Line Follower Robot

Project Based Learning

on
Linear Integrated Circuits (16EE501)

Synopsis

Submitted by

Puneeth R Shettigar Nishanth S

(4NM16EE026) (4NM16EE017)

SUBMITTED TO

Pradeep Kumar
Assistant Professor

August 2018
 Table of Content

Chapter 1 Introduction Page 1

1.1 Introduction Page 1
1.2 Project Description Page 1

Chapter 2 Project Description Page 3

2.1 Objectives Page 3
2.2 Circuit Diagram Page 4
2.3 Tools Used Page 4
2.4 Expected Results Page 5

References Page 6
 CHAPTER 1 INTRODUCTION

1.1 Introduction
Robots and machines can accomplish complicated or enormous projects more precisely
than humans. Robots- sometimes called "artificial intelligence" do many things faster than
humans, and make everyday life safer
The Line Follower Robot is an advanced mobile robot which follows a certain trajectory or
path. In order to detect these specific paths, various sensing schemes can be employed.
These schemes may vary from simple low cost line sensing circuit to expansive vision
systems. The choice of these schemes would be dependent upon the sensing accuracy and
flexibility required.
From the industrial point of view, line follower robot has been implemented in semi to fully
autonomous plants. In this environment, these robot functions as materials carrier to
deliver products from one manufacturing point to another where rail, conveyor and gantry
solutions are not possible. Apart from line following capabilities, these robots should also
have the capability to navigate junctions and decide on which junction to turn and which
junction to ignore. This would require the robot to have 90 degree turn and also junction
counting capabilities.

1.2 Project Description

The main features of this system are:

Here the op amps are used in open loop configuration as a comparator.

A comparator is a circuit which compares the voltage on one of the input pin with a
reference voltage set on another pin and gives either a high (+Vcc) or low (0V or -Vee)
output.

LM358(dual op amp) has 2 op amps inside. Both are used as comparators. Each
comparator is connected to one sensor and output to one motor through a transistor.

The reference voltage is set using a 10K pot on the inverting terminal of the op amp.

Now suppose the sensor is placed on a white surface. The IR rays from the IR led will be
reflected and these are sensed by the photodiode. This increases the voltage of the
photodiode and it crosses the reference voltage set by the 10K potentiometer. So the
output goes high and the motor starts working. If the sensor comes on black surface, black
colour absorbs all the IR rays, so output of op amp is low and hence motor stops.

The distance between the sensors should be equal to or slightly greater than the width of
the track on which you want your robot to work.
When the track is curved, one of the sensor is on white surface and one is on black track. So
one motor is running and one is stopped, the bot takes a turn.

Advantages:

Robot movement is automatic

Fit and Forget system.

Used for long distance applications

Defense applications.

Used in home, industrial automation.

Cost effective.

Simplicity of building.

Most of the line following robots uses complex circuits with microcontrollers and op amps.
And the algorithms used like PWM (Pulse Width Modulation), PID (Proportional Integral
Derivative) are tough to understand and implement.

In this design for a line following robot which uses simple circuit with op amp and IR
sensors.
CHAPTER 2 PROJECT DESCRIPTION

2.1 Objectives

All the parts and the sensor PCB is firmly attached to the chassis at a certain distance from
ground.

Robot is placed on a black surface (both the sensors are on black surface). The distance
from sensor to ground should be kept fixed to calibrate the robot. Variation in the distance
between sensors are ground may cause the robot to not follow the track. All the sensors
should be attached firmly to the chassis.

The black surface should be made of same material as a track.

The motors maybe running or they may be stopped depending on the current position of
the potentiometer.
While the robot is still on black surface, adjust the potentiometer such that both the
motors just stop.

Later potentiometer shaft should not be moved. Carefully placing the robot on a white
surface. The motors should start running. The robot is calibrated now.

Track should be made on the white surface using the same black material used for
calibrating.
Robot is switched ON and kept it on the track.

ROBOT IS NOW READY TO MOVE.

2.2 Circuit Diagram

2.3 Tools Used

LM358 dual op amp - 1

BC547 transistors - 2

1K 1/4Watt resistor - 2

330 ohms 1/4Watt resistor - 2

470 ohms 1/4Watt resistor - 2

10K potentiometers - 2

Infrared LEDs (IR LEDs) - 2

IR sensors (Photodiode) - 2

DC geared motors 30 RPM or 60 RPM - 2

Chassis for mounting motors - 1

General purpose board – 1

2.4 Expected Results

The robot follows black track on white background. When the track is curved, one of the
sensor is on white surface and one is on black track. So one motor is running and one is
stopped, the robot takes a turn. To make a robot that follows white track on black
background then the connections should be interchanged on the inverting and non-
inverting terminals of the op amp.
 REFERENCES

1. LM358 op amp datasheet

2. www.Instructables.com