LINE FOLLOWER ROBOT

Synopsis

Date of Submission: 06 January 2012

Submitted by:

Group No: 1

1. ASHMEET BANSAL ECE/09/110

2. DEEPAK SHARMA ECE/09/115

3. HARISH KUMAR ECE/09/119

(Approved by AICTE, Ministry of HRD, Govt of India & DTE, Govt of Haryanaand Affiliated to M. D. University, Rohtak)

LINE FOLLOWER ROBOT Synopsis

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TABLE OF CONTENTS

1 AIM AND DESIRED SPECIFICATIONS............................................................................1

2 MATERIAL REQUIRMENT.....................................................................................................2

3 BLOCK DIAGRAM........................................................................................................................3

4 CIRCUIT DIAGRAM....................................................................................................................4

5 WORKING………………………………………………………………………………………5

6 CONTROL AND LOCOMOTION………………………………………………………8

7 APPLICATION AND LIMITATION…………………………………………………….9

8 CONCLUTION………………………………………………………………………………10

9 REFERENCES……………… ……………………………………………………………….11

LINE FOLLOWER ROBOT Synopsis

AIM AND DESIRED SPECIFICATIONS

The aim of the project is to make a robot which can follow a black strip on a white floor and can extinguish the fire on the path. The robot can be used in the rescue operation. Thus the robot can act as a path guider in normal case and as a fire extinguisher in emergency.

1. For proper functioning of the robot needs a voltage supply of about 5.3V and current about 0.7A.

2. The robot should be able to distinguish between the white and the black surface.

3. If the black surface suddenly ends, the robot should keep on moving in the direction it last moved until the black line is again there.

4. It should stop and extinguish fire and restart only after making sure that the fire has been extinguished.

5. This could not be run using the dry cells because of the current requirement.

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LINE FOLLOWER ROBOT Synopsis

MATERIAL REQUIRMENT

The component list for making the robot is as follows:-

S.No Material Required Description Quantity

1. LM358 Dual Op-Amp 32. NE555 Timer 13. SL100 NPN transistor 84. SK100 PNP transistor 15. 7408 AND IC 16. 7432 OR IC 17. Vector Board 18. DC motors 39. LDR (Light dependent 3 resistance)10. IR Receiver (for heat) 111. 32C Power NPN 2 Transistor

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LINE FOLLOWER ROBOT Synopsis

BLOCK DIAGRAM

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LINE FOLLOWER ROBOT Synopsis

CIRCUIT DIAGRAM

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LINE FOLLOWER ROBOT Synopsis

WORKING

Obviously the line following robot will need to see the line, therefore we require a light detector of some sort. We also would like it if the line following robot could do this regardless of the ambient conditions (is the room dark or light? is it lit by sunlight or artificial light?). So the robot will also need its own illumination source. The weapon of choice here will be Infra Red (IR) light.To make this easy for ourselves the light only needs to be constant... if a white line is present then it will reflect a lot of IR from our source. If the line is black then we see the opposite effect.

THE CIRCUIT All we need is an IR source, an IR photo-transistor and a couple of resistors! Here are the resources:• IR emitters and detector pairs:• IR emitters and detector pairs:On top of these, it would be nice if the signal that we get could be TTL (on or off, 0V, 5V). So to do this we will also require our favorite BEAM chip, the 74AC240, here Is the circuit:

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LINE FOLLOWER ROBOT Synopsis

Obviously the line following robot will need to see the line, therefore we require a light detector of some sort. We also would like it if the line following robot could do this regardless of the ambient conditions (is the room dark or light? is it lit by sunlight or artificial light?). So the robot will also need its own illumination source. The weapon of choice here will be Infra Red (IR) light.To make this easy for ourselves the light only needs to be constant... if a white line is present then it will reflect a lot of IR from our source. If the line is black then we see the opposite effect.

Circuit operation is simple.... no line to follow put the input to the inverter high, and therefore the inverter outputs a low, line detection turns on the transistor (or photodiode) and thus the inverter gets a low and outputs high. If your robot is following a black line on a white page, then add another inverter after or before the first.So what should the values for R1 and R2 be? how do I set up the 74AC240 chip exactly..... The value for R1 affects the source IR brightness, for maximum brightness we set R1 to give the maximum allowable forward current for the IR led. So what should it be?? Well, look

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LINE FOLLOWER ROBOT Synopsis

at the datasheet for your LED, lookup the value of the maximum forward current. Now a simple bit of electronic theory tells us V=IR, I will assume you are using 5V because this is the voltage the 74AC240 should be run at (6V is OK... 4 AA batteries).Now let say that the max forward current is 100mA so we have 5V = 100mA * R , therefore:5/100*10^-3 = R = 50ohms.Experiment with different values until you get sensitivity that you are happy with... too bright and the detector will see it when it shouldn't! Also remember this will affect the distance you can have it from the line you are following. So how about R2 ? Just set R2 to about 4K.The chip setup is simple too... ground pins 1, 10 and 19, put 5V onto pin 20. Now choose a pin to input your signal to, if we look at the 74AC240 datasheet on page 14, we will see a connection diagram, any pin with an I is an input, follow it across to find its output.Pins 1 and 19 are the enable pins, which we have grounded to permanently enable the inputs on both side of the chip, this leaves you free to use any of the input pins. For example (in case I haven't spelt it out enough already)...Input your signal at pin 4 and take the output from pin 16.The output signal could be used to directly drive your motor... just connect one side of the motor to the output, and the other side to ground. If you do this for two motors (2 sets of line detectors will require two sets of emitters and detectors, but only one 74AC240 chip), then You have a basic line follower already! The left detector should be used to drive the right motor and vice versa The behavior of this robot as it stands will be too turn a motor on IF a line is present, if both detectors are over the line then it will drive straight, if the left detector goes of the line, it will turn off the right motor causing he robot to turn back onto the line, if the right detector goes off the line then it will turn off the left motor and again go back onto the line. If both detectors come off the line (end of line) then the robot will stop altogether, perfect!

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LINE FOLLOWER ROBOT Synopsis

CONTROL AND LOCOMOTION

The mechanical structure of a robot must be controlled to perform tasks. The control of a robot involves three distinct phases - perception, processing and action (robotic paradigms). Sensors give information about the environment or the robot itself (e.g. the position of its joints or its end effectors). Using strategies from the field of control theory, this information is processed to calculate the appropriate signals to the actuators (motors) which move the mechanical structure. The control of a robot involves path planning, pattern recognition, obstacle avoidance, etc. More complex and adaptable control strategies can be referred to as artificial intelligence.For simplicity, most mobile robots have four wheels. However, some researchers have tried to create more complex wheeled robots, with only one or two wheels.

• Two-wheeled balancing: While the Segway is not commonly thought of as a robot, it can be thought of as a component of a robot. Several real robots do use a similar dynamic balancing algorithm, and NASA's Robonaut has been mounted on a Segway.

• Ballbot: Carnegie Mellon University researchers have developed a new type of mobile robot that balances on a ball instead of legs or wheels. "Ballbot" is a self-contained, battery-operated, omnidirectional robot that balances dynamically on a single urethane-coated metal sphere.

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LINE FOLLOWER ROBOT Synopsis

APPLICATION AND LIMITATION 1. The robot can be used as a guide to guide the visitors from the entrance to the main office.2. It can help doctors to carry the medicines from one ward to another.3. The main purpose is to rescue the people by extinguishing fire in a building.4. When man power does not work to rescue then the robot can done this job. In the present condition it can extinguish fire only in the way and not in all the rooms. It can be extended to a real fire extinguisher by replacing the fan by a carbon-di-oxide carrier and by making it to extinguish fires of all the room using microprogramming. Also the robot could not be run through the batteries because at some conditions the current requirement for the circuit rises to about .8A which is very high and cannot be obtained using batteries.

CONCLUTION

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LINE FOLLOWER ROBOT Synopsis

We made it possible using various electrical and mechanical components. It includes in total five geared motors of varying rpm. We have made a differential steering set-up for the various movements of the lower base. The other movements of the upper base, arm and the grabbing system is provided by mechanical coupling, pulley system and a pivoting system respectively. Ball bearing, free rotating wheel etcetera are used for the movement of the bot. For the electrical connection part we had used switches, relays, connecting cables, and other components.In our journey we had met with several problems, especially while working with the grabbing part. We solved most of the problems and finally arrived up till this. However it was fun working in such an innovative and energetic team. Finally we present to you, MASS, our robot. Though it looks somewhat poverty stricken due to its rickety limb, it is capable of performing its task in an efficient way. We had just tried to utilize our meager resources optimally.

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LINE FOLLOWER ROBOT Synopsis

REFERENCES

1. Optically Automated Spy Robot, 'OASR', Gaurav Mittal and Deepansh Sehgal, Punjab Engineering College

2.  Rail track and Linear track (PDF)3.  http://mobilerobots.com/MT400_autonomous_robotic_base.html4.  http://www.stanford.edu/~learnest/cart.htm5. Proceedings of IEEE Robotics and Automation, 1988

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