MINI PROJECT REPORT

LINE FOLLOWER

Submitted by:

NEVIN THOMAS VINAYA DAS M

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

RAJIV GANDHI INSTITUTE OF TECHNOLOGY KOTTAYAM 2011

Rajiv Gandhi Institute of Technology[GovernmentEngineeringCollege] Dept. of Electronics &Communication Engineering.Vellore P.O., Pampady, Kottayam, Kerala - 686501Ph:0481-2505963, 2507763

Certificate

This is to certify that this report entitled LINE FOLLOWERis an authentic report of the mini project done by NEVIN THOMAS, Reg.No.: 63783 and VINAYA DAS M, Reg.No.: 63803 during the year 2011, in partial fulfilment of the requirement for the award of Bachelor of Technology Degree in Electronics and Communication Engineering, Mahatma Gandhi University, Kottayam, Kerala.

EXTERNAL EXAMINER

STAFF IN CHARGE

ACKNOWLEDGEMENT

Let us take this opportunity to thank all those who have been directly or indirectly involved in making our mini project a success. First of all we are grateful to God Almighty, for helping us to select this topic and giving us the hunger and interest to presume this interesting topic. Without His blessings we would not have been able to complete this mini project. We are thankful to Prof. J.T. Kuncheria, the respected principal of Rajiv Gandhi Institute of Technology, Government Engineering College, Kottayam. We are also extremely thankful to Prof.Geetharenjini., Head of the Department of Electronics and Communication for her cooperation and guidance for preparing and presenting this report. It gives us immense pleasure to express our deep and profound feelings of gratitude to Mr. Umesh A.C., our guide, for his help and suggestions rendered in time for the completion of the project. We also extend our sincere thanks to all other faculty members of the department for their help and support. Above all, we are indebted to our parents and friends, who have helped us in the construction and demonstration of this mini project.

ABSTRACTAs part of our miniproject we are designing a robot which will follow a black line which twists and turns. Robot got three sensors for sensing the black line.Leftsensor,centre sensor, right sensor.If the left sensor sees the black line,the robot will take a slight left turn until centre sensor sees it.similarly if the right sensor sees the black line then the robot will take a slight right turn until centre sees it. If the line is seen by the centre sensor then the robot will merely go forward.

The project is based on the embedded system. We know that robotics is one of the important application of electronics and here we are trying to come with practical idea. This robot will find wide application in the fields of industry,space research etc.This will reduce the manual effort and is cost effective.

TABLE OF CONTENT CHAPTER NO TITLE

ABSTRACT AKNOWLEDGEMENT TABLE OF CONTENTS LIST OF TABLES LIST OF FIGURES LIST OF SYMBOLS ABBREVIATIONS AND NOMENCLATURE INTRODUCTION CIRCUIT DETAILS BLOCK DIAGRAME CIRCUIT DIAGRAM CIRCUIT DESCRIPTION ROBOT PROCEDURE DESIGNING SOURCE CODE PRINTED CIRCUIT BOARD APPLICATIONS FUTURE STUDY CONCLUSION REFERENCE APPENDICES

LIST OF TABLES TABLE 1 Truth table for the program

Left sensor 0 0 0 0 1 1 1 1

Central sensor 0 0 1 1 0 0 1 1

Right sensor 0 1 0 1 0 1 0 1

Left wheel 1 0 0 0 1 1 1 1

Right wheel 1 1 0 1 0 1 0 1

LIST OF FIGURESFig No 1 2 3 4 Title Block diagram Circuit diagram 1 Circuit diagram 2 Page No

LIST OF SYMBOL,ABBREVIATIONS AND NOMENCLATURE SYMBOLS:V A K Voltage Ampere Kilo ohms

ABBREVIATIONS:Vcc IC LDR LED Common collector voltage Integrated Circuits Light Dependent resistor Light emitting Diode

INTRODUCTIONLine follower is a machine that can follow a path.the path can be visible like a black line on a white surface(or vice versa) or it can be invisible like a magnetic field. As part of our miniproject we have decided to design a line following robot.The robot will follow a black line which twists and turns.Robot have three line sensors,left, centre,right.If the line is seen by the centre sensor then robot will merely go f

BLOCK DIAGRAM

SENSOR CIRCUIT

CIRCUIT DIAGRAM

CIRCUIT DESCRIPTIONAfter many hours of research we decided upon making a prototype version,which would allow to test out the difference concepts which we need to master before finishing this robot. The robot is broke down in to different sub systems:Locomotion,Power,Sensors,andControl.

1.Locomotion- I will use two HS-42BB servos for locomotion and one ball caster 2.Power- four AA batteries will provide the power for all the systems 3.Sensors- We use LDRs along with LEDs 4.Control- one 8051 microcontroller will act as the brain for the robot.It will be programmed in asm51 and assembly.

ROBOT PROCEDUREThis ro turn until line is bot got three sensors for sensing the black line. Lleftsensor,Ccentresensor,Rright sensor. Initially the robot will check for the black line.If the left sensor sees the black line,then the robot take a slight left turn until centre sees it.similarly if the right sensor sees the black line,then the robot take a slight right turn until centre sees it.If the line is seen by the centre sensor the robot will go merely go forward.If no sensors detect anything,thenit is a break in line since black object reflect less light than white object,the difference can be detected and is conveted to digital value.this information from the comparator is given to the microcontroller.based on the information microcontroller produces output for motor driver.motor driver then drive the motor

CONNECTION DESCRIPTION P1.0 -out of LDR1-left P1.1 out of LDR2-centre P1.2 out of LDR3-right

Out to motor as P2.0 is given to pin number 2 of L293d P2.1 is given to pin number 7 of L293d P2.2 is given to pin number 10 of L293d

P2.3 is given to pin number 15 of L293d output of L293d as Red wire of Motor 1 is given to pin number 3 of L293d Black wire of Motor1 is given to pin number 6 of L293d Red wire of Motor2 is given to pin number 14 of L293d Black wire of Moto2 is is given to pin number 11 of L293d +5v is given to pin number 1,9,16, of L2293d +12v is given to pin number 8 of L293d Groud is connected to pin number 4,5,12,13 of L293d

PROGRAM CODEORG 000H SJMP MAIN MAIN:MOV P1,#00FH BACK: MOV R1,P1 C0:CJNE R1,#08H,C1 SJMP CASE0 C1:CJNE R1,#09H,C2 SJMP CASE1 C2:CJNE R1,#0AH,C3 SJMP CASE2 C3:CJNE R1,#0BH,C4 SJMP CASE3 C4:CJNE R1,#0CH,C5 SJMP CASE4 C5:CJNE R1,#0DH,C6 SJMP CASE5 C6:CJNE R1,#0EH,C7 SJMP CASE6

C7:CJNE R1,#0FH,C8 SJMP CASE7 C8:CJNE R1,#00H,C9 SJMP SENSOR C9:CJNE R1,#01H,C10 SJMP SENSOR C10:CJNE R1,#02H,C11 SJMP SENSOR C11:CJNE R1,#03H,C12 SJMP SENSOR C12:CJNE R1,#04H,C13 SJMP SENSOR C13:CJNE R1,#05H,C14 SJMP SENSOR C14:CJNE R1,#06H,C15 SJMP SENSOR C15:CJNE R1,#07H,C0 SJMP SENSOR CASE0: CLR P2.0 CLR P2.1 CLR P2.2

CLR P2.3 LJMP BACK CASE1: SETB P2.0 CLR P2.1 SETB P2.2 CLR P2.3 LJMP BACK CASE2: CLR P2.0 CLR P2.1 CLR P2.2 CLR P2.3 LJMP BACK CASE3: CLR P2.0 CLR P2.1 SETB P2.2 CLR P2.3 LJMP BACK CASE4: SETB P2.0 CLR P2.1 SETB P2.2 CLR P2.3

LJMP BACK CASE5: SETB P2.0 CLR P2.1 SETB P2.2 CLR P2.3 LJMP BACK CASE6: SETB P2.0 CLR P2.1 CLR P2.2 CLR P2.3 LJMP BACK CASE7: CLR P2.0 CLR P2.1 CLR P2.2 CLR P2.3 LJMP BACK SENSOR: SETB P2.0 CLR P2.1 CLR P2.2 SETB P2.3 MOV R2,P1

CJNE R2,#0DH,SENSOR LJMP CASE5 END

PRINTED CIRCUIT BOARDNow a days the printed circuit board here after mention as PCB makes the electronic circuit manufacturing as easy one.in olden days vast area was required to implement a small circuit to connet the leads of the component and separate connectors where needed.But PCB s connect the two by copper coated lines on the PCB boards.In the single sided PCB s the copper layer is on both sides.Somecases,middle layer is also possible than the two sides. BOARD TYPE The most popular board types are SINGLE SIDED BOARDS:They are mainly used in entertainment electronics where manufacturing costs have to be kept at the minimum. DOUBLE-SIDED BOARDS:Double sided PCB s can be made with or without plated through holes.The production of boars with plated through hoes fairly expensive. SOLDERING Soldering is a process for the joining of metal parts with the aid of a molten metal(solder),where the melting temperature is suited below that of the material joined,and whereby the surface of the parts where wetted,without then becoming molted. Soldering generally implied that the joining process occurs at temperature below 450- degree centigrade. Solder wets and alloys with base metals gets drawn, by capillarity action, into the gap between them. This process forms a metallurgical bond between the pats of the joined. Therefor soldier acts by wetting of base metal

surfaces forming joined flowing between these surfaces, which result in a completely filled space between them.

Metallurgical bonding to these surfaces when soldering consists of the relative positioning of the surfaces to be joined,wetting these surfaces with molten solder and allowing the solder to cool down until it has solidified. During this soldering operation, an auxiliary medium mostly used to increase the flow properties of molten solder or to improve the degree of wetting. Such a medium is called flux. FLUX Following characteristics are required in a flux: 1. 2. 3. 4. 5. It should provide a liquid over the material and exclusive air up to the soldering temperature. It should dissolve any oxide on the metal surface or on the solder and carry such unwanted elements away. It should be readily displaced from the metal by the molten soldering operation. Residues should be removable after the completion of the solder to achieve a soldered joint. Method by which the necessary heat is applied, among other things depends on: a) Nature and type of joint. b) Melting point of the solder.

APPLICAIONSThe robot will follow a line sharp turns. This will reduce the manual effort and a more developed version of this can be used even in space research for conducting studies in celestial bodies. An improved version of this line follower can be used in industries.This system can be interfaced with many other systems which will offer further applications.Practical applications of aline follower are automated cars running on roads with embedded magnets; guidance system for industial robots moving on shop floor etc.

FUTURE STUDYThe existing linefollower can be modified or improved upon to perform multiple tasks including obstacle detection, color sensing etc.General improvements include using a low dropout votage regulator , lighter chasis etc. This can reduce power consumption to a much lower level. SONAR can be incorporated into the circuit to calculate distance from obstacles in its path.The overall efficiency of the robot can be enhanced by increasing the number of sensors.

CONCLUSIONAs part of our mini project we were able to design a line follower robot. The robot will follow a line with sharp turns. This will reduce the manual effort and a more developed version of this can be used even in space reaserch for conducting studies in celestial bodies. An improved version of this line follower can be used in industries. This system is found helpful in nuclear power plants and in mines. This system can be developed to perform even household work s. This system can be interfaced with many other systems which will offer further more applications

REFERENCES[1] Electronic devices and circuits by J.B Gupta,3rd edition 2008 Katson educational series [2] Digital Fundamentals by Floyd and Jain,7th edition 2009 Dorling Kindersley(India)Pvt Ltd [3] Linear Integrated Circuits by Ramakant A Gayakwad, 4th edition 2008 Pearson Education Inc [4]Microcontroller Theory And Applications by Ajay V deshmukh,5th edition 2005 Tata McGraw Hills [5] http://www.ikaiogic.com/proj-mini-line-follower.php [6]http://online.physics.uiuc.edu/courses/phys405-