LINE FOLLOWING ROBOT

There is a lot of demand for automation in industry. There are a lot of places where a man cannot move
around and monitor the conditions in the industry. So there arises a need for a robot which can move
around without colliding with the objects around and follow a line which is a marked white. We are
making an attempt to make such a robot by using sensors and a control system which accepts signals
from a remote and at the same time accept signals from sensors to find its path. The only two
commands which the user has to give are to move forward and move backwards. The microcontroller
receives command from user through a remote and interprets the signals with the help of the software
program fed in the memory of the microcontroller itself. Then the microcontroller will make a decision
to move forward, backwards and sideways depending whether the sensors are properly giving the
relevant signals. If the infrared sensor mounted on the chassis of the robot is sensing an object along its
path, then it generates a signal, which indicates to the microcontroller that there is an object detected
along the root. The microcontroller then decides to avert collision by properly generating a signal to the
driver circuit which drives the motors. Whenever a signal from a sensor is received, the microcontroller
will switch off the motors and rotate one of the motor in opposite direction such that the direction is
changed and a different path is chosen.

Line Tracking Robot Project

The robot has the following subsections:

 Sensor Section
 Microcontroller section
 Remote transmitter section
 Receiver Section
 Driver section
 Power Source

Before describing this section of the Robot we will go over the operation of some of the devices
used in it.

Infra-red Diodes
Certain diodes, under the condition of forward-bias, emit light. These could be of different colors
and wavelength. In our case it is infrared.
Phototransistor
A phototransistor is a transistor that is sensitive to light. When light shines on it, the collector
current will greatly increase, while in the absence of light, Ic is very small. We can view the
effect of light as controlling the effective resistance between the collector and emitter. In the
presence of light this resistance is low, resulting in a large collector current, while in the absence
of light the opposite happens. The phototransistor is functioning as a switch; no connection is
made to the base.

                                                Sensor Section

The sensing subsystem consists of two identical parts Each photo interrupters is made of a light
IR diode and a phototransistor.
When the IR rays radiated by the IR diode, the reflected rays from the IR diode after hitting an
object will be received by the phototransistor and the collector and emitter are short-circuited
thus connecting the 5V supply to the emitter. When this happens, the microcontroller gets the
signal that the object is nearby.

Microcontroler section

We have built the project with the Intel microcontroller manufactured by Atmel 89S52 which is
having 4 8-bit ports which can act as individual input and outputs. all the bit set reset operations
are carried out by the microcontroller . the set reset operations are used to switch on and off the
relays through the driver circuits which is described below.

Driver circuit.

This circuit is required to switch on and off the motors whenever required. The microcontroller
operates with 5V and the motors require higher voltage. So the microcontrollers cannot handle
the power required by the motors so the signals are sent to the driver circuits and the driver
circuit takes care to switch on and off the motors at higher power level.
Remote controller

This circuit consists of operator controls and the transmitter circuit which can encode the data
suitable for microcontroller and transmits. This works on a 9V battery.

The circuit consist of HT 640 encoder which converts the parallel data into serial format which
adds stop and start bits at the end and start of the binary data.

This encoder has 8 parallel data bits and one serial out. The output is TTL compatible.

Features
_ Operating voltage: 2.4V~12V
_ Low power and high noise immunity CMOS
technology
_ Low standby current
_ Three words transmission
_ Built-in oscillator needs only 5% resistor
_ Easy interface with an RF or infrared transmission
media

_ Minimal external components

The 3 level 18 bit encoders are a series of CMOS LSIs for remote control system applications. They are
capable of encoding 18 bits of information which consists of N address bits and 18_N data bits. Each
address/data input is externally trinary programmable if bonded out. It is otherwise set floating internally.
Various packages of the 3 18
encoders offer flexible combinations of programmable address/data to meet various
application needs. The programmable address/
data is transmitted together with the
header bits via an RF or an infrared transmission
medium upon receipt of a trigger signal.
The capability to select a TE trigger type or a
DATA trigger type further enhances the application
flexibility of the 3 18 series of encoders.

Applications
_ Burglar alarm system
_ Smoke and fire alarm system
_ Garage door controllers
_ Car door controllers
_ Car alarm system
_ Security system
_ Cordless telephones

_ Other remote control systems

Receiver section.
The receiver section consists of a decoder which decodes the data received from the transmitter.
The received and decoded data from HT 648L is fed to the microcontroller.
The Ht648L has the inbuilt decoder which automatically decodes the received data and feeds to the
microcontroller.
The chip has following features.

Operating voltage: 2.4V~12V

Low power and high noise immunity CMOS
technology
Low standby current
Capable of decoding 18 bits of information
Pairs with HOLTEK’s 318 series of encoders
8~18 address pins
0~8 data pins
Trinary address setting
Two times of receiving check
Built-in oscillator needs only a 5% resistor
Valid transmission indictor
Easily interface with an RF or an infrared
transmission medium
Minimal external components

Applications
Burglar alarm system
Smoke and fire alarm system
Garage door controllers
Car door controllers
Car alarm system
Security system
Cordless telephones
Other remote control systems

General Description
The 318 decoders are a series of CMOS LSIs for
remote control system applications. They are
paired with the 318 series of encoders. For
proper operation a pair of encoder/decoder pair
with the same number of address and data
format should be selected (refer to the encoder/
decoder cross reference tables).
The 318 series of decoders receives serial address
and data from that series of encoders that
are transmitted by a carrier using an RF or an
IR transmission medium. It then compares the
serial input data twice continuously with its
local address. If no errors or unmatched codes
are encountered, the input data codes are decoded
and then transferred to the output pins.
The VT pin also goes high to indicate a valid
transmission.
The 318 decoders are capable of decoding 18 bits
of information that consists of N bits of address
and 18–N bits of data. To meet various applications
they are arranged to provide a number of
data pins whose range is from 0 to 8 and an
address pin whose range is from 8 to 18. In
addition, the 318 decoders provide various combinations
of address/data number in different
packages.
The robot moves in such a way as to locate itself above a white line drawn on floor surface.

                                                    E. Power Source

There are two sources of power. A 9V battery provides power for the remote controller
transmitter and a 6V 5 AH battery power the microcontroller board, receiver and
motors.                                                           

Parallel
To serial
converter FSK Modulator
Control keys

Block Diagram for Remote Control

Driver Circuit for

DC Motors
FSK Serial to Parallel
Demodulator Converter
Micro controller

Collision sensors Motors

There are 3 aspects of any robot:

Brawn – strength relating to physical payload that a robot can move.

Block Diagram for Robo Control Circuit
Bone – the physical structure of a robot relative to the work it does; this determines the size and
weight of the robot in relation to its physical payload.

Brain – robotic intelligence; what it can think and do independently; how much manual
interaction is required.

Because of the way robots have been pictured in science fiction, many people expect
robots to be human-like in appearance (normally known as humanoids). But in fact what a robot
looks like is more related to the tasks or functions it performs. A lot of machines that do not look
like humans can clearly be classified as robots. And similarly, some human-like robots are
nothing but mechanically moving toys.