LINE FOLLOWER ROBOT

Almendral, Jane Nicole L.

Baylon, Mary Angelou L.
Beconia, Lizzy-Ann S.
Dador, Catherine C.

This Line Follower Robot basically use a Cadmium

Sulphide (CdS) photocell sensor or known as Light
Dependent Resistor (LDR) and the high intensity blue
Light Emitting Diode (LED) to illuminate the area
under the photocell sensor to sense the black track
line and the DC motor speed control technique to
navigate the black line track.

SCHEMATIC DIAGRAM

VOLTAGE CONTROL PWM

The voltage control PWM could be generated by first
using the triangle signal generator which provide the
basic PWM pulse frequency and the necessary ramp
voltage (rise and down) to produce the PWM signal.
When the triangle rise ramp signal reaches the
voltage threshold point it will turn ON the comparator
because the comparator non inverting input (V+)
voltage is greater than the comparator inverting
input (V-) voltage and when the down ramp signal
reaches the voltage threshold point it will turn OFF
the comparator because now the comparator
inverting input (V-) voltage is greater than the
comparator non inverting input (V+) voltage.

 The ramp signal is provided by the two opamps (U1A and U1B) that generate the
triangle wave signal while the comparator
for producing the PWM to each DC motor
is provided by the other two op-amps (U1C
and U1D) that receipt its input from the
voltage divider circuit (VR and LDR) which
provide the voltage threshold point and
together with the triangle wave to produce
the required PWM pulse.

TRIANGLE WAVE GENERATOR

To generate the triangle wave we need to use the
Schmitt Trigger circuit (also called a comparator with
hysteresis) that act as ON and OFF switch to the
Integrator circuit input. The integrator uses the R5 and
C2 to produce the necessary triangle linear ramp (up
and down) on its output.
When the power up we assume the U1A output is HIGH
(Vcc); the C2 capacitor will start to charge through the
R5 resistor. Because the R5 and C2 is connected to the
U1B inverting input (V-), therefore the U1B output will
start to ramp down. The U1A non inverting input (V+)
get the positive feedback from R3 and R4, when the
U1B output voltage reach the threshold voltage below
Vref than it will turn the U1A output to LOW (0).

THE SENSOR CIRCUIT

As mention above this Line Follower Robot take advantage
of the photo-resistor (CdS) known as Light Dependent
Resistor (LDR). The LDR will decreases its resistance in the
presence of light and increase its resistance in the dark. The
region under the LDR is illuminate with a high intensity blue
LED, the white surface will reflect most of the light to the
LDR surface while the black track line will absorb most of
the light, therefore less light will reflect to the LDR surface.
As the robot move on the black track line the LDR will
continuously capture the reflected light and convert this
light intensity into the corresponding voltage and feeding it
to the inverting input (V-) of U1C (left sensor) and U1D
(right sensor).

 The 100K trimpot and LDR basically is the

voltage divider circuit when the LDR detect
the black track line it will receive less light
intensity (LDR resistance increase) and the
voltage (V-) will increase; this will decrease
the PWM duty cycle output and as the result
the geared DC motor will turn slowly or stop.
When the LDR on the white surface it will
receive maximum light intensity (LDR
resistance decrease) and the voltage (V-) will
decrease; this will increase the PWM duty
cycle output and as the result the geared DC
motor will turn fast.