A PROJECT REPORT ON LINE FOLLOWER ROBOT Submitted to RAJIV GANDHI PROUDYOGIKI VISHWAVIDYALAYA, BHOPAL (M.P.) In Partial Fulfillment of the Degree of BACHELOR OF ENGINEEING IN ELECTRONICS & COMMUNICATION ENGINEERING Submitted by ROHIT DADORIYA (0905EC131137) RISHABH GUPTA (0905EC131132) PUSHPENDRA RAGHUWANSHI (0905EC131125) Under the guidance of Mrs. Meha Agarwal Assistant Professor DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING INSTITUTE OF TECHNOLOG Y& MANAGEMENT, GWALIOR (2013-2017)INSTITUTE OF TECHNOLOGY & MANAGEMENT,GWALIOR (M.P.) DEPARTMENT OF ELECTRONICS & COMMUNICATION CERTIFICATE This is certified that the Project entitled LINE FOLLOWER ROBOT is the record of bonafide work done by ROHIT DADORIYA (0905EC_ 131137), RISHABH GUPTA (0905EC131132) and PUSHPENDRA RAGHUWANSHI (0905EC131125) under my guidance for the partial Fulfillment of the requirements for the award of the degree of “Bachel or of Engineering.” To the best of my knowledge, this project is an ori ginal work and has not been submitted anywhere for the award of any degree. Date: Mrs. Meha Agarwal Assistant ProfessorGROUP OF INSTITUTIONS INSTITUTE OF TECHNOLOGY & MANAGEMENT,GWALIOR (M.P.) DEPARTMENT OF ELECTRONICS & COMMUNICATION CERTIFICATE OF APPROVAL The foregoing project entitled LINE FOLLOWER ROBOT is hereby approved as a creditable study of an engineering subject carried out and presented in a manner satisfactory to warrant its acceptance as a pre-req uisite to the degree for which it is submitted. It is understood that by this approval, the undersigned do not necessarily endorse any conclusion or opinion therein, but approve the project for the purpose for which it was submitted, PROJECT GUIDE PROJECTMODULE COORDINATOR HOD PROJECT COORDINATORone uoncae nea INSTITUTE OF TECHNOLOGY & MANAGEMENT,GWALIOR (M.P.) DEPARTMENT OF ELECTRONICS & COMMUNICATION ACKNOWLEDGEMENT ‘We would like to take this opportunity to express our extreme gratitude towards our project guide Mrs. MEHA AGARWAL Department of EL ectronics and Communication for her invaluable guidance, advice and s upport throughout the project. Her motivation and help have been a sour ce of great inspiration to us. We are also grateful t HOD Dr. D.V.B SINGH of our department prov iding us adequate facilities because of which my project has been succes sful. We are very indebted to our Director Dr. B.K. SINGH who motivated tis to improve the quality of our project and extended all supports requir ed at institution level. Last but not the least we are also thankful to all faculty & staff members of our department for corporation extended in completion of our project. ROHIT DADORIYA (0905EC131137) RISHABH GUPTA (0905EC 131132) PUSHPENDRA RAGHUWANSHI (0905EC131125)Abstract This paper report describes the techniques for analyzing, designing, controlling and improving the material supply delivery within hospitals. Duc to increasing demands fbr patient supervision, the jobs like supply of fod, medicines ete., hs become a ti me consuming process, So, 4 misrocontroller based line following robot carrying m edicine canbe designed for providing the medicine to the patient whenever they nee dita ¢ follower robot is an eketronic system that can detcet and follow a fine dr awn on the floor, The robot uses IR sensors to sense the line, an array of IR LEDs and sensors, ficing the ground have been used in this setup. An IR sensor canbe fitt ed near the patient's bed to which connection has been made with the robot too. The switeh for it ean be activated by the supply person in the microcontroller itself, If th € switch is pressed then a flag bit is set in the microcontroller, from which the robot follows the line and reaches near the patient and provide the medicine to the patient. A proximity sensor can be attached with the robot so that it detects any obstacle pre sent in their way.and can alarm, The ability to get someone around the clock is the b est thing that this system can do. This helps and simplific and also reduces the manttal routine work done by the hospital sta This technolog the job of material supply y focuses on the delivery of safe, timely, efficient, effective, patient-centered health care,Table of contents ‘Chapter Page No. Certificates Acknowledgement Abstract Table of contents List of figures 1 Introduction 13 1.1 Objective of study I 1.2 Problem Defination 2 1.3. Project scope 2 14 Block diagram 3 2 Literature Survey 47 2.1 Autonomous robot 4 2.2 Working principle 2.3 Hardware components 7 3 Steps in Circuit. Designing 6-15 3.1 Cireuit diagram and explanat 8 3.1.1 Block diagram 8 3.1.2 Software tools 9 3.1.3 Schematic diagram 13 3.1.4 PCB Designing B 3.1.5. Pressing i 3.1.6 Etching i4 3.1.7. Drilling & Shouklering 4Results and Discussion 41 42 43 44 Result Discussions Advantages & Disadvantages Applications Conchisions and Future Seope of Work 5.1 Conchsion $5.2 Future Scope Bibliography 6.1 References Appendix 7.1 IR sensor Datasheet 72 ATmege® Datasheet 73 1€7805 Datasheet 74 L358 Datasheet 7.5 1293 Datasheet 7.6 Potentiometer Datasheet 16-18 16 16 18 18 19.20 i 20 22 23 4 24 25 27List of Figures Figures Li au 32 33 34 35 4 1 12 13 14 15 1.6 WW 18 Block diagram of line follower robot Bleck diagram Schematic: diagram PCB Layout PCB after drilling and shouklering PCB afier fixing components World heath statistics, WHO 2013 IR sensor Pin diagram of ATmegaS Voltage regulator Pin diagram of LM3S8 IC Motor driver 1 H Bridge switch operation Pin configuration of L293D Potentiometer Page No. 13 4 15 15 7 22 23 2M 25 26 26 27‘Chapter I INTRODUCTION A line follower robot is basically a robot designed to follow a line or path already pre determined by the user. This line or path may be as simple as a physical white eon the floor oras complex path marking schemes e.g. embedded lines, magnetic markers and laser guide markers, Inorder to detect these specific markers or ‘lines’, various se nsing schemes can be employed. These schemes may vary from simple low cost line s er ing circuit to expansive vision systems, The choice of these schemes would be dep endent upon the sensing accuracy and flexibility required. From the industrial point of view, line following robot has been implemented in semi to fully autonomous plants. In this environment, these robots functions as material carrier to deliver products fro ‘m one manufacturing point to another where rail, conveyor and gantry solutions are n ot possible, Apart from line following capabilities, these robots shoul! also have the « apability to navigate junctions and decide on which junction to turn and which junetio nignore. This would require the robot to have 90 degree turn and also junction counti ngcapabilities, To add on to the complexity of the problem, sensor positioning abo pl ays a rok in optimizing the robots performance for the tasks mentioned earlier. Line- following robots with piek- and- plement capabilities are commonly used in m anufacturing plants, These move on a specified path to pick the components from spee ified locations and plice them on desired locations. Basically, a line= following robot i sa self-operating robot that detects and follows a line drawn on the floor. The path to- be taken is indicated by a white line on a black surface. The contro! system used must sense the line and mun oeuvre the robot to stay on course while constantly correcting t he wrong moves using feedback mechanism, thus forming @ simple yet effective close d- loop system. 1.1 Objective of Study ‘The robot must be capable of following a line li should be capable of taking various degrees of tums ‘It must be prepared of a situation that it runs into a territory whieh has no line to follow. The robot must ako be capable of following a line even if it has breaks.#The robot must be insensitive to environmental fietors such as lighting and noise. It must allow calibration of the line's darkness threshold, #The robot must be reliable *Scabbility must be a primary concer in the design, ©The color of the line must not be a factor as long as it is darker than the Surroundings 1.2 Problem Defination In the industry carriers are required to carry products from one manufacturing plant to another which are usually in different buildings or separate blocks, Conventionally, ¢ arts or trucks were used with human drivers, Unreliability and inefficiency in this part of the assembly line formed the weakest link, The project is to automate this sector, u sing carts to follow a line instead of ying railway tacks which are both costly and a n inconvenience 1,3 Project Scope ‘The robot can be further enhanced to let the user decide whether it is a dark line ona white background or a white Fine on a dark background. The robot can ako be progra immed to decide what kind of line it i, instead ofa user interface. The motor control ¢ ould be modified to steer a convectional vehicle, and not require a differential steering system. The robot cou be modified to bea four wheel drive, Extra sensors could be attached to allow the robot to detect obstacles, and if possible bypass it and get back t © the line, In other words, it must be eapable predicting the line beyond the obstacke, S peed control could also be incomporated, Position and distance sensing devices could a Iso be bi yn to. a mother station, which would be use in which can transmit informa ful in tracking a Jost carrier,1.4 Block Diagram Fig.1.1 Block Diagram of Line Follower Robot‘Chapter 2 LITERATURE SURVEY In recent years a great deal of time and effort has been spent of developing systems to enable an autonomous robot to follow a marked path using a vision system, Not supri singly, the majority of this research has been towards modifying, or designing from se ratch,a full-sized road vehicle so that it can drive on ordinary roads without human su pervision. Due to the large amount of space available in an ordinary road vehicle, high performance computers can be used to perform complex image processing and, typic ally, to maintain a mathenwtical model ofthe vehicle and the environmen Research into autonomous driving using smaller rdbots typically follows one of two a proaches. Inthe first approach a mathematical mode! of the vehicle and its sutroundi ally for ngs is generated, tested in simulation, ard then applied toa robat built specil the purpose. Inthe second approach a combination of a visual servoing system and ak inenutic model is used, again the robot is typically designed around the solution techn que, Due to the size of these robots, the processing resources available are quite limit ed 80 81 pler modek and techniques, such as visual servoing, are used to reduce the p rocessing loud, 2.1 Autonomous Robots Autonomous robots are independent of any controller and can act on their own. The r bot is programmed to respond in a particular way to an outside stimulus, The bump-a nd-go robot & a good example, This robot uses bumper sensors to detect obstacle, Wh cn the robot is turned on, it moves in a straight direction and when it hits an obstacle, t he crash triggers its bumper sensor. The robot gives a progrumming instruction that as ks the robot to back up, turt to the right direction and move forward, This i its respon se to every bump. In this way, the robot can change direction every time, encounters an obstacke Amore ebbarate version of the same idea is used by more ad vanced robots. Reboties create new sensor systems and algorithms to make rabots more perceptive and smarter Today, robots are able to effectively navigate a variety of environments, Obstacle av oidance can be implemenied as a reactive control law whercas path planning involvesthe pre-computation ofan obstack-free path which a controller will then guide a robot along Some mobile robots also use various ultrasound sensors to see obstacles or infrared. T hese sensors work in a similar fashion to animal echolocation. The robot sends out ab cam of infrared light ora sound signal. It then detects the reflection of the signal The robot locates this distance to the obstacles depending on how long it takes the signal t ‘0 bounce back. Some advanced robots ako use stereo vision, Two cameras provide robots with depth perception. Image recognition so fiware then gives them the ability to locate, classify v arious objects. Robots also use smell and sound sensors to gain knawledge about its s urroundings 2.2 Working Principle Robotics is an interesting subject to discuss about and in this advanced world Robots are becoming a part of our life. In this project we are going to discuss about a robot w hich is capable of following a line without the help of any external source. ‘The Embedded Line following robot uses two motors to control rear wheels and the si ngle front wheel racking tape. When the middle sensor detcets the black color, this sensor output is giv free, It has 3-inffared sensors on the bottom for detection of blick t cn to the comparator LM358, The output ofcomparator compares this sensor output W itha reference voltage and gives an output. The output of comparator will be low whe nit receives an input fom the sensor. We follow. simple logic to implement this project. As we know that black colour is ¢ apable of absorbing the radiation and white colour ora bright colour refleets the radiat ion back. Here we use 3 pairs of IR TX and Rx. The robot uses these IR sensors to sen se the line and the arrangement is made such that sensors fice the ground. The output fiom the sensors is an analog signal which depends on the amount of light reflected ba ck and this analog signal is given to the comparator to produce Os and 1s, Internally we have an OTP (one time programmable) processor which & used to contr 1 the rotation of the wheels. The rotation of these wheels depends up on the responsefrom the comparator, Let us assume that when a sensor is on the bick line itreads 0 a nd when it is on the bright surface it reads | Here we can get three different cases, they are: 1. Straight direction 2. Right curve 3. Left curve 2.2.1 Straight direction We canexpect our robot to move in straight direction when the middle sensors respon se is low and the remaining two sensors response is high, ie., according to our aang cement the middle sensor will always be on the line and as the line is black in colour it will not reflect the emitted radiation back and the response of the sensor will be low a nd the response of the remstining (Wo sensors will be high as they will be on the bright surface 2.2.2 Right eurve: When a right curve is found on the line the responses will change ie. the response of t he first sensor which is to the right will become lw as that sensor will be facing the b lack line and the reaming sensors response will be high. We this data is achieved the ¢ ontrol of the wheels is changed i.e. the right wheel is held and the left wheel is made t © move freely until the response from the middle sensor becomes low, Then the same process repeats again 2.2.3 Left curve When a left curve is found on the line the response ofthe left most sensor will be chan ged from high to low as the sensor will now face the black or the dark surface. Then t he control of the wheel changes ie. by holding the left wheel and allowing the right wheel to move freely until the middle sensor changes it is response from high to low, ‘The same process continues for all the turns and the robot moves continuously until th ce supply is remove.2.3 Hardware Components 6, IR SENSOR MICROCONTROLLER VOLTAGE REGULATOR COMPARATOR IC MOTOR DRIVER IC POTENTIOMETER‘Chapter 3 ‘STEPS IN CIRCUIT DESIGNING 3.1 Circuit Diagramand Explanation In this Line Follower Robot circuit we have used an IR sensor for detecting the line an da Comparator IC for comparing voltages. Comparator configured in non-inverting m ‘ode and 10 K potentiometer is connected at its inverting terminal for adjusting referen ce voltage and IR receiver's output is directly connected at non-inverting pins of all ¢ omparaiors, One Red LED is connected at output of in the sensor boand when this led blinks then it means our sensor is working, then signal goes to niicrocontroller IC whi ch is progammed and gives the ou(pul to the motor driver IC which rotates the motor Sas perthe programming of microcontroller IC 3.1.1 Block Diagram ‘The first step is the block diagram whieh gives an overview of the interconnection am ‘ong various components, The componeiits are mictoconttoller (Atmega’), comparator IC (L324), IR Sensors and Motor Driver IC (L293D). Fig.3.1 Bhek Diagram 3.1.2 Software Tools After the block diagram, coding needs to be done. The software used for coding is avt studio4 and the kinguage used fir coding is “embedded ¢”,‘The program code acts as the decision-maker embedded in the micraconiroller i.e, it d ecides what will be the outputs for particular set of input combination. Programs for t he AVR series of microcontrollers can be written in assembly Cand AVR Studio etc. Weare using winAVR for programming and AVR Studio for simulating (Simulation means debugging the code on software, one can virtutlly give the input and check the ouput for that code), In winAVR programmers Notepad we write our cade, after co mpilition it generates ‘hex’ file that i a hardware level code, Source Code #incude Hinchade #/ Declare your gobal variables here int ij,K; void main( void) { // Deelare your local variables here (npuvOutput Ports initialization 1 Port B initialization (/ Fune7=Out Fune6=Out FuneS=Out Fune4=Out Fune3=O ut Func2=Out Fune!=Out PORTB=0x00; DDRB-OxFF; J Port C initialization / Fune6=In FuneS=In Funed=In Fune3=In Fune2=In Fune|=In FuneO=In # StaleO=T StateS=T State4=T State3=T State2=T State 1=T StateO=T PORTC=0x00; DDRC=0x00; // Port D initialization. # Func7=In Func6=In FuncS=In Fune4=In Func3=In Func? Wf State’ State6=T State5=T Stated=T State3=T Stat PORTD=0x00; DDRD=6x00; Timer'Counter 0 initialization # Clack source: System ClockClock TCCRO=0x00; TENTO=0x00; imer Stopped (Timer/Counter | initialization #7 Clack source: System Clock 1 Clack value: Timer! Stopped (/ Made: Normal top=OxFFFF / OC1A output: Discon, // OC1B output: Dison, Noise Canceler: Of (Moput Capture on Falling Edge / Timer| Overflow Interrupt: Off (Aoput Capture Interrupt: Of / Compare A Match Interrupt: Off ¥/ Compare B Match Interrupt: Off TCCRI A=0x00; TCCRIB=0300; TCNTIH=0x00; TCNTIL=On00; ICRI H-0x00; ICRIL=0x00; CRI AH=0500; OCRIAL=0x00; OCR1BH=0x00; OCRIBL=0300; (/Timer'Counter 2 initialization Clock source: System Clock “Clock value: Timer2 Stopped #/ Mode: Normal top=OxFF 1 OC2 output: Disconnected ASSR=0x00; TCOR2-0x00; TCNT2=0x00; OCR2-0x00;(/ External Interrupt(s) initialization J INTO: OF WANT: OF MCUCR=0x00; i Timer(sCounter(s) Interrupt(s) initialization TIMSK=0%00; (OUSART initialization /PUSART disabled UCSRB=0x00; // Analog Comparator initia ization i Analog Comparator. Off // Analog Comparator Input Capture by Timer/Counter 1: Of ACSR=03805 SFIOR=0x00; #/ ADC initialization (ADC disabled ADCSRA=0x00; #'SP1 initia W'SPI disabled SPCR=Ox000; ition TWH initialization (TW disabled TWER=0X00; while (1) t i=PINC.4; ii 188j—0&KK—=1) { PORTB=0x06; delay_ms(200); i che ili -0&8j—=18.&K—-0){ PORTB-Ox06; delay_ms(200); } che if 1&8&j—=1&&K—0) { PORTB-0s02; delay_ms(200); : che if 1&&j=1&&K—=1) t PORTB-0x04; delay_ms(200); : eke iff =0.84j—O&LK=1) t PORTB-Ox04; delay ms(200); : che if 0&&j—=1&&K—=1) t PORTB-0304; detay_ms(200); 4 eke if 0&&j—0&&K=-0) { PORTB-0x06; delay_ms(200); } ese if 18k} —O&RK==0) 1 PORTB-0x02; delay_ms(200); :(Place your code here : 3.1.3 Schematic Diagram Afier coding schematic diagram is drawn on protious 8 pro essionaland the schematic diagram is shown below. Using protious we will simulate the project and check if it ‘works properly. So that we can perform the hardware implementation of the project. Fig3.2 Schematic Diagram of Line Follower Robot 3.1.4 PCB Designing Fourth step is designing the PCB layout using PCB Express software, In the PCB expr ess software, choose the different IC's and other components from the component ma nagerand draw a clan PCB layout. The PCB layout of line follower robot is given asFig.3.3 PCB Layout of Line Follower Robot 3.1.5 Pressing Atier the PCB hyout is dong, take its printout on a glossy A4 size sheet using a LASE R printer and print it on the copper clad board (CCD) Using press method. Due to whi cch the diagram on the glossy paper will stick to the board, 3.1.6 Etching Afier pressing the glossy paper on the PCB board, now dip that printed circuit board i is Biel 1B for one hour and this whole process is known 3.1.7 Drilling and Shouldering Afier taking out the PCB from the ferric chloride solution, now PCB is ready for Drill ing. Drilling is the process in which small holes are made in the PCB for fixing the eo mponeds, The size of hoki about 0.8mm and the machine is used for drilling. is call ed Drilling machine. Afier the drilling process now fix all the components in the holes andthen to fix the co mponents permanently we shouklering process, in which a wire, made of tin and lead is heated by a shouldering machine so that it melts and components become stick to th e board permanentlyFig3.5 PCB afier fixing the Components‘Chapter 4 RESULT & DISCUSSION (Our project is an innovative idea of intelligent system which has basically line detecti on feature and will provide help in various fields like hospitals and service sectors. Th sensors in this system area type of infrared sensor that senses the line and gives the feed k to the microcontroller unit. 1. The battery activates the circu 2. ‘The sensor transmitter transmits the ffequency, which refleets from the surface. Sensor receiver receives the reflected frequency and gives it to the microcontroller. 3. The 3051 microcontroller processes it and gives. the signal to motor driver IC 4, Motor driver IC rotates the motors as per the signal receive and then the wheels rotates. 4.1 Result ‘The objective of the line following robot is 10 follow a line on its given path which is obiained for which it uses IR sensors which detects the line and sends the information to LM324 comparatorand then to H bridge which controks the working of the wheel’s Microcontroller contro: the other operations. 4.2 Discussions Research shows that number of patients died because of few numbers of trained medi eal staff Shortage of nurses is *killing thousands a year": Patients in overstretched hos pitals developing fatal complications which could have been cured. A lot of hospitals have stopped recruiting nurses and medical personnel since 2008 and 2006. From the past owo years there isan increasing trend of recruiting more doctors than the nurses. 1 Fsufficient number of nurses based on the paticnt numbers visiting a hospital canbe r ecmited then the number of deaths can be estimated decreases by 10%,Figure 4.1 Work! health statistics, WHO 2013 ‘The above table (fig4.1) shows that the availability of nurses and physicians is very lo .w in India compared to that of the Global median. So there is a high need of supervisi onof the nurses or attendants towards the monitoring of paticnls rather than concentra ting on the supply of medicines, food etc. This kads to the need for implementing oth er alternative for those activities. This is the situation where the Automated Guided V_ ehicle (AGV) can be implemented for the delivery of the material supply to patients. 1 n this paper we considered the use of a line follower robot for the above specified pro bem Recommended Solution Automation is recommended in the material supply delivery system. The benefits of u sing the automation techniques in hospitals are as follows: ‘The average nurse walks roughly $ miles per shift of work. Much of this travel time is not spent travelling fromone patient to the next to apply hands-on, bedside care. Unf oftunately, most of the walking is spent in the pursuit of hunting for and gathering me ;, collecting and executing physician orders, and performing registration dical sup and discharge tasks. These routine and mundane tasks can be performed by robots no \w, Thanks to the robot sohition, quality of care improves through efficiency. Nurses can now claim more time during their shift to spend on patient care, In fact, th e robot allows for a redefinition of ‘patient care.’ Whereas historically, gathering supp lies, coordinating meals and medications, and various forms of paperwork and docum entation were considered ‘patient care’, now these administrative and logistical tasks ¢ an be defined and assigned to what they truly are, And nurses ean get back to the high Iy-skilled interpersonal elinical tasks that they have been trained for, and that patientsreally need in order to heal, Quality of care improves through increased staff satisfacti on. Medical errors have been a major cost to the healthcare delivery system, First and fore most, ‘there is a human cost. Medical errors have caused death, dismemberment, and minor injuries. 4.3 Advantages & Disadvantages Advantages Robot movement is automatic. Fit and Forget system, Cost effective, Simplicity of building Disadvantages LER follows a black fine about I or? inches in width ona white surface. LER are simple robots with an additional: seissors phced on them Needs a path to rum either white or black since the 1R rays should reflect from the particular path, Slow speed anc instability on different line thickness orhard angles. 4.4 Applications Guidance system for industrial robots moving on shop floor ete Industrial applications, Home applications‘Chapter 5 CONCLUSION AND FUTURE SCOPE OF WORK 5.1 Conclusion In this project we have studied and implemented a Line Following Robot using a Micr ocontroller for blind people. The programming and interficingof microcontroller has been mastered during the implementation, ‘The cost of health care in India greatly depends upon the land and location of building . the infrastructure and facilities and skilled staff required to maintain the expensive m achinery, Ina country like India, where the population in humongous and the resource sare scarce, it becomes highly difficult to set up such extensive projects in every locat ion. So what this system provides is an alternate to the existing system with robotic m achinery, which can handle tasks with lower per capita cost and better accuracy 5.2 Future Scope Smarter versions of line followers are used to deliver mails within office building and deliver medications in a hospital, ‘This technology has been suggested for running buses and other mass transit systems and may end up as a part of autonomous cars navigating the freeway. Line following robot based materials supply systemcan ply a vital role in the field of hospitality, Line following robot's application over electronics engineering ean't be u nderestimated. In India many people show reluctance to get admitted in a hospital bec ause of cost issues. The cost for cure can be reduced by using the robots in governmen {and private hospitals. It can be very beneficial for the patients as well. Also, monitori ngofevery patient is very difficult for the nurses, given the fact that there are very fe wof them, So a camera can be placed in the line following robot, from which the stat us for every patients can be handle ftom. single room. In the bed of the patient an ace elerometer can be placed from which if'a patient have a heart attack then that device ¢ an operate analarm circuit. A GSM module can be placed with the line following rob ot so that if any untoward incident occurs then that system can make. call to the doct of, it also helps the doctors for remote diagnosis of patients even when he isaway from hospital by remote presence, The line fo lkawer robots ean also be improvised by usi ng RFID tags so that accuracy of the system increases. Robotics is very big fick! for t he new innovationand research, By using the robot in real time applications, a healthy care system can be manage in an effectively way.Chapter 6 BIBLOGRAPHY 6.1 References [1]. Bajestani, S.E.M, Vosoughinia, A. “Technical Report of Building a Line Follower Robot” International Conference on Electronics and Information Engineering (ICEIE 2010), vol 1, pp vi-1 vi-5, 2010. [2] Bong, D.M.K, “Automatic Guided Vehicle System™ in Department of Eketrical Engineering, University Tenega Nasional, Malaysia, P41, 2004. [3]. Cobk, |, Yildirim, D.,"Evolving a Line Following Robot to use in shopping centers for entertainment” Industrial Electronics, 2009, IECON 09. 35th EE,pp.3803 ~ 3807,3-5 Nov; 2009, [4]. Development and Applications of Line Following Robot Based Health Care Management System Deepak Punetha, Neeraj Kumar, Vartika Mehta, Annual Conférence of International Journal of Advanced Research in Computer Engineering & Technology (UARCET), Volume 2, Issue 8, August 2013 p2446-2450 [5], Health Care System —Liverpook ha.org.uk, Retrieved 2011-08- [6]. hitp:/en. wikipedia.org/wiki/Health_system. [7]. K.A.Unyelioglu, C.Hatipogiu, and U.Ozguner, “Design and analysis of a line following robot controller”, [EEE Trans. Control System Teehno|., Vol.5, no.1, pp.127-134, 1997 (Pubitemid 127770536) [8]. M.Mebdi Samaatiyan, Mehran Pakdaman “Design and implementation of line follower robot", Mazandaran Institute of Technology, Iran, 2009, Second Intemational Conférence on Computers and Eketrical Engineering, [9]. Priyank Patil, “AVR. Line Following Robot,” Department of Information Technology K. J, Somaiya College of Engineering Mumbai, India,Chapter 7 APPENDIX 7.11R Sensors ‘An Infra-Red sensor detects Infra-Red light/white light from a particular object/lin © and then converts light energy to electrical energy, An IR sensor pair consists of anemitterand a detector. The emitter & blue in color and the detector can be grey, black or white in color. 2.2.1.1 IR Emitter: An infra-red emitter is « Light Emitting Diode (LED) made from Gallium Arsen ide - Iidetects IR energy at a wavelength of &80nm and emits the same, The infrared p hototransistor acts asa tansistor with the base voltage determined by the amount o flight hitting the transistor. Hence it acts asa variable current source. Greater amo unt of IR light cause greater currents to flow through the collector-emitter keads. ‘The variable current traveling through the resistor causes a voltage drop in the pull- up resistor. This vollage is measured. as the output of the device, 2.2.1.2 IR Detector: An infra-red detector is a photo detector. It detects IR energy emitted by the emitte rand converts it into electrical energy. The main principle involved in the conversi onof light energy to ekeetrical energy is photoelectric effect. The output is taken at negative terminal of IR detector. The output can be taken toa microcontroller eithe 10 ts ADC (Analog to Digital Converter) or LM 339-can be used as a comparator Photo a LED Diode WW ——— Fig: 7.11R Sensor7.2 ATmega 8 Microcontroller The ATmega 8 is a low-power, high-performance CMOS 8-bil microcontroller wit NAK bytes of programmable Flash memory and erasable read only memory (PER OM). The device i manufactured using Atmel's high-density nonvolatile memory technology and is compatible with the industry- standard MCS-S1 instruction set a nd pin out, The on-chip Flash allows the program memory to be reprogrammed in- system or bya conventional nonvolatile memory programmer, By combining a ver satile 8-bit CPU with Flash.on a monolithic chip, the Atmel ATmega 8 is a power ul microcontroller which provides a highly-flexible and cost-efléctive solution to many embedded control applications. 7.2.1 Pin Configurations (RESET) Poo za fs Pes (aDGsSCLy (RxD) POO C42 p PCa (ADCS) (TxD) POT asf Pcs (apes) (INTO) PO2C]4 asf pea apea) GNTH) PDS Pot (ADC) (xcK/TO) POS zafp Pcoapca) ‘vor zz ano 21 p aner (xTALYTOSe!) PBS Cho 20f avec (XTALZTOSC2) PBT sof PBs (scx) PBA (MISO) (Aino) POs PB3 (MOSUOC2) Por (oota) 7.2.2 Standard Features 4K bytes of Flash, © 128° 8 bits of intemal RAM, © 32 progammible 10 lines, © Full static operation: OHz to 24 MHz © Three kvel program memory Lock © two 16-bit timer/counters, © asievector two-level interrupt architecture, 7.3 Voltage Regulator A voltage regulator is an electrical regulator designed to automatically maintain a©‘onstant voltage level. It converts a positive voltage (7-29V) to +5 volts, Heat sink p rovided in the center to release heat generated due to drop across the IC. Input volt age of about 5to 18 V is given, Ground is 0 V and regulated outputof+5V. It may use an ekectromechanical mechanism, or passive or active eketronie components. Depending on the design, it may be used to regulate one or more AC or DC voliag es, There are two types of regulator: © Positive Vollage Series: (78xx) * Negative Volage Series (79xx) 78x: "78" indicate the positive series and ‘xx’ indieates the vollage rating, Suppos © 7805 produces the maximum SV. °05" indicates the regulator output is SV. Toxx: '78" indicate the negative series and *xx” indicates the voltage rating. Suppos © 7905 produces the maximum -S5V, "05? indicates the regulator output is -SV. ze 7805 IN (1) OUT ©) GND (2) Fig: 7.3 Voltage Regultor 7.4 Comparator IC ‘The LM3S8 IC is a great, low power and easy to use dual channel op-amp IC. It is designed and introduced by national semiconductor, It consists of two internally fr equency compensated, high gain, independent op-amps. This IC is designed for spe cially to operate from a single power supply over a wile range of vollages, The L ‘M358 IC is available in a chip sized package and applications of this op amp incl de conventional op-amp circuits, DC gain blocks and transducer amplifiers, LM3S 3 IC is @ good, standard operational amplifier and it is suitable for your needs, It ca n handle 3-32V DC supply & source up to 20mA per channel. This op-amp is apt, i f you want to operate two separate op-amps for a single power supply. It’s availabl ein an 8-pin DIP package,Fig.7.4 pin diagram of LM 358 IC 7.5 Motor Driver IC ‘This is a Motor driver IC that can drive two motors simultaneously, Motors are arr anged in a fashion called H-Bridge. An H-bridge is an electronic circuit which ema bles DC electric motors to be run forwards or backwards, These circuits are often u sed in roboties. H-bridges are available as integrated cireuits, or canbe built from d iserete components. ‘The two basie states ofa H-bridge, The term “H-bridge" is derived from the typical graphical representation of such a circuit, An H-bridge is built with four switches ( solid-state or mechanical), When the switches $1 and S4 (according to the first fig ure) are closed (and S2and $3 are open) a positive voltage will be applied across t he motor. By opening $1 and $4 switches and closing S2 and $3 swite bes, this volt age is reversed, allnwing reverse operation of the motor. Using the nomenclature above, the switches SI and $2 should never be chased at th e same time, as this woukl cause a short cireuit on the input voltage source. The sa me applies to the switches $3 and $4, This condition is known as shoot-through. ‘The switching property of this H-Bridge can be replaced bya Transistor ora Relay ora MOSFET or evenby an IC, Here we are repheeing this with an IC named 29 3D as the driver whose description is as given below. The Device & a monolithic i niegrated high voltage, high current four channel driver designed to accept standar d DTL or TTL bogie levels and drive inductive loads as and switching power transi stors, To simplify use as two bridges each pair of channels is equipped with an ena ble input. A separate supply input is provided for the logic, allowing operation at a ower voltage and internal cmp diodes are ine luded, This deviee is suitable for us© in switching applications at frequencies up to $kHz, The L293D is assembled in a 16 lead plastic package which has 4 center pins connected together and used for h eat sinking The L293D is assembled ina 20 lead surface mount which has $ center pins comnected together and used for heat sinking, Fig. 7.5 Motor 7.5.1 Operation ‘The H-Bridge arrangement is generally used to reverse the polarity ofthe motor, b ut can also be used to 'brike’ the motor, where the motor comes to a sudden stop, a 8 the motors terminals are shorted, orto let the motor ‘free run! to a stop, as the mot or iseffectively disconnected from the circuit. The following table summarizes ope ration, SL $2 S3 S4 Result 1 Jo jo Ja Motor moves right o |i |i fo Motor moves left o |o |o (0 Motor free runs 1 0 1 Motor brakes Tabk: 7.6 H-bridge switch operation7.5.2 Pin Connections Fig: 7.7 pin configuration of L293D 7.5. Features © 600m ouput curent capability per channel © 1.2A peak output current (non repetitive) © Enable facility over temperature protection © high noise immunity © internal clamp diodes 7.6 Potentiometer Potentiomete: variable res wt which és used to vary the resistance by rotating the shaft. Potentiometers are available from 100 ohm to 470K ohm (or more).Potent jometcr is a voltage divider. If' we connect lead A to Vee and kad B to ground then you get voltages from 0 to Vee at lead W, Mainly Potentiometer are used to gener ate reference vollage for LM324, \Fig, 7.8 Potentionseter