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A

TERM PAPER REPORT

ON

LINE FOLLOWER ROBOT

Submitted by:

Priya Hada

B.Tech (ECE)

rd Seme!ter

Amity School of Engineering &

Technology

"#IT$ %NI&ERSIT$ R"'"STH"NOCT *+,

1



CERTIFIC"TE

This is to certify that Priya Hada, student of B.Tech. in Electronics and

Communication Engineering has carried out the or! "resented in the "ro#ect of the

Training entitled $LINE FOLLOWER ROBOT% as a "art of third &ear "rogramme of

Bachelor of Technology in of B.Tech. in Electronics and Communication Engineering

from Amity 'chool of Engineering and Technology, Amity (ni)ersity Ra#asthan, under

my su"er)ision.

'T(*ENT +uide

Priya Hada- Achyut 'harma-

A'ET A(R-

*ate//012013

"C-NOWLE/E#ENT

2



4t has come out to 5e a sort of great "leasure and e6"erience for me to or! on the

"ro#ect line folloer ro5ot78R-.4 ish to e6"ress my inde5tedness to those ho hel"ed

us i.e. the faculty of our 4nstitute Mr. Achyut 'harma during the "re"aration of the

manual scri"t of this te6t. This ould not ha)e 5een made successful ithout his hel"

and "recious suggestions. 8inally, 4 also armly than!s to all our colleagues ho

encouraged us to an e6tent, hich made the "ro#ect successful.

Priya Hada

T"BLE OF CONTENTS

3



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

1.1. 4NTRO*(CT4ON TO 78R....................................................................................9

1./ B7OC: *4A+RAM. ............................................................................................11

1.3. 4NTRO*(CT4ON TO EMBE**E* '&'TEM..................................................1/

/. HAR*;ARE *4'CR4PT4ON.................................................................................13

/.1 BA'4C HAR*;ARE............................................................................................13

/./ AT<9C=1 M4CROCONTRO77ER.......................................................................1>

/.3 4R 'EN'OR'.........................................................................................................1?

/.@ 7M3/@...................................................................................................................1?

/.= H BR4*+E...........................................................................................................1< 3

3.;OR:4N+ PROCE*(RE...................................................................................../1

@.'O8T;ARE ':47'................................................................................................./3

=.CONC7('4ON AN* 8(T(RE 'COPE................................................................./3

+. INTRO%CTION



+.+ INTRO%CTION TO LINE FOLLIN/ ROBOT

A line folloer ro5ot is 5asically a ro5ot designed to follo a line or "ath already

"redetermined 5y the user. This line or "ath may 5e as sim"le as a "hysical hite line

on the floor or as com"le6 "ath mar!ing schemes e.g. em5edded lines, magnetic

mar!ers and laser guide mar!ers. 4n order to detect these s"ecific mar!ers or lines,

)arious sensing schemes can 5e em"loyed. These schemes may )ary from sim"le lo

cost line sensing circuit to e6"ansi)e )ision systems. The choice of these schemes

ould 5e de"endent u"on the sensing accuracy and fle6i5ility reuired. 8rom the

industrial "oint of )ie, line folloing ro5ot has 5een im"lemented in semi to fully

autonomous "lants. 4n this en)ironment, these ro5ots functions as materials carrier to

deli)er "roducts from one manufacturing "oint to another here rail, con)eyor and

gantry solutions are not "ossi5le. A"art from line folloing ca"a5ilities, these ro5ots

should also ha)e the ca"a5ility to na)igate #unctions and decide on hich #unction to

turn and hich #unction ignore. This ould reuire the ro5ot to ha)e 92 degree turn

and also #unction counting ca"a5ilities. To add on to the com"le6ity of the "ro5lem,

sensor "ositioning also "lays a role in o"timiDing the ro5ots "erformance for the tas!s

mentioned earlier.

7inefolloing ro5ots ith "ic! and "lacement ca"a5ilities are commonly used in

manufacturing "lants. These mo)e on a s"ecified "ath to "ic! the com"onents from

s"ecified locations and "lace them on desired locations. Basically, a linefolloing

ro5ot is a selfo"erating ro5ot that detects and follos a line dran on the floor. The

"ath to 5e ta!en is indicated 5y a hite line on a 5lac! surface. The control system

used must sense the line and man oeu)re the ro5ot to stay on course hile constantly

correcting the rong mo)es using feed5ac! mechanism, thus forming a sim"le yeteffecti)e closed loo" system.

+. BLOC- I"/R"#:

!



Cry"t#l

Re"et circ$it

%hoto Sen"or

Arr#y

'(ri)ge

*eft +otor Right +otor

AT,-C!1

+icrocontroller

%oer S$//ly Unit

12 0 *e#) Aci)

ig.1.1 (loc )i#gr#m of line folloer

+., INTRO%CTION TO E#BEE S$STE#S

An em5edded system is a system hich is going to do a "redefined s"ecified tas! is

the em5edded system and is e)en defined as com5ination of 5oth softare and



Embedded

System

Software Hardware

ALP

C

VB

Etc.,

Processor

Peripherals

memory

hardare. A general"ur"ose definition of em5edded systems is that they are de)ices

used to control, monitor or assist the o"eration of eui"ment, machinery or "lant.

FEm5eddedF reflects the fact that they are an integral "art of the system. At the other

e6treme a general"ur"ose com"uter may 5e used to control the o"eration of a large

com"le6 "rocessing "lant, and its "resence ill 5e o5)ious.

All em5edded systems are including com"uters or micro"rocessors. 'ome of these

com"uters are hoe)er )ery sim"le systems as com"ared ith a "ersonal com"uter.

The sim"lest de)ices consist of a single micro"rocessor often called a Fchi"%-, hich

may itself 5e "ac!aged ith other chi"s in a hy5rid system or A""lication '"ecific

4ntegrated Circuit A'4C-. 4ts in"ut comes from a detector or sensor and its out"ut

goes to a sitch or acti)ator hich for e6am"le- may start or sto" the o"eration of a

machine.

8igure 1./ Bloc! diagram of Em5edded 'ystem

Em5edded consist of 5oth softare and hardare

#em0ry 4t is used to store data or address.

4



Peri"herals These are the e6ternal de)ices connected

Processor 4t is an 4C hich is used to "erform some tas!

A""lications of em5edded systems

• Manufacturing and "rocess control

• Construction industry

• Trans"ort

• Buildings and "remises

• *omestic ser)ice

• Communications

• Office systems and mo5ile eui"ment

• Ban!ing, finance and commercial

• Medical diagnostics, monitoring and life su""ort

• Testing, monitoring and diagnostic systems

,



. H"RW"RE E1PL"N"TION

.+ B"SIC H"RW"RE

/.1.1 B7OC: *4A+RAM 8OR RE+(7ATE* PO;ER '(PP7&

8ig /.1 Poer 'u""ly

.+. ESCRIPTION OF TR"NSFOR#ER

A tra2!30rmer is a de)ice that transfers electrical energy from one circuit to another

through inducti)ely cou"led conductorsGthe transformers coils. A )arying current in

the first or "rimary inding creates a )arying magnetic flu6 in the transformers core,

and thus a )arying magnetic field through the secondary inding. This )arying

magnetic field induces a )arying electromoti)e force EM8- or F)oltageF in the

secondary inding. This effect is called mutual induction.

-

http://en.wikipedia.org/wiki/Electrical_energy

http://en.wikipedia.org/wiki/Electrical_network

http://en.wikipedia.org/wiki/Inductive_coupling

http://en.wikipedia.org/wiki/Electric_current

http://en.wikipedia.org/wiki/Magnetic_flux

http://en.wikipedia.org/wiki/Magnetic_field

http://en.wikipedia.org/wiki/Electromagnetic_induction

http://en.wikipedia.org/wiki/Electromotive_force

http://en.wikipedia.org/wiki/Volt

http://en.wikipedia.org/wiki/Mutual_induction

http://en.wikipedia.org/wiki/Electrical_energy

http://en.wikipedia.org/wiki/Electrical_network

http://en.wikipedia.org/wiki/Inductive_coupling

http://en.wikipedia.org/wiki/Electric_current

http://en.wikipedia.org/wiki/Magnetic_flux

http://en.wikipedia.org/wiki/Magnetic_field

http://en.wikipedia.org/wiki/Electromagnetic_induction

http://en.wikipedia.org/wiki/Electromotive_force

http://en.wikipedia.org/wiki/Volt

http://en.wikipedia.org/wiki/Mutual_induction



A transformer ma!es use of 8aradays la and the ferromagnetic "ro"erties of an iron

core to efficiently raise or loer AC )oltages. 4t of course cannot increase "oer so

that if the )oltage is raised, the current is "ro"ortionally loered and )ice )ersa.

A transformer consists of to coils often called indings- lin!ed 5y an iron core, as

shon in figure 5elo. There is no electrical connection 5eteen the coilsI instead

they are lin!ed 5y a magnetic field created in the core.

8ig /./ Basic Transformer

Transformers are used to con)ert electricity from one )oltage to another ith minimal

loss of "oer. They only or! ith AC alternating current- 5ecause they reuire a

changing magnetic field to 5e created in their core. Transformers can increase )oltage

ste"u"- as ell as reduce )oltage ste"don-.

.+., Recti3ier

The "ur"ose of a rectifier is to con)ert an AC a)eform into a *C a)eform OR-

Rectifier con)erts AC current or )oltages into *C current or )oltage. There are to

different rectification circuits, !non as halfa)e and fulla)e rectifiers. Both

use com"onents called diodes to con)ert AC into *C.

/.1.3.1 The Halfa)e Rectifier

15

http://hyperphysics.phy-astr.gsu.edu/hbase/electric/farlaw.html#c1

http://hyperphysics.phy-astr.gsu.edu/hbase/solids/ferro.html#c4


http://hyperphysics.phy-astr.gsu.edu/hbase/magnetic/elemag.html#c4



http://hyperphysics.phy-astr.gsu.edu/hbase/electric/powerac.html#c1

http://hyperphysics.phy-astr.gsu.edu/hbase/electric/farlaw.html#c1




http://hyperphysics.phy-astr.gsu.edu/hbase/electric/powerac.html#c1



8ig /.3.1a- Half ;a)e Rectifier

;hile the out"ut of the halfa)e rectifier is *C it is all "ositi)e-, it ould not 5e

suita5le as a "oer su""ly for a circuit. 8irstly, the out"ut )oltage continually )aries

5eteen 2J and Js2.?J, and secondly, for half the time there is no out"ut at all.

/.1.3./ The 8ulla)e Rectifier

The circuit in figure addresses the second of these "ro5lems since at no time is the

out"ut )oltage 2J. This time four diodes are arranged so that 5oth the "ositi)e and

negati)e "arts of the AC a)eform are con)erted to *C.

8ig /.3./a- 8ull;a)e Rectifier

;hen the AC in"ut is "ositi)e, diodes A and B are forard5iased, hile diodes C

and * are re)erse5iased. ;hen the AC in"ut is negati)e, the o""osite is true diodes

C and * are forard5iased, hile diodes A and B are re)erse5iased.

11



;hile the fulla)e rectifier is an im"ro)ement on the halfa)e rectifier, its out"ut

still isnt suita5le as a "oer su""ly for most circuits since the out"ut )oltage still

)aries 5eteen 2J and Js1.@J. 'o, if you "ut 1/J AC in, you ill 12.>J *C out.

.+.4 &05ta6e Re6u5at0r

A 705ta6e re6u5at0r is an electrical regulator designed to automatically maintain a

constant )oltage le)el. 4t may use an electromechanical mechanism, or "assi)e or

acti)e electronic com"onents. *e"ending on the design, it may 5e used to regulate

one or more AC or *C )oltages. There are to ty"es of regulator are they.

Positi)e Joltage 'eries ?<66- and

Negati)e Joltage 'eries ?966-

89: ?< indicate the "ositi)e series and 66indicates the )oltage rating.'u""ose ?<2= "roduces the ma6imum =J.2=indicates the regulator out"ut is =J.

8;: ?< indicate the negati)e series and 66indicates the )oltage rating.

'u""ose ?92= "roduces the ma6imum =J.2=indicates the regulator out"ut is =J.

These regulators consists the three "ins there are

Pi2+: 4t is used for in"ut "in.

Pi2: This is ground "in for regulator

Pi2,: 4t is used for out"ut "in. Through this "in e get the out"ut.

12

http://en.wikipedia.org/wiki/Electricity

http://en.wikipedia.org/wiki/Regulator_(automatic_control)

http://en.wikipedia.org/wiki/Voltage

http://en.wikipedia.org/wiki/Mechanism_(technology)

http://en.wikipedia.org/wiki/Alternating_current

http://en.wikipedia.org/wiki/Direct_current

http://en.wikipedia.org/wiki/Electricity

http://en.wikipedia.org/wiki/Regulator_(automatic_control)

http://en.wikipedia.org/wiki/Voltage

http://en.wikipedia.org/wiki/Mechanism_(technology)

http://en.wikipedia.org/wiki/Alternating_current

http://en.wikipedia.org/wiki/Direct_current



8ig /.@ Regulator "hoto courtesy "ositron technologies-

2

. "T9;C+ #ICROCONTROLLERS:

The AT<9C=1 is a lo"oer, high"erformance CMO' <5it microcontroller ith

@: 5ytes of "rogramma5le 8lash memory and erasa5le read only memory

PEROM-. The de)ice is manufactured using Atmels highdensity non)olatile

memory technology and is com"ati5le ith the industry standard MC'=1

instruction set and "in out. The onchi" 8lash allos the "rogram memory to 5e

re"rogrammed insystem or 5y a con)entional non)olatile memory "rogrammer. By

com5ining a )ersatile <5it CP( ith 8lash on a monolithic chi", the Atmel

AT<9C=1 is a "oerful microcontroller hich "ro)ides a highlyfle6i5le and cost

effecti)e solution to many em5edded control a""lications.

..+ PIN CONFI/%R"TIONS

13



.. Sta2dard Feature!

• @: 5ytes of 8lash,

• 1/<K < 5its of internal RAM,

• 3/ "rogramma5le 40O lines,

• 8ull static o"eration 2HD to /@ MhD

• Three le)el "rogram memory 7oc!

• to 1>5it timer0counters,

•a si6)ector tole)el interru"t architecture,

.., PIN ESCRIPTION

1



&CC

'u""ly )oltage.

P0rt *

Port 2 is an <5it o"en drain 5idirectional 40O "ort. As an out"ut "ort, each "in can

sin! eight TT7 in"uts. ;hen 1s are ritten to "ort 2 "ins, the "ins can 5e used as

high im"edance in"uts. Port 2 can also 5e configured to 5e the multi"le6ed lo

order address0data 5us during accesses to e6ternal "rogram and data memory. 4n this

mode, P2 has internal "ull u"s. Port 2 also recei)es the code 5ytes during 8lash

"rogramming and out"uts the code 5ytes during "rogram )erification. E6ternal "ull

u"s are reuired during "rogram )erification.

P0rt +

Port 1 is an <5it 5idirectional 40O "ort ith internal "ull u"s. The Port 1 out"ut

5uffers can sin!0source four TT7 in"uts. ;hen 1s are ritten to Port 1 "ins, they are

"ulled high 5y the internal "ull u"s and can 5e used as in"uts. As in"uts, Port 1 "ins

that are e6ternally 5eing "ulled lo ill source current 447- 5ecause of the internal

"ull u"s. Port 1 also recei)es the loorder address 5ytes during 8lash "rogramming.

P0rt

Port / is an <5it 5idirectional 40O "ort ith internal "ull u"s. The Port / out"ut

5uffers can sin!0source four TT7 in"uts. ;hen 1s are ritten to Port / "ins, they are

"ulled high 5y the internal "ull u"s and can 5e used as in"uts. As in"uts, Port / "ins

that are e6ternally 5eing "ulled lo ill source current 447- 5ecause of the internal

"ull u"s. Port / emits the highorder address 5yte during fetches from e6ternal

"rogram memory and during accesses to e6ternal data memory that use 1>5it

1!



addresses MOJL *PTR-. 4n this a""lication, Port / uses strong internal "ullu"s

hen emitting 1s. *uring accesses to e6ternal data memory that use <5it addresses

MOJL R4-, Port / emits the contents of the P/ '"ecial 8unction Register. Port /

also recei)es the highorder address 5its and some control signals during 8lash

"rogramming and )erification.

P0rt ,

Port 3 is an <5it 5idirectional 40O "ort ith internal "ullu"s. The Port 3 out"ut

5uffers can sin!0source four TT7 in"uts. ;hen 1s are ritten to Port 3 "ins, they are

"ulled high 5y the internal "ullu"s and can 5e used as in"uts. As in"uts, Port 3 "ins

that are e6ternally 5eing "ulled lo ill source current 447- 5ecause of the "ullu"s.

Port 3 also ser)es the functions of )arious s"ecial features of the AT<9C=1, as shon

in the folloing ta5le. Port 3 also recei)es some control signals for 8lash

"rogramming and )erification.

Ta5le /./.1 "ort 3 alternate functions

RST

1



Reset in"ut. A high on this "in for to machine cycles hile the oscillator is running

resets the de)ice.

"LE<PRO/

Address 7atch Ena5le A7E- is an out"ut "ulse for latching the lo 5yte of the

address during accesses to e6ternal memory. 4n normal o"eration, A7E is emitted at

a constant rate of 10> the oscillator freuency and may 5e used for e6ternal timing or

cloc!ing "ur"oses. Note, hoe)er, that one A7E "ulse is s!i""ed during each access

to e6ternal data memory. 4f desired, A7E o"eration can 5e disa5led 5y setting 5it 2 of

'8R location <EH. ;ith the 5it set, A7E is acti)e only during a MOJL or MOJC

instruction. Otherise, the "in is ea!ly "ulled high.

PSEN

Program 'tore Ena5le P'EN- is the read stro5e to e6ternal "rogram memory. ;hen

the AT<9C=1 is e6ecuting code from e6ternal "rogram memory, P'EN is acti)ated

tice each machine cycle, e6ce"t that to P'EN acti)ations are s!i""ed during each

access to e6ternal data memory.

E"<&PP

E6ternal Access Ena5le. EA must 5e stra""ed to +N* in order to ena5le the de)ice

to fetch code from e6ternal "rogram memory locations starting at 2222H u" to

8888H. Note, hoe)er, that if loc! 5it 1 is "rogrammed, EA ill 5e internally latched

on reset. EA should 5e stra""ed to JCC for internal "rogram e6ecutions.

1T"L+

4n"ut to the in)erting oscillator am"lifier and in"ut to the internal cloc! o"eratingcircuit.

1T"L

Out"ut from the in)erting oscillator am"lifier.

14



., IR Se2!0r!

An 4nfraRed sensor detects 4nfraRed light0hite light from a "articular o5#ect0line

and then con)erts light energy to electrical energy. An 4R sensor "air consists of an

emitter and a detector. The emitter is 5lue in color and the detector can 5e grey, 5lac!

or hite in color.

8ig./.3.1 TL Emitter RL *etector Photo courtesy "ositron technologies-

.,.+ IR Emitter:

An infrared emitter is a 7ight Emitting *iode 7E*- made from +allium Arsenide. 4t

detects 4R energy at a a)elength of <<2nm and emits the same. The infrared

"hototransistor acts as a transistor ith the 5ase )oltage determined 5y the amount of

light hitting the transistor. Hence it acts as a )aria5le current source. +reater amount

of 4R light cause greater currents to flo through the collectoremitter leads.

The )aria5le current tra)eling through the resistor causes a )oltage dro" in the "ullu"

resistor. This )oltage is measured as the out"ut of the de)ice.

.,. IR etect0r:

An infrared detector is a "hoto detector. 4t detects 4R energy emitted 5y the emitter

and con)erts it into electrical energy.

The main "rinci"le in)ol)ed in the con)ersion of light energy to electrical energy is

PHOTOE7ECTR4C E88ECT.

1,



4R sensor circuit to detect a 5lac! line on hite 5ac!ground

8ig /.3./. 4R sensor circuit

The out"ut is ta!en at negati)e terminal of 4R detector.

The out"ut can 5e ta!en to a microcontroller either to its A*C Analog to *igital

Con)erter- or 7M 339 can 5e used as a com"arator.

2.4 L !24

2.4." #EA$%&ES'

• ;ide gain 5andidth 1.3MH in"ut commonmode )oltage range

• 4ncludes ground .large )oltage gain 122*B .)ery lo su""ly current0am"li

3?=ma lo in"ut 5ias current /2NA lo in"ut offset )oltage =m) ma6.

• 7o in"ut offset current /NA ide "oer su""ly range

• 'ingle su""ly 3) to 32)

• *ual su""lies Q1.=) to Q1=)

.4. ESCRIPTION

1-



These circuits consist of four inde"endent, high gain, internally freuency

com"ensated o"erational am"lifiers .They o"erate from a single "oer su""ly o)er a

ide range of )oltages. O"eration from s"lit "oer su""lies is also "ossi5le and the

lo "oer su""ly current drain is inde"endent of the magnitude of the "oer su""ly

)oltage.

#i('2.4.". pi) co)*(+ratio) top -iew

. H=BRI/E:

An H5ridge is an electronic circuit hich ena5les *C electric motors to 5e run

forards or 5ac!ards. These circuits are often used in ro5otics. H5ridges are

a)aila5le as integrated circuits, or can 5e 5uilt from discrete com"onents.

8ig /.=.1.H5ridge sitch diagram

25



The to 5asic states of a H5ridge. The term FH5ridgeF is deri)ed from the ty"ical

gra"hical re"resentation of such a circuit. An H5ridge is 5uilt ith four sitches

solidstate or mechanical-. ;hen the sitches '1 and '@ according to the first

figure- are closed and '/ and '3 are o"en- a "ositi)e )oltage ill 5e a""lied across

the motor. By o"ening '1 and '@ sitches and closing '/ and '3 sitches, this

)oltage is re)ersed, alloing re)erse o"eration of the motor.

(sing the nomenclature a5o)e, the sitches '1 and '/ should ne)er 5e closed at

the same time, as this ould cause a short circuit on the in"ut )oltage source. The

same a""lies to the sitches '3 and '@. This condition is !non as shootthrough.

2./." 0peratio)

The HBridge arrangement is generally used to re)erse the "olarity of the motor, 5ut

can also 5e used to 5ra!e the motor, here the motor comes to a sudden sto", as the

motors terminals are shorted, or to let the motor free run to a sto", as the motor is

effecti)ely disconnected from the circuit. The folloing ta5le summariDes o"eration.

S

"

S

2

S

!

S

4&es+lt

1 5 5 1+otor mo6e"

right

5 1 1 5 +otor mo6e" left

5 5 5 5 +otor free r$n"

5 1 5 1 +otor 7r#e"

21



Ta5le /.=.1 H5ridge sitch o"eration

.. H=Brid6e ri7er:

The sitching "ro"erty of this HBridge can 5e re"laced 5y a Transistor or a Relay or

a Mosfet or e)en 5y an 4C. Here e are re"lacing this ith an 4C named 7/93* as the

dri)er hose descri"tion is as gi)en 5elo. The *e)ice is a monolithic integrated

high )oltage, high current four channel dri)er designed to acce"t standard *T7 or

TT7 logic le)els and dri)e inducti)e loads as and sitching "oer transistors. To

sim"lify use as to 5ridges each "air of channels is eui""ed ith an ena5le in"ut. A

se"arate su""ly in"ut is "ro)ided for the logic, alloing o"eration at a loer )oltage

and internal clam" diodes are included. This de)ice is suita5le for use in sitching

a""lications at freuencies u" to = !HD. The 7/93* is assem5led in a 1> lead "lastic

"ac!age hich has @ center "ins connected together and used for heat sin!ing The

7/93* is assem5led in a /2 lead surface mount hich has < center "ins connected

together and used for heat sin!ing.

.., Feature!:

• >22mA O(TP(T C(RRENT CAPAB474T&

• PER CHANNE7

• 1./A PEA: O(TP(T C(RRENT non re"etiti)e-

• ENAB7E 8AC474T&

• OJERTEMPERAT(RE PROTECT4ON

• 7O+4CA7 F2F 4NP(T JO7TA+E (P TO 1.= J

• H4+H NO4'E 4MM(N4T&-

• 4NTERNA7 C7AMP *4O*E'

22



..4 BLOC- I"/R"#:

8ig /.=./. 5loc! diagram of H5ridge

.. PIN CONNECTIONS

23



8ig /.=.3 "in configuration of H5ridge

,. WOR-IN/ PROCE%RE

,.+ WOR-IN/

Ro5otics is an interesting su5#ect to discuss a5out and in this ad)anced orld Ro5ots

are 5ecoming a "art of our life. 4n this "ro#ect e are going to discuss a5out a ro5ot

hich is ca"a5le of folloing a line ithout the hel" of any e6ternal source.

The Em5edded 7ine folloing ro5ot uses to motors to control rear heels and the

single front heel is free. 4t has 3infrared sensors on the 5ottom for detection of 5lac! trac!ing ta"e. ;hen the middle sensor detects the 5lac! color, this sensor

out"ut is gi)en to the com"arator 7M3/@. The out"ut of com"arator com"ares this

sensor out"ut ith a reference )oltage and gi)es an out"ut. The out"ut of com"arator

ill 5e lo hen it recei)es an in"ut from the sensor.

;e follo a sim"le logic to im"lement this "ro#ect. As e !no that 5lac! colour is

ca"a5le of a5sor5ing the radiation and hite colour or a 5right colour reflects the

radiation 5ac!. Here e use 3 "airs of 4R TL and R6 .The ro5ot uses these 4R sensorsto sense the line and the arrangement is made such that sensors face the ground. The

out"ut from the sensors is an analog signal hich de"ends on the amount of light

reflected 5ac! and this analog signal is gi)en to the com"arator to "roduce 2s and 1s.

4nternally e ha)e an OTP one time "rogramma5le- "rocessor hich is used to

control the rotation of the heels. The rotation of these heels de"ends u" on the

res"onse from the com"arator. 7et us assume that hen a sensor is on the 5lac! line it

reads 2 and hen it is on the 5right surface it reads 1.

Here e can get three different cases, they are

1. 'traight direction

/. Right cur)e

2



3. 7eft cur)e

,.+.+ Strai6ht directi02:

;e can e6"ect our ro5ot to mo)e in straight direction hen the middle sensors

res"onse is lo and the remaining to sensors res"onse is high. i.e., according to our

arrangement the middle sensor ill alays 5e on the line and as the line is 5lac! in

colour it ill not reflect the emitted radiation 5ac! and the res"onse of the sensor ill

5e lo and the res"onse of the remaining to sensors ill 5e high as they ill 5e on

the 5right surface.

,.+. Ri6ht cur7e:

;hen a right cur)e is found on the line the res"onses ill change i.e. the res"onse of

the first sensor hich is to the right ill 5ecome lo as that sensor ill 5e facing the

5lac! line and the reaming sensors res"onse ill 5e high. ;e this data is achie)ed the

control of the heels is changed i.e. the right heel is held and the left heel is made

to mo)e freely until the res"onse from the middle sensor 5ecomes lo. Then the same

"rocess re"eats again.

,.+., Le3t cur7e:

;hen a left cur)e is found on the line the res"onse of the left most sensor ill 5e

changed from high to lo as the sensor ill no face the 5lac! or the dar! surface.

Then the control of the heel changes i.e. 5y holding the left heel and alloing the

right heel to mo)e freely until the middle sensor changes it is res"onse from high tolo.The same "rocess continues for all the turns and the ro5ot mo)es continuously

until the su""ly is remo)e

,.+.4 "&"NT"/ES

2!



Ro7ot mo6ement i" #$tom#tic.

it #n) orget "y"tem.

U"e) for long )i"t#nce #//lic#tion".

Defen"e #//lic#tion".

U"e) in home8 in)$"tri#l #$tom#tion. Co"t e9ecti6e.

Sim/licity of 7$il)ing

,.+. IS"&"NT"/ES

78R follos a 5lac! line a5out 1 or / inches in idth on a hite surface.

78R are sim"le ro5ots ith an additional sensors "laced on them.

Needs a "ath to run either hite or 5lac! since the 4R rays should reflectfrom

the "articular "ath. 'lo s"eed and insta5ility on different line thic!ness or hard angles.

,.+.> "PPLIC"TIONS:

+uidance system for industrial ro5ots mo)ing on sho" floor etc.

4ndustrial a""lications.

Home a""lications.

@. SOFTW"RE TOOLS

4.+ -EIL SOFTW"RE:

:eil com"iler is a softare used here the machine language code is ritten

and com"iled. After com"ilation, the machine source code is con)erted into he6 code

hich is to 5e dum"ed into the microcontroller for further "rocessing. :eil com"iler

also su""orts C language code.

2



4. L"N/%"/E PRO/R"# :

includeSreg6=1.h

)oid main-

U

hile1-

U

ifP1V2WW2P1V1WW2-

U

P/W2622I

X

ifP1V2WW1P1V1WW1-

U

P/W268=I

X

ifP1V2WW2P1V1WW1-

U

P/W268@I

X

ifP1V2WW1P1V1WW2-

U

P/W2681I

X

X

X

4., PROTE%S SI#%L"TION

24



XTAL218

XTAL119

ALE30

EA31

PSEN29

RST9

P0.0/AD0 39

P0.1/AD1 38

P0.2/AD2 37

P0.3/AD3 36

P0.4/AD4 35

P0.5/AD5

34

P0.6/AD6 33

P0.7/AD7 32

P1.01

P1.12

P1.23

P1.34

P1.45

P1.56

P1.67

P1.78

P3.0/RXD 10

P3.1/TXD 11

P3.2/INT0 12

P3.3/INT1 13

P3.4/T0 14

P3.7/RD 17

P3.6/WR 16

P3.5/T1 15

P2.7/A15 28

P2.0/A8 21

P2.1/A9 22

P2.2/A10 23

P2.3/A11 24

P2.4/A12 25

P2.5/A13 26

P2.6/A14 27

U1

AT89C51

IN12

OUT1 3

OUT2 6

OUT3 11

OUT4 14

IN27

IN310

IN415

EN11

EN29

VS

8

VSS

16

GND GND

U2

L293D

+5V +12V

+ 8 8 . 8

+ 8 8 . 8

4.4 RES%LT

The o5#ecti)e of the line folloing ro5ot is to follo a line on its gi)en "ath hich is

o5tained for hich it uses 4R sensors hich detects the line and sends the information

to 7M3/@ com"arator and then to H 5ridge hich controls the or!ing of the

heels. Microcontroller controls the other o"erations.

.CONCL%SION "N F%T%RE SCOPE

CONCL%SION:

4n this "ro#ect e ha)e studied and im"lemented a 7ine 8olloing Ro5ot using a

Microcontroller for 5lind "eo"le. The "rogramming and interfacing of

microcontroller has 5een mastered during the im"lementation.

F%T%RE SCOPE:

2,



'marter )ersions of line folloers are used to deli)er mails ithin office

5uilding and deli)er medications in a hos"ital. This technology has 5een suggested for running 5uses and other mass transit

systems and may end u" as a "art of autonomous cars na)igating the freeay.

REFERENCES :

Y1Z. .a )rfrea!s.com, Microntrollers, Atmel ,12

Y/Z. se"tiem5re/221. Y11Z .atmel.com

Y3Z. The <2=1 Microcontroller and Em5edded 'ystems (sing Assem5ly and C By

Muhammad Ali MaDidi, [anice +illis"ie MaDidi Ro lin *. Mc:inlay

Y=Z. Atmel Cor". Ma!ers of the AJR microcontroller

.atmel.com

Y>Z. .electronic "ro#ects.com

Y?Z. .hostuffor!s.com

Y<Z. Electri!india.

Y9Z. EMBE**E* '&'TEM B& RA[ :AMA7

http://www.avrfreaks.com/

http://www.atmel.com/


http://www.howstuffworks.com/

http://www.avrfreaks.com/



http://www.howstuffworks.com/

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