisely defined increments of rotor position motors.
(Steps). The size of the increment is measured in
degrees and can vary depending on the application. Due I. Smoke Sensor:
to precise control, stepper motors are commonly used A smoke sensor is a device that senses smoke, typically
in medical, satellites, robotic and control applications. as an indicator of fire. as part of a fire alarm system,
while household detectors, known as smoke alarms.
Here, Stepper motor is used for opening and closing the
The smoke sensor is sensitive to smoke and to the
doors.
flammable gases LPG, Butane, Propane, Methane,
E. DC Motor: Alcohol and Hydrogen.
A DC motor is a class of rotary electrical machines that 2. SOFTWARE REQUIREMENTS
converts direct current electrical energy into
mechanical energy. Nearly all types of DC motors have LabVIEW
some internal mechanism, either electromechanical or LabVIEW programs are called virtual instruments, or
electronic; to periodically change the direction of VIs, because their appearance and operation imitate
current flow in part of the motor. physical instruments, such as oscilloscopes and
millimetres. LabVIEW contains a comprehensive set of
F. IR Object Sensor:
tools for acquiring, analysing, displaying, and storing
This Medium Range Infrared sensor offers simple, user data. In LabVIEW, you build a user interface, or front
friendly and fast obstacle detection using infrared; it is panel, with controls and indicators. Controls are knobs,
non-contact detection. The implementations of push buttons, dials, and other input mechanisms.
modulated IR signal immune the sensor to the Indicators are graphs, LEDs, and other output displays.
interferences caused by the normal light of a light bulb We can use LabVIEW to communicate with hardware
or the sun light. The sensing distance can be adjusted such as data acquisition, vision, and motion control
manually. devices, as well as GPIB, PXI, VXI, RS232, and RS485
IR Object Sensor is used for automatic stopping of the instruments
train in this project. .
G. L293D Motor 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 two
DC motors simultaneously in any direction. It means
that you can control two DC motor with a single L293D
IC. It works on the concept of H-bridge. H-bridge is a
circuit which allows the voltage to be flown in either
direction.
H. MPU-6050 Motion Tracking:
The MPU-6050 sensor contains a MEMS accelerometer
and a MEMS gyro in a single chip. It is very accurate, Figure 2: LabVIEW Front Panel
as it contains 16-bits analog to digital conversion
hardware for each channel. Therefore it captures the x,
y, and z channel at the same time.

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 International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470

Figure 3: LabVIEW Block diagram

III. IMPLEMENTATION

Figure 4: Hardware Model

The proposed system includes DC Motors, Stepper alarms three times as programmed. And when the
motor, various sensors, Raspberry Pi controller, Buzzer, smoke is detected the buzzer should give an alert.
seven segment display. In the proposed system speed Stepper motor is used for opening and closing the
control is automated using PID controller. The Arduino doors.IR Object Sensor is used for automatic stopping
Uno and MPU 6050 is used along with LabVIEW of the train in this project.L293D is a typical Motor
blocks are used for applying the PID controller for driver or Motor Driver IC which allows DC motor to
accleration of the train. The raspberry pi is connected to drive on either direction. Accelerometer function is to
the PC through an Ethernet Cable. Platform used in this measure the tilt angle of x, y, z axis. The difference
research is a Wild thumper, The four wheels of between actual tilt with reference is the error given to
diameter 10cm, two of four on either side and is used to the input of PID controller, the output of the PID
build the vehicle platform. The vehicle dimensions are controller is scaled to PWM input ranging from 0 to 1
17 inches 12 inches 6.5 inches as shown in the Fig 7.1 for controlling the motors. A smoke sensor is a device
Platform has four wheels four motors with steel gear that senses smoke, typically as an indicator of fire. As
boxes integrated inside the motors itself . The chassis part of a fire alarm system, while household detectors,
top has 4 mm holes punched every 10 mm far known as smoke alarms. The smoke sensor is sensitive
throughout the chassis for mounting sensors modules to smoke and to the flammable gases LPG, Butane,
and other hardware. The power supply to Arduino is Propane, Methane, Alcohol and Hydrogen. LabVIEW
given from PC .The DC 5V regulated power supply to programs are called virtual instruments, or VIs, because
the rasppberry pi and 12V to motors are given. Seven their appearance and operation imitate physical
segment display is used to display the time in seconds instruments, such as oscilloscopes and millimetres.
from19 to 0 meanwhile the doors remain open till the LabVIEW contains a comprehensive set of tools for
count become zero. Buzzer is used to make sound acquiring, analysing, displaying, and storing data.
before opening and closing the door. The buzzer will

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 International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
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LabVIEW code for PID Control

The VI Block diagram for PID controller is as shown in figure 5

Figure 55: VI Block Diagram for PID controller

Figure 6: VI Block diagram for seven segment display.

The VI Block diagram for Seven Segment display is as shown in figure 6. The seven segment code designed to
count for 20 seconds. After opening the doors the seven segment display starts the count from 19 to 0.
When the counter reaches zero the code for al
alarm
arm will be enabled and the buzzer alarms for three times .The code
for stepper motor makes the door close after three alarms.

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Figure 7: VI Block diagram for stepper motor

The VI Block diagram for stepper motor is as shown in After when the conditions are satisfied the stepper
figure
igure 7. The stepper makes clockwise rotation for 10 motor will make 10 steps to close the door.
steps in the clockwise direction and doors are closed.
IV. RESULTS AND DISCUSSION
IR Sensor
IR Sensor Station Status of Train
OFF Not Arrived Running
ON Arrived at Station 1 Stop

OFF Not Arrived Running

ON Arrived at Station 2 Stop

Table 1: IR sensor Results

The IR Sensor is fixed at the front face of the train. The train keeps running towards the station in its path. IR
sensor goes high once the station is detected, this high signal is processed and the train gets stopped in the station.

Figure 8: IR sensor output

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 International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
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The IR sensor will be triggered on ass soon as it detects the black colour.
Smoke sensor response
The below figure shows the output response of the smoke sensor it slowly increases in presence of smoke from
0.5v to nearly 4.5v and it also shows the level of the smoke in terms of voltage in the front panel

Figure 9: Smoke sensor response

Scenario Status of Smoke Buzzer LabVIEW Display

sensor

No Smoke OFF OFF No Smoke

Smoke Beyond threshold – ON Smoke Detected
ON

Table 2: Smoke Sensor Results

A smoke sensor is placed inside the train compartment. Whenever it detects smoke, the sensor will output high,
the buzzer beeps and the Front Panel of LabVIEW displays “Smoke level” and the doors open. The status and
response of smoke sensor is verified in the above table.

Sequence of operation on metro train

Status of Buzzer Stepper Door Seven Buzzer Stepper Door
Train motor Status Segment motor Status
Display
Running OFF OFF Closed OFF OFF OFF Closed

Stop Turns on ON Opened for ON Turns on ON Closed

20 seconds
(beeps for (Counts (beeps for 3
3 times) from 19 to 0) times)

Table 3: Opening and Closing of Doors

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When the train is running Buzzer, stepper motor, seven segment display will be in the OFF condition and doors
are closed. When the train stops the buzzer beeps for three times, the doors are opened and it will remain for 20
seconds. The count is displayed on the seven segment display. After 20 seconds buzzer beeps for three times and
then doors are closed. The train starts moving tow
towards
ards the next station. The process will be repeated for the next
stations.
Front panel PID response of real time model
The below figure shows the PID response for real time implementation. The response for tuning is shown in the
below figure. Also the speedd of the train is displayed in analog meter on the front panel.

Figure 8.3 Front panel of PID response and the speed of vehicle.

V. CONCLUSION AND FUTURE SCOPE REFERENCES

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