Mini Project Report

MINI PROJECT REPORT

LINE FOLLOWER ROBOT

Submitted by

NEVIN THOMAS

VINAYA M DAS

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

RAJIV GANDHI INSTITUTE OF TECHNOLOGY

GOVERNMENT ENGINEERING COLLEGE KOTTAYAM

2011

Department of Electronics & Communication Engineering

Rajiv Gandhi Institute of Technology[Government Engineering College]Vellore P.O, Pampady, Kottayam, Kerala – 686501Ph.: 0481-2505963, 2507763

Certificate

This is to certify that this report entitled LINE FOLLOWER

ROBOT is an authentic report of the mini project done by NEVIN

THOMAS, Reg. No.: 63783 and VINAYA M DAS, Reg. No.:

63803 during the year 2010, partial fulfillment of the requirement for

the award of Bachelor of Technology Degree in Electronics and

Communication Engineering, Mahatma University, Kottayam,

Kerala.

EXTERNAL EXAMINER H O D

STAFF-IN-CHARGE

1

CONTENTS

SL NO……….CHAPTER…………………………………………………………...PAGE NO.

1……………. INTRODUCTION……………………………………………………………………………………………2

2……….…… BLOCK DIAGRAM AND CIRCUIT EXPLANATION…………….................................3

3……….…….PCB DETAILS………………………………………………………..........................................8

4…………….COMPONETS ESTIMATE………………………………………………………………………………..11

5…………….PROGRAM / ALGORITHM………………………………………………………………….............12

6…………….APPLICATION…………………………………………………………………………………………………16

7…………….CONCLUSION…………………………………………………………………………………………………19

Reference…………………………………………………………………………………………………….20

Appendix……………………………………………………………………………………………………..21

CHAPTER 1 2

INTRODUCTION

Line follower is a machine that can follow a path. The path can be visible like a black line on a

white surface (or vice versa) or it can be invisible like a magnetic field. As part of our

miniproject we have decided to design a line following robot. The robot will follow a black line

which twists and turns. Robot has three line sensors, left, center, right. If the line is seen by the

center sensor then robot will go forward. If the line is seen by left sensor then robot turns left. If

the line is seen by right sensor then robot turns right.

If all the sensors sense black line the robot rotates in circular direction. If all the sensors detect white then robot moves forward.

CHAPTER 2 3

BLOCK DIAGRAM

FIG: 2.1 BLOCK DIAGRAM

The block diagram in fig 2.1 consists of a micro controller which is connected to three sensor circuits (IR sensors) which give the input information to the uc. The output of microcontroller is given to the motor driver which is given to two motors which rotates according to the input of the sensors.

4

CIRCUIT DIAGRAMS

FIG 2.2 sensor circuit

The circuit diagram consists of two comparator, LDR, resistors & a pot.

Here LDR detects the light Intensity when it detects for white light the resistor do not conducts i.e. LDRs else LDRs conduct. Now the output at 1& 7 are opposite to each other. Pot is adjusted to make correct voltage division. Here vss is given of 5v.output is in the form of binary forms in which 5v represent as binary 1 and 0v as binary 0.

5

FIG: 2.3 MAIN CIRCUIT DIAGRAM

CIRCUIT DESCRIPTION

After many hours of research we decided upon making a prototype version, which would allow to test out the difference concepts which we need to master before finishing this robot.

The robot is broke down in to different sub systems: Locomotion, Power, Sensors, and Control.

1. Locomotion- I will use two HS-42BB servos for locomotion and one ball caster

2. Power- four AA batteries will provide the power for all the systems

3. Sensors- We use LDRs along with LEDs

4. Control- one 8051 microcontroller will act as the brain for the robot. It will be programmed in asm51 and assembly.

6

ROBOT PROCEDURES

This robot turn until line is bot got three sensors for sensing the black line. Left sensor, Centre sensor, Right sensor.

Initially the robot will check for the black line. If the left sensor sees the black line, then the robot take a slight left turn until center sees it. Similarly if the right sensor sees the black line, then the robot take a slight right turns until center sees it. If the line is seen by the center sensor the robot will go merely go forward. If no sensors detect anything, then it is a break in line

Since black object reflect less light than white object, the difference can be detected and is converted to digital value. This information from the comparator is given to the microcontroller. Based on the information microcontroller produces output for motor driver. Motor driver then drive the motor

CONNECTION DESCRIPTION

P1.0 -out of LDR1- left

P1.1 –out of LDR2- center

P1.2 –out of LDR3-right

Out to motor as

P2.0 is given to pin number 2 of L293d




Output of L293d as

Red wire of Motor 1 is given to pin number 3 of L293d

Black wire of Motor1 is given to pin number 6 of L293d

Red wire of Motor2 is given to pin number 14 of L293d

Black wire of Moto2 is given to pin number 11 of L293d

+5v is given to pin number 1,9,16, of L2293d +12v is given to pin number 8 of L293d.Ground is connected to pin number 4, 5, 12, 13 of L293d.

7

Truth table for the program

Left sensor Central sensor Right sensor Left wheel Right wheel

0 0 0 1 1

0 0 1 0 1

0 1 0 0 0

0 1 1 0 1

1 0 0 1 0

1 0 1 1 1

1 1 0 1 0

1 1 1 1 1

CHAPTER 3 8

PCB DETAILS

Fig 3.1: PCB Bottom view

First the PCB design is prepared in PCB wizard. The copper clad PCB laminate is nowPrepared be tracing using a carbon paper. Only the connecting lines in PCBs, slants and holes,Should be traced. The components position can be marked on the PCBs reverse side if desired.After drying, 20-30gms of Ferric Chloride in 75ml of water may be heated to about 60deg andOver the PCBs placed with its copper side upwards in a plastic tray. Stirring the solution helpsSpeedy etching. The dissolution of unwanted copper would take about 45 minutes. If etchingTakes longer, the solution may be heated again and the process is repeated. The PCB may be washed and dried. The marked holes in PCB may be drilled using drill bits. Then theComponents and soldered onto the board.

9

FIG: 3.2 TOP VIEW

Now a days the printed circuit board here after mention as PCB makes the electronic circuit manufacturing as easy one.in olden days vast area was required to implement a small circuit to connect the leads of the component and separate connectors where needed. But PCB’s connect the two by copper coated lines on the PCB boards. In the single sided PCB’s the copper layer is on both sides. Some cases, middle layer is also possible than the two sides.

BOARD TYPE

The most popular board types are

SINGLE SIDED BOARDS: They are mainly used in entertainment electronics where manufacturing costs have to be kept at the minimum.

10

DOUBLE-SIDED BOARDS: Double sided PCB’s can be made with or without plated through holes. The production of boars with plated through hoes fairly expensive.

SOLDERING

Soldering is a process for the joining of metal parts with the aid of a molten metal(solder),where the melting temperature is suited below that of the material joined, and whereby the surface of the parts where wetted, without then becoming molted.

Soldering generally implied that the joining process occurs at temperature below 450- degree centigrade. Solder wets and alloys with base metals get drawn, by capillarity action, into the gap between them. This process forms a metallurgical bond between the pats of the joined. Therefor soldier acts by wetting of base metal surfaces forming joined flowing between these surfaces, which result in a completely filled space between them.

Metallurgical bonding to these surfaces when soldering consists of the relative positioning of the surfaces to be joined, wetting these surfaces with molten solder and allowing the solder to cool down until it has solidified. During this soldering operation, an auxiliary medium mostly used to increase the flow properties of molten solder or to improve the degree of wetting. Such a medium is called flux.

FLUX

Following characteristics are required in a flux:

1. It should provide a liquid over the material and exclusive air up to the soldering temperature.

2. It should dissolve any oxide on the metal surface or on the solder and carry such unwanted elements away.

3. It should be readily displaced from the metal by the molten soldering operation.4. Residues should be removable after the completion of the solder to achieve a soldered

joint.5. Method by which the necessary heat is applied, among other things depends on:

a) Nature and type of joint.

Melting point of the solder.

CHAPTER 4 11

PROJECT ESTIMATE

SL.NO

ITEMS QUANTITY

PRICR PERUNIT

PRICE

1 MICROCONTROLLER

1 40 40

2 RESISTORS 14 0.5 73 CAPACITORS 6 0.5 34 DIODES 1 1.5 1.55 PCB 1 400 4006 LED 6 3 187 LDR 3 5 158 CRYSTAL 1 10 109 L293D 110 7805 IC 1 12 1211 LM358 IC 3 10 3012 POT(10K) 3 4 1213 12 V

RECHARGABLE BATTERY

1

14 PUSH BUTTON 1 3 315 DC MOTOR 2 140 28016 CASTOR WHEEL 1 24 2417 WHEELS 2 20 4018 WIRE CONNECTOR 6 4 2419 IC BASE (8) 3 3 920 IC BASE(16) 1 8 821 IC BASE(40) 1 14 1422 OTHERS 6 - 280

TOTAL:- Rs1230.5

CHAPTER 5 12

PROGRAM CODE

ORG 000H

SJMP MAIN

MAIN:MOV P1,#00FH

BACK:

MOV R1,P1

C0:CJNE R1,#08H,C1

SJMP CASE0

C1:CJNE R1,#09H,C2

SJMP CASE1

C2:CJNE R1,#0AH,C3

SJMP CASE2

C3:CJNE R1,#0BH,C4

SJMP CASE3

C4:CJNE R1,#0CH,C5

SJMP CASE4

C5:CJNE R1,#0DH,C6

SJMP CASE5

C6:CJNE R1,#0EH,C7

SJMP CASE6

C7:CJNE R1,#0FH,C8

SJMP CASE7

C8:CJNE R1,#00H,C9

13

SJMP SENSOR

C9:CJNE R1,#01H,C10

SJMP SENSOR

C10:CJNE R1,#02H,C11

SJMP SENSOR


SJMP SENSOR


SJMP SENSOR


SJMP SENSOR


SJMP SENSOR

C15:CJNE R1,#07H,C0

SJMP SENSOR

CASE0: CLR P2.0

CLR P2.1

CLR P2.2

CLR P2.3

LJMP BACK

CASE1: SETB P2.0

CLR P2.1

SETB P2.2

CLR P2.3

LJMP BACK

14

CASE2: CLR P2.0

CLR P2.1

CLR P2.2

CLR P2.3

LJMP BACK

CASE3: CLR P2.0

CLR P2.1

SETB P2.2

CLR P2.3

LJMP BACK

CASE4: SETB P2.0

CLR P2.1

SETB P2.2

CLR P2.3

LJMP BACK

CASE5: SETB P2.0

CLR P2.1

SETB P2.2

CLR P2.3

LJMP BACK

CASE6: SETB P2.0

CLR P2.1

CLR P2.2

CLR P2.3

LJMP BACK

15

CASE7: CLR P2.0

CLR P2.1

CLR P2.2

CLR P2.3

LJMP BACK

SENSOR: SETB P2.0

CLR P2.1

CLR P2.2

SETB P2.3

MOV R2,P1

CJNE R2,#0DH,SENSOR

LJMP CASE5

END

CHAPTER 6 16

APPLICAIONS

The robot will follow a line sharp turns. This will reduce the manual effort and a more developed version of this can be used even in space research for conducting studies in celestial bodies. An improved version of this line follower can be used in industries. This system can be interfaced with many other systems which will offer further applications. Practical applications of a line follower are automated cars running on roads with embedded magnets; guidance system for industrial robots moving on shop floor etc.

CHAPTER 7 17

CONCLUSION

As part of our mini project we were able to design a line follower robot. The robot will follow a line with sharp turns. This will reduce the manual effort and a more developed version of this can be used even in space research for conducting studies in celestial bodies. An improved version of this line follower can be used in industries. This system is found helpful in nuclear power plants and in mines. This system can be developed to perform even household work s. This system can be interfaced with many other systems which will offer further more applications

CHAPTER 8 18

REFERENCES

[1] Electronic devices and circuits by J.B Gupta,3rd edition 2008

Katson educational series

[2] Digital Fundamentals by Floyd and Jain,7th edition 2009

Dorling Kindersley(India)Pvt Ltd

[3] Linear Integrated Circuits by Ramakant A Gayakwad, 4th edition 2008

Pearson Education Inc

[4]Microcontroller Theory And Applications by Ajay V deshmukh,5th edition 2005

Tata McGraw Hills

[5] http://www.ikaiogic.com/proj-mini-line-follower.php

[6]http://online.physics.uiuc.edu/courses/phys405-

http://www.ikaiogic.com/proj-mini-line-follower.php

CHAPTER 9 20

Mini Project Report

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