design & implementation of line tracking robot

DESIGN & IMPLEMENTATION OF LINE TRACKING ROBOT Submitted By

AZIZUL HOQUE SAZIA AFRIN MIR MOSHARAF HOSSAIN

ID : EEEE 120100144 ID : EEEE 120100143 ID : EEEE 120100136

Supervised By

Ashraful Arefin Assistant Professor Department of Electrical & Electronic Engineering Northern University Bangladesh

March 2015 DEPARTMENT OF ELECTRICAL & ELECTRONIC ENGINEERING

NORTHERN UNIVERSITY BANGLADESH

DECLARATION

We hereby, declare that the work presented in this report is the outcome of the thesis work performed by me under the supervisor Ashraful Arefin, Assistant Professor, Department of Electrical & Electronic Engineering. We also declare that no part of this report has been submitted elsewhere for the award of any degree or diploma.

Signature

____________________ Azizul Hoque ID: EEEE120100144

____________________ Sazia Afrin ID: EEEE120100143

____________________ Mir Mosharaf Hossain ID: EEEE120100136 __________________________________________

Ashraful Arefin (Supervisor) Assistant Professor Department of Electrical and Electronic Engineering Northern University Bangladesh

i

APPROVAL The Thesis report titled, “Design & Implementation of Line Tracking Robot”, submitted by Azizul Hoque, ID : EEEE 120100144, Sazia Afrin, ID : EEEE 120100143, and Mir Mosharaf Hossaain, ID : EEEE 120100136, students of Department of Electrical and Electronic Engineering, Northern University Bangladesh, has been accepted as satisfactory for the partial fulfillment of the requirement for the degree of Science (B.Sc.) in Electrical and Electronic Engineering and approved as to its style and contents. The thesis report has been approved by the following members of the project defense committee.

Board of the Examiners

____________________________________ Ashraful Arefin (Supervisor) Assistant Professor Department of Electrical and Electronic Engineering Northern University Bangladesh

____________________________________ ASM Shamsul Arefin Assistant Professor Department of Electrical and Electronic Engineering Northern University Bangladesh

____________________________________ Md. Saber Nazim Lecturer Department of Electrical and Electronic Engineering Northern University Bangladesh

____________________________________ Engg. Md. Badiuzzaman Associate Professor & Head Department of Electrical & Electronic Engineering Northern University Bangladesh ii

ABSTRACT Nowadays, most of the robots are constructed using the help of microcontrollers. These make the robots efficient with the cost of difficulties of understanding. For this reason, this Intelligent Line tracking robot is developed with a simple concept of digital ICs. This robot is a mobile device that detects and follows the line drawn on the floor. The path must be in a visible black line on a white surface. The sensor senses the line by the difference of contrast of the floor. Then it sends a corresponding signal to the controlling circuit. This signal is processed by the digital circuit and it decides which of the back wheels will rotate. The rotating speeds of the wheels are also controlled by this digital circuit. The differences of the speeds of the back wheels make the robot to follow the line.

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ACKNOWLEDGEMENT

First start great thank to almighty Allah. We take this opportunity to express our profound gratitude and deep regards to our supervisor, Ashraful Arefin, for his exemplary guidance, monitoring and constant encouragement throughout the course of this thesis. We cannot say thanks him enough for this tremendous support and help. We feel motivated and encouraged every time I attend his meeting. Without his encouragement and guidance this thesis would not have materialized. We sincerely thank the respected teachers and faculty members of Northern University Bangladesh as they have tremendous contribution behind my progress. Last but not least we wish to avail our self of this opportunity, express a sense of gratitude and love to our friends and our beloved parents for their manual support, strength, and help and for everything.

Authors March 2015

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TABLE OF CONTENTS Declaration

I

Approval

II

Abstract

III

Acknowledgement

IV

Table of Contents

V

Chapter 1 Introduction of Robotics 1.1 History of Robot

01

1.2 Basic description of line robot

01

1.2.1 Different type of line controlled robotic vehicles

02

1.2.2 Application of line follower robot

02

1.2.3 Built of robotics

03

1.3 Operational block diagram of robot

03

Chapter 2 Description of Equipments 2.1 Equipment and properties

04

2.1.1 Structure of LED

04

2.1.2 Structure of LDR

04

2.1.3 Description of Image sensor

05

2.2 Logic Circuit Unit

06

2.2.1 PIN Diagram

06

v

2.2.2 PIN Description

07

2.2. 3Logic Inverter unit

07

2.2.4 Structure of Logic circuit

08

2.3 Motor Driven

08

2.3.1 Description of motor driven

08

2.4 Description of L324 IC

09

2.4.1 PIN diagram of L324 IC

10

2.4.2 Truth Table for Robot Movement

10

Chapter 3 Implementation of Line Tracking Robot 3.1 Accessories required to make line follower robot

11

3.1.2 Mechanical Assembly of robotic chassis

12

3.1.3 Breadboard Connection

15

3.2 Component of DC supply

16

3.2.1 Explanation of DC component

16

3.3 7805 Voltage regulator

17

3.3.1 PIN Diagram of 7805

18

3.4 Bread board image of power supply

18

3.4.1 Symmetric Diagram of power supply

19

3.4.2 Actual Image of power supply

20

3.5 Designing of motor driver section

20

3.5.1 L293D pin connection

21

3.5.2 Connection of Motor with L293D IC

21 vi

3.5.3 Breadboard Image

22

3.5.4 Schematic image of motor driver section

22

3.6 Testing the motor driven section

23

3.6.1 Comparator Section

24

3.6.2 Component required to make logic circuit is as given below table

20

3.6.3 Breadboard image of logic section

27

3.6.4 Schematic layout of logic section

28

3.6.5 Actual Image of comparator Section

28

3.7 Sensor plate section

28

3.7.1 Breadboard image of sensor plate

29

3.7.2 Schematic layout for sensor plate

30

3.7.3 Actual image of sensor plate

30

3.7.4 Inverting IC section of (HD74LS04) IC

30

3.7.5 General Description

30

3.7.6 Short the inverter (HD74LS04) IC pin with each other as given in below table

31

3.7.7 Breadboard Image of inverter section

31

3.7.8 Schematic image of inverter section

32

Chapter 4 Operation and Control 4.1 Calibration of line sensor

34

4.1.1 Check calibration step from below table as output generate on color

34

vii

4.1.2 Connect the Motor with the L293D as given below in table.

35

4.2 Connection of Motor with L293D

36

4.3 Inverter IC connection with L293D IC

37

4.4 Inverter IC connection with comparator IC

38

4.4.1 Movement of robotic platform

38

4.4.2 Breadboard image of complete assembly

38

4.4.3 Schematic layout of complete image

39

4.5 Actual Image of Complete Circuit

40

4.5 .1 Complete Assembly of line following robot

41

Chapter 5 Conclusion & Description 5.1 Benefit of line tracking Robot

42

5.2 Limitation of line tracking Robot

42

5.3 Conclusion

43

5.4 Future Work

43

References

44

viii

CHAPTER 1

INTRODUCTION OF ROBOTICS

1.1 History of Robot

The history of robots has its origins in the ancient world. The modern concept began to be developed with the onset of the Industrial Revolution which allowed for the use of complex mechanics and the subsequent introduction of electricity. This made it possible to power machines with small compact motors. In the early 20th century, the replica of a humanoid machine was developed. Today, it is now possible to envisage human sized robots with the capacity for near human thoughts and movement. The first uses of modern robots were in factories as industrial robots – simple fixed machines capable of manufacturing tasks which allowed production without the need for human assistance. Digitally controlled industrial robots and robots making use of artificial intelligence have been built since the 1960s.

1.2 Basic description of line robot A Robot is any machine which is completely automatic, i.e. it starts on its own, decides its own way of work and stops on its own. It is actually a replica of human being, which has been designed to ease human burden. It can be controlled pneumatically or using hydraulic ways or using the simple electronic control ways. The first industrial robot was Unimates built by George Devil and Joe Eagleburger in the late 50’s and early 60’s.

1

Line tracking is an autonomous robot which tracks either black line in white area or white line in black area. Robot must be able to detect particular line and keep following it. For special situations such as cross over’s where robot can have more than one path which can be followed, predefined path must be followed by the robot. Line following is a task in which robot has to follow the line. It must be capable of taking various degrees of turns to follow the curved lines also. The Line following Robot moves to follow a line drawn on the floor. This Robot

tracks the black line which is drawn over the white surface .The line

sensors are used to sense the line. When the signal falls on the white surface, it gets reflected and if it falls on the black surface, it is not reflected this principle is used to scan the Lines for the Robot. The Robot should be capable of taking various degrees of turns and must be insensitive to environmental factors such as lighting and noise.

1.2.1 Different types of line controlled robotic vehicles: There are two types of line controlled robotic vehicles o

Mobile based line controlled robotic vehicle

o

RF based line controlled robotic vehicle

1.2.2 Applications of line tracking robot: o

Industrial Applications: These robots can be used as automated equipment carriers in industries replacing traditional conveyer belts.

o

Automobile applications: These robots can also be used as automatic cars running on roads with embedded magnets.

o

Domestic applications: These can also be used at homes for domestic purposes like floor cleaning etc.

o

Guidance applications: These can be used in public places like shopping malls, museums etc to provide path guidance.

2

1.2.3 Any robot is built on 3 basic laws defined by the Russian Science fiction author Isaac Asimov: o

A robot should not harm the human being directly or indirectly.

o

A robot should obey human orders unless and until it violates the first law.

o

A robot should protect its own existence provided the 1st two laws are not violated.

1.3 Block Diagram of Line tracking Robot

Figure 1.1: Block diagram of line tracking robot

3

CHAPTER 2

DESCRIPTIONS OF EQUIPMENTS

2.1 Sensor equipment and properties Reflection of light This stage consists of reflection of light phenomena in which light reflect from the plane surface.

2.1.1 Structure of LED LEDs are used as indicator lamps in many devices and are increasingly used for general lighting. Long leg is positive.

Figure 2.1 : structure of LED Short leg is negative. 4

2.1.2 Structure of LDR LDR: A photo resistor light dependent resistor (LDR) or is a resistor whose resistance decreases as with increasing incident light intensity.

Figure 2.2: Structure of LDR

Figure 2.3 : Reflection of light on any plane surface

2.1.3 Description of Image sensor LED: Reflection of light on white surface is more. Reflection of light on black surface is Less. Line sensor

5

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.

2.2 Logic Circuit Unit Logic circuit consists of LM324 IC which is used for to generate logic signal. It takes input from the line sensor and generates the output signal which is used for to drive the motors.

2.2.1 PIN Diagram of LM 324 IC 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:

Figure 2.4: PIN Diagram of LM 324 IC 6

2.2.2PIN Description Pin Description: Pin No

Function

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

7

2.2.3 Logic Inverter unite Logic inverter circuit section In this logic inverter circuit section 74HC04D IC is used for to invert the logic. The logic is given to it ’s input terminal in the form of logic 0 and logic 1.

2.2.4 Structure of Logic circuit 74HC04 IC This IC is used for to invert the logic. The input is 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.

Figure 2.5 : Internal image of 7404-hex inverters

8

2.3 Description of motor driven Motor Driving Stage In this stage the motor driver l293D IC is used for to drive the motor. As the signal comes from the inverter IC it drives the motor according to signals comes.

2.4 Description of L324 IC

L293D 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.

9

2.4.1 PIN diagram of L324 IC

Figure2.6 : Pin diagram of L324

2.4.2 Truth Table for Robot Movement

Sr.No IN1

IN2

IN3

IN4

Movement 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

of

Note: exchange the motor wire with output pins to make the above respective movement. 10

CHAPTER 3

IMPLEMENTATION OF LINE TRACKING ROBOT

3.1.1 .Accessories required to make line tracking robot Accessories Required to make line tracking robot

Sr.No. Component Name

Quantity

1.

Double AA batteries cell 1 holder

2.

Chassis ( Robotic Platform)

1

3

Breadboard

1

4

Nipper

1

5.

Stripper

1

6.

One core wire

1

7.

Nose pliers

1

8

Screw driver

1

11

3.1.2 Mechanical Assembly of robotic chassis

Figure 3.1: Mechanical Assembly of robotic chassis Step 2: Take the BO motor as shown in the diagram. Step 3: Take a M2.5 (25) screw to fit the BO motor on the chassis. Fit the motor in upward direction as shown in the figure. Here the last hole of the chassis are used to fit the motor.

Figure 3.2 : Mechanical Assembly of robotic chassis

12

Note: Here kept the motor screw M2.5 (25) in the separate polyethene and also don’t mix it with other screw.

Figure3.3 : Mechanical Assembly of robotic chassis Step 4 Fit the both wheel on the both motor shaft as shown in figure. Fix the motor with self tapping red wheel screw.

13

Figure 3.4 : Mechanical Assembly of robotic chassis Step 5 Take the caster wheel and caster wheel strip as shown in the diagram.

Figure 3.5: The caster wheel and caster wheel strip as shown in the diagram. Step 6 Inset three M3 -10 screw into the caster wheel. Now fit the caster wheel into the caster wheel strip in the outward direction as shown in the figure.

14

Figure 3.6: The caster wheel and caster wheel strip as shown in the diagram. Step 7 Now fit the caster wheel strip on the middle position of the chassis as shown in the diagram by using two M3-10 screw.

Figure 3.7 : The caster wheel strip on the middle position of the chassis as shown in the diagram by using two M3-10 screw.

3.1.3 Breadboard Connection Breadboard Connection

Figure 3.8 : General breadboard 15

·

Give positive +5 volt supply in first row.

·

Connect the GND in the second row of the breadboard.

·

Connect + 5 volt upper row with the below row to make below line +5 volt .

·

Connect the upper gnd line with the lower gnd line to make the below row gnd line.

· Short the below middle rows as connect the +5 volt to +5volt line and gnd line with the gnd line.

Figure 3.9: Construction of line tracking robot on breadboard

3.2 Component of DC supply General Description Power supply is used for to give power to the whole circuit assembly. The below component are used for to make power supply section.

3.2.1 Explanation of DC component Component list for power supply Sr.No. Component Name

Component list

1

DC jack

1

2

7805 voltage regulator IC

1

3

3 mm Led

1

4

Resistor (220 ? ) (Red, Red, Black, Black ) 1

16

Explanation of component Make the below connection for power supply as given in below image.

DC jack

Figure 3.10 : Real image of DC jack

3.3 7805 Voltage regulator 7805 is a voltage regulator integrated circuit. It is a member of 78xx series of fixed linear voltage regulator ICs. The voltage source in a circuit may have fluctuations and would not give the fixed voltage output. The voltage regulator IC maintains the output voltage at a constant value. The xx in 78xx indicates the fixed output voltage it is designed to provide. 7805 provides +5V regulated power supply. Capacitors of suitable values can be connected at input and output pins depending upon the respective voltage levels.

17

Pin Diagram:

Figure 3.10: Pin diagram of 7805 Voltage regulator

3.3.1 PIN Diagram of 7805 Pin Description: Pin No

Function

Name

1

Input voltage (5V-18V)

Input

2

Ground (0V)

Ground

3

Regulated output; 5V (4.8V-5.2V)

Output

18

3.4 Bread board image of power supply By referring below images make the power supply circuit. 1. Breadboard Image

Figure 3.11: Bread board image of power supply

3.4.1 Symmetric Diagram of power supply

Figure 3.12: Symmetric Diagram of power supply

19

3.4.2 Actual Image of power supply

Figure 3.13: Actual image of power Supply

3.5 Designing of motor driver section

If the led will be glow it means the power supply circuit connection is correct. and now able to give power to whole the assembly. General Description Now you have made a motor driver section which is used for to drive the motor. Here to drive the motor you have use L293D IC.

Component List for Motor Driver Section Sr No

Component Name

01

L29D3 IC Section One core wire

02

20

3.5.1 L293D pin connection Designing of motor driver section By referring below images and table make and test the motor driver section. L293D pin connection

Sr.No L293 D pin

Supply voltage

1

Pin no 1

+5 volt

2

Pin no 9

+5 volt

3

Pin no 16

+5 volt

4

Pin no 8

+12 volt

5

Pin no 4 & 5

Gnd

6

Pin no 12 & 13 Gnd

3.5.2 Connection of Motor with L293D Connection of Motor with L293D IC Sr. No. Output pins Motor Wire 1

o/p1

First wire of first motor

2

o/p2

Second wire of first motor

3

o/p3

First wire of second motor

4

o/p4

Second wire of second motor

21

3.5.3 Breadboard Image

Figure 3.14: Breadboard Image

3.5.4 Schematic image of motor driver section

Figure 3.15: Schematic image of motor driver section

22

3.6 Testing the motor driven section Give the below supply at input terminal of L293d IC to test the motor Sr.No. Pins Name Given supply 01

In1

+5

02

In2

Gnd

03

In3

+5

04

In4

Gnd

Note ·

Short 4 (gnd) and 5 (gnd) pin with the jumper. Jumper can be taken from the wire.

·

In the same way also short pin no 12 (gnd) and 13(gnd) of the l293D IC.

Testing of motor driver section

Figure 3.16 : Motor driving section

23

Step 1 Connect one wire of first motor with the o/p1 pin of L293D IC. And second one is with second o/p2 of L293D IC. The motor should be rotate in clockwise direction from your front side. If the motor rotate in anticlockwise direction than make it in clockwise direction by exchanging it’s wire with L293 o/p pins. Step 2 Connect one wire of second motor with the o/p3 pin of L293D IC. And second one with second o/p4 of L293D IC. Now the motor should be rotate in anticlockwise direction from your front side. If the motor rotate in clockwise direction than make it in anticlockwise direction by exchanging it’s wire with L293D o/p pins. Now the chassis should be moves in the forward direction.

3.6.1 Comparator Section General Description This section consists of two parts one is comparator section and another one is line sensor plate section. Part 1 Comparator Section Comparator LM324 IC is used to generate logic which is used to drive the motor and led. Here the comparator IC is used to perform comparison between the reference voltage which is set at it’s non inverting input terminal and it’s inverting terminal voltage.

24

Component required to make logic circuit is as given below table.

Sr.No. Component Name

Quantity

1.

LM324 IC

1

2.

20 k preset (Metallic)

2

3.

Led ( 3mm )

2

4.

10 k ? ( Brown, Black ,Black, Red) 4

Component Explanation 20 k preset

Figure 3.17: Actual image20 k preset Here two potentiometer are used to set reference voltage at the non inverting terminal of pcb. Note: exchange the 5 volt and Gnd pin with each other.

25

3.6.2 Component required to make logic circuit is as given below table LM 324 IC section Sr.No Pin no

Component Connection

1

1 (Output pin)

Negative terminal of led

2

2 (Inverting pin)

o/p of LDR sensor 1 from zero pcb

3

3 (Non inverting terminal)

o/p pin of potentiometer 1

4

4 (vcc)

+5 volt

5

11

GND

6

14(Output pin)

Negative terminal of led

7

13 (Inverting pin)

o/p of LDR sensor 2 from zero pcb

8

12 (Non inverting terminal) o/p pin of potentiometer 2

Make also below connection ·

Connect the positive terminal of both led with the one terminal of 10 k ? resistance

and another terminal of resistance with the +5 volt. ·

Connect the one terminal of 10 k? resistance with the pin no 2 & pin no 13 of the

LM324 ic and another terminal of both resistance with the + 5volt. ·

Also insert the 220 ? resistance in breadboard where it’s one terminal is connected to

+5 volt and another will be connected with the Zero pcb +5 volt pin.

26

3.6.3 Breadboard image of logic section

Figure3.18 : Breadboard image of logic section

3.6.4 Schematic layout of logic section

Figure 3.19: Schematic layout of logic section

27

3.6.5 Actual Image of comparator Section

Figure 3.20 : Actual Image of comparator Section

3.7 Sensor plate section Sensor plate section consists of two LDR sensors and two led. Make the positive terminal of led and LDR are common and negative terminal of led and LDR are common. The LDR are sensors can be connected in any way in any direction. We have used ten core wires to make connections.

Component list for sensor plate Sr.No. Component Required Quantity 1

3mm led

2

2

LDR

2

3

Ten core wire

As per use

Note :Please make the connection on the zero pcb.

28

3.7.1 Breadboard image of sensor plate

Figure 3.21 : Breadboard image of sensor plate

3.7.2 Schematic layout for sensor plate

Figure 3.22 : Schematic layout for sensor plate.

29

3.7.3 Actual image of sensor plate

Figure 3.23 : Actual image of sensor plate

3.7.4 Inverting IC section of (HD74LS04) IC 404 is a NOT gate IC. It consists of six inverters which perform logical invert action. The output of an inverter is the complement of its input logic state, i.e., when input is high its output is low and vice versa.

3.7.5 General Description General Description This section is used for to drive the motor by converting signal into the it’s invert form. If you have give 1 on it than it’s outcome will be 0 and if you have give 0 than it’s outcomes will be 1. Component list Sr.No. Component Name 1

Quantity

HD74LS04 inverting IC 1

30

3.7.6 Short the inverter (HD74LS04) IC pin with each other as given in below table Sr. No. Pin of inverting IC Pin of inverting IC

1

Pin no 1

Pin no 5

2

Pin no 2

Pin no 3

3

Pin no 14

Pin no 9

4

Pin no 12

Pin no 11

3.7.7 Breadboard Image of inverter section

Figure3.24 : Breadboard Image of inverter section 31

3.7.8 Schematic image of inverter section

Figure 3.25: Schematic image of inverter section

Actual image of inverter section

Figure 3.26 : Actual image of inverter section

32

CHAPTER 4

OPERATION & CONTROL

4.1 Calibration of line sensor Calibration of line sensor Take a line sensor plate and make connection with the LM324 IC as given below. ·

Here one +5 volt pin of line sensor will be connected through the 220 ? resistance on

breadboard and gnd pin will be connected through gnd pin on breadboard. ·

Two signal pin which are coming from two ldr sensor o/p (B & C) will be connected

through lM324 pin ( 2 & 13 ). ·

Now take a white paper and stretch black tape on it.

·

Put the line sensor above the white sheet and perform calibration on it.

·

Set the both preset in this way that both output led’s of LM324 IC will becomes on at

the black surface and will becomes off on white surface as the sensor comes on the white sheet. Note: set the preset by revolving it through screw driver. Try the above step number of times until the both led will becomes on at the black surface and remains off at the white surface.

33

Sr.No. Color

Logic generate at LM324 output pin

1

Black

0

2

White 1

4.1.1 Check calibration step from below table as output generate on color Check your calibration step from below table as output generate on color. Led 2 of LM324 IC Sr.no

LDR_sensor1 LDR_ sensor 2 Led1 of LM324 IC On On

1

White

White

Off

2

Black

White

On

3

White

Black

Off

4

Black

Black

On

34

Off

Off

On

On

4.1.2 The Motor with the L293D as given below in table. Inverter IC connection with L293D IC Sr. No. Pin of inverting IC

Pin of L293D IC

1

Pin no 4

Pin no 3

2

Pin no 6

Pin no 7

3

Pin no 10

Pin no 14

4

Pin no 8

Pin no 10

4.1.3 Connecting the Motor withL293D: Connection of Motor with L293D IC Sr. No. Output pins Motor Wire 1

o/p1

First wire of first motor

2

o/p2

Second wire of first motor

3

o/p3

First wire of second motor

4

o/p4

Second wire of second motor

First the connection of inverting IC with the L293D was made.

35

4.2 Inverter IC connection with L293D IC sr. No. Pin of inverting IC Pin of L293D IC 1

Pin no 4

Pin no 3

2

Pin no 6

Pin no 7

3

Pin no 10

Pin no 14

4

Pin no 8

Pin no 10

4.3 Inverter IC connection with comparator IC Sr.No Output pin of LM324 IC

Inverting pin ic no

1

LM 324 o/p pin 1 ( pin no 16)

Pin no 1

2

LM 324 o/p pin 2 ( pin no 1)

Pin no 13

4.4 Movement of robotic platform

Sr.No. LDR_Sensor 1

LDR_Sensor 2

Output

1

White

White

Forward Movement

2

White

Black

Left/Right Movement

3

Black

White

Right/Left Movement

4

Black

Black

Backward

36

Movement

4.4.1 Breadboard image of chases complete assembly Complete Assembly of line tracking robot Now take the robotic platform to fit the zero line sensor PCB on the robotic platform.

Figure 4.1 : Complete Assembly of line tracking robot

·

Now take a robotic platform and fit the zero pcb on the robotic platform with the M-

60 screw driver. The sensors direction should be in downward direction. ·

Also fit the breadboard on the robotic platform. The complete assembly of the line

robotic platform as given below

37

4.4.2 Breadboard image of complete assembly

Figure 4.2: Breadboard image of complete assembly

4.4.3 Schematic layout of complete image

38

Figure 4.3 : Schematic layout of complete image

4.5 Actual Image of Complete Circuit

39

Figure4.4. : Actual Image of Complete Circuit

4.5.1 Complete Assembly of line tracking robot 40

Figure 4.5 : Complete Assembly of line tracking robot

41

CHAPTER 5

CONCLUSION & DISCUSSION 5.1 Benefit of robot 1. Robot movement is automatic 2. Fit and forget system 3. Used for long distance application 4. Defense application 5. Used in home, industrial automation 6. Cost effective. 7. Simplicity of building

5.2 Limitation of Line Tracking Robot 1. They have to track a line so if they turn too sharply or drift and lose the track they do not recover. 2. Can only track an angle based on minimum angle of mechanical structure so will lose track if the angle of the line is too tight. 3. Sensor Track a black line 1 or 2 inches in width on a white surface 4. Sensor are simple robots with an additional sensor placed on them. 5. Needs a path to run either white or black since the IR rays should reflect form the particular path. 6. Slow speed and instability on different or hard angle.

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CONCLUSIONS The Line tracking robot works successfully to track on the black line. Above the white surface (art paper) there are some black lines in different directions. The robot still good enough to sense the line and tracks the track. Also the robot is capable to carry some load likely 500gm.

FUTURE WORK The line Tracking robot is made by op-amps and transistors, where the motor is directly on or off using the signal of the comparator. Now the techniques can be replaced by PWM using more sensor, microcontroller and H-Bridge motor controller IC i.e. L293D. I want to try it earlier but failure in some cases. I have compiled some programs of microcontroller. Also instead of LDR it can be used phototransistor whose response is much better than LDR. There are 2 line sensors used here so the fluctuation of line is a fact. Using more than 2 sensor likely 5 sensor array may be used to detect the black line quickly. Also using microcontroller it can draw the reverse direction as well as obstacle avoiding turning the motor 180º. The block diagram may be represented as tracks. Also using color sensors the robot can sense different colors. It can be used in the robotic game competition and other fields. So the development features in brief: •Appling PWM technique •Use of Microcontroller •Use of color sensor •Obstacle avoiding

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References

1. http://www.sciencekids.co.nz/sciencefacts/technology/historyofrobotics.html 2. http://en.wikipedia.org/wiki/History_of_robots 3. http://www.sciencekids.co.nz/sciencefacts/technology/historyofrobotics.html 4. http://www.slideshare.net/rehnazrazvi/line-following-robot-16014541 5. http://publicationslist.org/data/ajase/ref-44/52_2_Template.pdf 6. http://www.instructables.com/id/Line-following-Robot-withArduino/step5/Conclusion/ 7. http://www.engineersgarage.com/ 8. http://www.softbrand.net/ 9. http://www.ieee.org.bd/international-robotics-challenge-bangladesh/ 10. http://www.esab.org.bd/ 11. https://www.techshopbd.com

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