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Autonomous bot using OP-AMP(lm741)
- 1. Autonomous bot Done by, C.Balaji 15E105 S. Deepak Arumugam 15E108 J. Karthickraja 15E117 S. Praveenkumar 15E137 Deepan 16E403 Y. Elangovan 16E501
- 2. Aim of thisproject: • Any one who aims for a career in robotics would start learning robotics with simple bots like Line follower, Obstacle detector, Object follower, Light follower and there are many other similar basic bots . • Generally microcontrollers form the brain of these bots which makes the construction of these bots easier but a bit costlier. • Our aim was to find an alternative and cheap way to construct these bots.
- 4. Line follower • Aline follower generally designed such that it follows a black path drawn on a white board. • These bots generally makes use of a pair of IR sensors each of which are placed on either side of the bot. • When IR radiation falls on a black surface it absorbs all the radiation when it falls on a white surface it reflects back the radiation which is sensed by the sensor IR LED IR sensor IR LED IR sensor
- 5. The IR sensormodule
- 6. Obstacle detector • Anobstacle detector’s idea is to detect an object in its path • An obstacle detector uses ultrasonic sensors to do this. • An ultrasonic sensor sends out pulse of 40kHz frequency. • This pulse gets reflected when it hits an object, the sensor senses the reflected pulse. • Based on the time between the transmission and reception, the distance between the object and the bot is determined.
- 7. Light Follower • Inlight follower, the bot has to a light beam. • The bot uses a light dependant resistor for this purpose. • When light rays fall on the LDR, the resistance becomes close to zero. • When no light falls on the LDR, the resistance becomes the rated value.
- 8. Pro’s and con’s Pro’s •Simple design • Low cost • No coding knowledge is required. Con’s • Limited only to simpler paths ( e.g., the bot cannot pass through loops).
- 10. LM 324 • Lowpower Quad Op-Amp • Internally frequency compensated. • Bandwidth of 1MHz. • Uses single as well as dual power supply. • Low offset voltage, offset current, low input bias current.
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- 12. LM 741 voltage v+9v voltage v- 0 Reference (0-5)v Input (0-5)v • The set of signals is applied to the IC
- 13. L293D H BRIDGE In1 In 2 Op 1 In 3 In 4 Op Directio n 0 0 Nil 1 0 fwd Right 1 0 Fwd 1 0 Fwd forward 0 1 Rev 0 1 Rev reverse 1 0 fwd 0 0 Nil Left
- 14. Motors • Dc motorwith gear arrangement to increase the torque. • The ratings of motor we used, Rating Voltage 3.5 to 9v DC Rpm 5000 Current 70mA
- 15. Schematic of entirecircuit
- 16. Schematic of lightfollower and line follower
- 17. Wireless light controlledbot using opamp • The same circuit of light folower can be done in an wireless manner if we use RF transmitter &receiver module along with a decoder and encoder • The components used are • OP-amp ic (lm741) • Transmitter (tws 434) and encoder (HT12E) • Receiver (Rws 434) and decoder (HT12D) • Motor driver(L293D) • Geared dc motors
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- 22. Circuit for transmissionand reception • Transmitter
- 23. TRANSMITTER configuration • Intransmitter circuit the encoder pins D1 and D3 are connected to output of opamp 1 and 2 respectively. • And D2 and D4 are grounded • This configuration restricts the operation of bot in reverse direction. • Serial data pin is connected to the transmitter pin • Remaining connections are as per the diagram
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- 25. Receiver configuration • Inreceiver circuit the decoder pins two pins D1 and D2 are connected to motor driver inputs IN1 and IN2 respectively. • And D3 and D4 are connected to driver ic pins IN3 IN4 respectively. • The motors are connected to the output of the ic’s. • So finally the wireless control of your bot using op amps is successfully done.
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