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 686501 Ph.: 0481-2505963, 2507763

Certificate
This is to certify that this report entitled LINE FOLLOWER ROBOT is an authentic report of the mini project done byNEVIN THOMAS, Reg. No.:63783andVINAYA M DAS,Reg.

No.:63803during the year 2010, partial fulfillment of the requirement for the award of Bachelor of Technology Degree in Electronics and Communication Engineering, Mahatma Kerala. University, Kottayam,

EXTERNAL EXAMINER

HOD

STAFF-IN-CHARGE

CONTENTS
SL NO.CHAPTER...PAGE NO.

1 2 3 4 5 6 7 . .

. INTRODUCTION BLOCK DIAGRAM AND CIRCUIT EXPLANATION .PCB DETAILS .COMPONETS ESTIMATE .PROGRAM / ALGORITHM .APPLICATION .CONCLUSION .20 ..21

2 .................................3 ..........................................8 ..11 .............12 16 19

Reference Appendix

CHAPTER 12

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 sensorsdetect white then robot moves forward.

CHAPTER 2

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.

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.

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.

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 P2.1 is given to pin number 7 of L293d P2.2 is given to pin number 10 of L293d P2.3 is given to pin number 15 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.

Truth table for the program

Left sensor 0 0 0 0 1 1 1 1

Central sensor 0 0 1 1 0 0 1 1

Right sensor 0 1 0 1 0 1 0 1

Left wheel 1 0 0 0 1 1 1 1

Right wheel 1 1 0 1 0 1 0 1

CHAPTER 38

PCB DETAILS

Fig 3.1: PCB Bottom view

First the PCB design is prepared in PCB wizard. The copper clad PCB laminate is now Prepared 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 and Over the PCBs placed with its copper side upwards in a plastic tray. Stirring the solution helps Speedy etching. The dissolution of unwanted copper would take about 45 minutes. If etching Takes 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 the Components and soldered onto the board.

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 PCBs connect the two by copper coated lines on the PCB boards. In the single sided PCBs the copper layer is on both sides. Somecases, 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 PCBs 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. 2. 3. 4. 5. It should provide a liquid over the material and exclusive air up to the soldering temperature. It should dissolve any oxide on the metal surface or on the solder and carry such unwanted elements away. It should be readily displaced from the metal by the molten soldering operation. Residues should be removable after the completion of the solder to achieve a soldered joint. 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.N O

ITEMS

QUANTIT Y

PRIC R PER UNIT

PRICE

1 2 3 4 5 6 7 8 9 10 11 12 13

14 15 16 17 18 19 20 21 22

MICROCONTROLL ER RESISTORS CAPACITORS DIODES PCB LED LDR CRYSTAL L293D 7805 IC LM358 IC POT(10K) 12 V RECHARGABLE BATTERY PUSH BUTTON DC MOTOR CASTOR WHEEL WHEELS WIRE CONNECTOR IC BASE (8) IC BASE(16) IC BASE(40) OTHERS

1 14 6 1 1 6 3 1 1 1 3 3 1

40 0.5 0.5 1.5 400 3 5 10 12 10 4

40 7 3 1.5 400 18 15 10 12 30 12

1 2 1 2 6 3 1 1 6

3 140 24 20 4 3 8 14 -

3 280 24 40 24 9 8 14 280

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 C11:CJNE R1,#03H,C12 SJMP SENSOR C12:CJNE R1,#04H,C13 SJMP SENSOR C13:CJNE R1,#05H,C14 SJMP SENSOR C14:CJNE R1,#06H,C15 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 CONCLUSION

17

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-

CHAPTER 9

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