LINE FOLLOWER ROBOT

Designby:REHAAN YAHYA HAJIMAHMOUD
EXTC ENGINEER
CHAPTER: 1
1.1 INTRODUCTION:
A line following robot is a machine employed to sense and follow the black lines
that are drawn on the white surface. This robot is developed using a pcb .This
technique can be incorporated into Generally, the AGV is integrated with the
microprocessor and computers for controlling its system. It also uses a position
feedback system for traveling in the desired path. In addition, the electric signals
and RF communication are needed for communicating with the vehicle and
system controller. Such awkward functions are completely not required in this
line following robot, and it just uses the IR sensors to travel on the black lines.
1.2 SALIENT FEATURES:
 Smaller size and lower cost than for equivalent for other technologies
 Continuous feedback
 Ambient light sensing for tracking line source or line following

EXTC ENGINEER
Chapter: 2
Electronics steps
DAYS WEEKS ELECTRONICS STEPS
1 Project name selection
1 Literature survey
1 Problem definition
1 Block diagram
1 Details of individual block
1 Rough circuit diagram
1 Availability of parts in markets
1 Purchasing parts
2 Testing individual parts
1 Finalizing circuit diagram
1 Pcb designing
1 Soldering parts
1 Testing and troubleshooting of each parts
1 Complete testing of final circuit
1 Initializing of software
3 Final testing of software & hardware
1 Mounting of circuits on board
1 Model development
1 Finalizing the project
2 Report preparation
15 Project delivery

EXTC ENGINEER
CHAPTER: 3
BLOCK DIAGRAM

EXTC ENGINEER
CHAPTER: 4
CIRCUIT DIAGRAM

EXTC ENGINEER
CHAPTER: 5
HARDWARE COMPONENTS:
SNO COMPONENT QUANTITY PRICE
1 Chassis ( Robotic Platform) 1
2 Double AA batteries cell holder 1
3 Nipper 1
4 Stripper 1
5 Nose pliers 1
6 Screw driver 1
7 HD74LS04 inverting IC 1
8 3mm led 2
9 LDR 2
10 LM324 IC 1
11 20 k pre-set (Metallic) 2
12 Led ( 3mm ) 2
13 10 k ( Brown, Black ,Black, Red) 4
14 L29D3 IC Section 2
15 One core wire 1
16 DC jack 1
17 7805 voltage regulator IC 1
18 3 mm Led 1
19 Resistor (220ohm ) (Red, Red, Black, Black ) 1

EXTC ENGINEER
CHAPTER: 6
HARDWARE IMPLEMENTATION
6.1 PCB MOUNTING:

EXTC ENGINEER
6.2 CHASEES:

EXTC ENGINEER
CHAPTER: 7
DATA SHEETS
1. LM 324 IC
2. 7805 IC
3. HD 74LS04 IC
4. LN29D3 IC

EXTC ENGINEER
CHAPTER: 8
DESCRIPTION OF COMPONENTS
 Battery:
This robot is powered by a battery. One 9V battery is enough to perform this
process. For more usages, four 9V batteries may be required.
 12V DC motor:
If a DC power is passed on a DC motor, it will produce torque. The torque created
will lead to the rotation of the wheels. It will only operate on the direct current.
Here, two 12V DC motors are used.
 Two plastic wheels:
The plastic wheels will be connected to the DC motors. As soon as they create
the torque, these wheels will help the robot to move.
 Castor wheel:
The castor wheel is used to make the movements easy and quick even it has large
components on its top. In this process, a small stainless steel castor could be the
best one to use.
 IR sensor circuit:
This process requires two IR sensor circuits. An IR sensor circuit will include an
IC LM358N, potentiometer, IR receiver, and IR transmitter for sensing the black
lines.
 Battery holder:
It is used to connect the battery with the breadboard.
 Capacitor:
It helps in storing the current, equalizing the power output, filtering, and more.
This robot makes use of two 10uf capacitors.
 Resistors:
It is incorporated in such areas where there is a need of reduced voltage. There
are various ranges of resistors available. It can be measured either by means of
Multimeter or calculation of colors.
 IC LM358N:
It is an operational amplifier or comparator used to evaluate the voltage current.
The high amount of voltage gained will be considered as the output. It is one of
the main components of an IR sensor circuit.
 IC 7805:
The output given from the battery to the circuit is 9V. In this process, 5V of power
supply is sufficient to operate. For that reason, an IC 7805 voltage regulator is
used to control the high amount of voltage.

EXTC ENGINEER
 IC L293D:
It allows the DC motor to run in both front and back directions. It consists of up
to 16 pins.
 Multimeter:
This device is mainly used to check the range of resistors, battery, and so on.
 LED:
The glowing of the LED makes sure that the current is flowing in the circuit. If
the LED does not glow, it is considered that there is some problem with the
connection.

EXTC ENGINEER
CHAPTER: 9
HARDWARE DESCRIPTION
STAGE 1(line sensor)
Line sensor is a combination of LDR (Light Dependent Resistor) and LED (Light
Emitting Diode) which works on phenomenon of Reflection and Absorption.
White color surface reflects the most of the color falling on them while Black color
surface absorbs all the light falling on them.
So, a major part of light emitted by LED is reflected by white surface and so, LDR detects
it.

EXTC ENGINEER
STAGE 2 (Logic Section)
This stage consists of LM324 IC which is used for to generate logic signal. It take input
from the line sensor and generate the output signal which is used for to drive the
motors.
LM324 is a 14pin IC consisting of four independent operational amplifiers (op-amps)
compensated in a single package. Op-amps are high gain electronic
voltage amplifier with differential input and, usually, a single-ended output. The output
voltage is many times higher than the voltage difference between input terminals of an
op-amp.
Pin Diagram:

EXTC ENGINEER
Pin Description:
PIN DESCRIPTION NAME
1 Output of 1st comparator Output 1
2 Inverting input of 1st comparator Input 1-
3 Non-inverting input of 1st comparator Input 1+
4 Supply voltage; 5V (up to 32V) Vcc++
5 Non-inverting input of 2nd comparator Input 2+
6 Inverting input of 2nd comparator Input 2-
7 Output of 2nd comparator Output 2
8 Output of 3rd comparator Output 3
9 Inverting input of 3rd comparator Input 3-
10 Non-inverting input of 3rd comparator Input 3+
11 Ground (0V) Ground
12 Non-inverting input of 4th comparator Input 4+
13 Inverting input of 4th comparator Input 4-
14 Output of 4th comparator Output 4

EXTC ENGINEER
Stage 3(Logic inverter)
This stage consists of logic inverter 74HC04D IC which is used to invert the logic. The
logic is given to its input terminal in the form of logic 0 and logic 1.
74HC04 IC is used for to invert the logic. The input are given from the output of LM324
IC and this IC output are used for to drive the motor. It also provides buffering that is
amplification for the motor driver IC.
`

EXTC ENGINEER
Stage 4(motor driver)
This stage consists of the motor driver l293D IC which is used f to drive the motor. As
the signal comes from the inverter IC it drives the motor according to signals comes.
L293D IC is a dual H-bridge motor driver integrated circuit (IC). Motor drivers act as
current amplifiers since they take a low-current control signal and provide a higher-
current signal. This higher current signal is used to drive the motors.
L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation,
two DC motors can be driven simultaneously, both in forward and reverse direction. The
motor operations of two motors can be controlled by input logic at pins 2 & 7 and 10 &
15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it
in clockwise and anticlockwise directions, respectively.
Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to start
operating. When an enable input is high, the associated driver gets enabled. As a result,
the outputs become active and work in phase with their inputs. Similarly, when the enable
input is low, that driver is disabled, and their outputs are off and in the high-impedance
state.

EXTC ENGINEER
Truth table for robot Movement
SNo IN1 IN2 IN3 IN4 Movement of robot
1 1 0 0 1 Forward
2 0 1 1 0 Backward
3 0 1 0 1 Left
4 1 0 1 0 Right

EXTC ENGINEER
CHAPTER: 10
ADVANTAGE, DISADVANTAGE AND APPLICATIONS
10.1 ADVANTAGE:
 Robot movement is automatic
 Used for long distance
 Defense application
 Cost effective
 Simplicity of building
10.2 DISADVANTAGE:
 Line following robot follows a black line about 1 or 2 inches in width on white
surface
 Line tracing robot are simple robots with additional sensors place on them
 It always need a path to run either black or white since the IR rays should reflect
from the particular path
 Slow speed and instability on different line thickness or hard angles
10.3 APPLICATION:
 Industrial application
 Guidance system for industrial robot moving in a shop floor etc.
 Home application

EXTC ENGINEER
CHAPTER: 11
FUTURE SCOPE:
 By modification it can be used for delivering mail within office and deliver
modifications within hospitals.
 This technology has been suggested for running buses and other mass transit
system and may end up as a part of autonomous s navigating the freeway
CONCLUSION:
The results of the project were satisfactory. The platform rotates and stops properly most
of the time. Unfortunately, there were some issue with the sensors that were difficult to
handle. Mainly, the sensors output is high for a very long time, thus delaying the response
of the system.
We spent much of our time attempting to change certain parameters to achieve an optimal
circuit performance.

LINE FOLLOWER ROBOT

More Related Content

What's hot

Viewers also liked

Similar to LINE FOLLOWER ROBOT

Recently uploaded

LINE FOLLOWER ROBOT