Simple steps to building your own Line Tracer Robot A Tutorial

*What is a Line-Tracer Robot? It is a robot which follows a line drawn against a background of contrast colour. E.g. White line on a Black background.

*What are the major components of a Line-Tracer? The major components are: Sensors

: To sense the line.

Microcontroller : To monitor the status of the sensor(s) and hence generate the necessary control signals to the Motor-Driver IC. Motor-Driver IC : To drive the motor(s).

Motor : For a basic Line-Tracer we shall use DC Geared Motors. Motors with RPM around 100 will be easier to handle. Power Source : Lead acid batteries of 12 V and 1200 mAH would be a safe choice. Chassis materials(Mica sheets, Flange Plates), Wheels, Omnidirectional Wheels, Tools. PCB, resistors, capacitors, Voltage Regulator IC. Other resources: Multi-meter DC Power supply Computer (with Parallel Port) : For programming Programmer Software : RIDE or KEIL Programmer Board : To burn the program code into the controller * What is the purpose of the Sensor? In order to trace any line, first the robot must be able to sense the line. That is, it must differentiate the line from the background. The purpose of a Sensor is to help the robot perform this basic function of sensing the line. * What type of Sensors do we use? We use IR (Infra-Red) Sensors.

* What is the principle behind IR Sensor? The principle is that: White coloured surface reflects IR light rays and Black coloured surface absorbs it. IR Sensor Circuit using LM358 Comparator: Circuit Diagram:

Fig. IR Sensor Circuit

* What is an IR Led? An IR Led is just a led which emits IR Light. * How do I check if the IR led is working perfectly? IR light radiations are invisible to human eye. After biasing the IR Led with a series resistance of 330 ohm, you shall use a Digital-Camera (Mobile Camera can also be used) to observe the IR light which would be red in colour. * What is an IR Photo-Diode? An IR Photo-Diode is nothing but a diode whose conduction characteristics are affected by IR radiations. Physically it looks like an LED.

* How does an IR Photo-Diode function? In electronics, diodes are used as voltage controlled switches. An IR PhotoDiode also acts as a switch. However the switching is controlled by the presence (OR absence) of IR radiation. When IR radiations fall upon the Photo-Diode, it acts as a Closed-Switch. In the absence of IR radiation, the Photo-Diode would behave like an Open-Switch.

Fig. Working of Photo-Diode * What is a Potentiometer? A Potentiometer can be considered as a Voltage Divider. It has three terminals. A constant resistance exists between the two end-terminals. The resistance between the end terminals and the middle one can be varied by using a knob OR a screw-head arrangement. By utilising Ohms law, a desired potential can be obtained at the middle terminal. * What is the function of the Potentiometer on our Sensor-Circuit? In our circuit, we use the 10 K pot (Potentiometer) to generate a desired reference voltage for the comparator. The 100 K pot is used to tune the conductivity of IR Photo-Diode and hence adjust the sensor to account for the effect of Ambient Light IR.

* What is a Comparator?

Fig. Comparator A Comparator can be considered as a three-terminal device (Two i/p and a single o/p). Of the two input terminals, one is a Non-Inverting (+) and the other is an Inverting (-) terminal. It compares the two voltage levels at its input terminals and generates a Digital Output signal. * How does a Comparator function? The operation of a Comparator can be described in simple terms as follows: When the Voltage-Level at the Non-Inverting (+) terminal is greater than that at the Inverting (-) terminal : The output is HIGH When the Voltage-Level at the Non-Inverting (+) terminal is lower than that at the Inverting (-) terminal : The output is LOW

FFP (Frequently Faced Problems): * IR Led does not emit any light? IR radiations are invisible to human eyes. So use a digital camera to inspect your led. * Ok. I am using my digital camera now. But still I am not able to see any light? Ah There must be some problem. Check whether you have biased the Led properly.

Fig. * The biasing is alright, but still no light. What to do? Check if you have mistakenly used the Photo-Diode instead of the IR Led. It is quite common to get confused, especially when both look alike (Well Almost). * Still no light? The IR Led must have blown out. Replace the led with a new one.