A

PRESENTATION
ON
SOLAR USING LINE
FOLLOWER ROBOT WITH
ROBOTIC ARM

Contents:

Introduction

Block diagram
Hardware equipment
Working
Embedded system
Components used
References

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INTRODUCTION
What is Line Follower?
Line 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.
Why to built a Line follower?
Applications:Automated cars running on roads with embedded magnets(ESC
electronic stability control), guidance system for industrial robots
moving on shop floor etc.

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BLOCK DIAGRAM

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CIRCUIT DIAGRAM

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WORKING

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 Robot is following white line on black

background.
Left sensor

Right sensor

Left motor

Right
motor

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 When a sensor is on the black line it reads 0 and when it is on the

bright surface read1. and sensor module gives the value to
controller to generate control signal according to programmer
When both right and left sensors are on bright surface (read 1) then
both couple of motor move.
When left sensor comes in black (for white line tracer) region then
left motor stops while right motor continue to move so that left turn
takes place and robot returns on black line.
When right sensor comes in black region then right motor stops
while left motor continue to move so that right turn takes place and
robot returns on black line.
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Conti.
When both sensors comes on black surface simultaneously
(read 0) than both motor stop.
After movement of left- right motor of lifter the motor for
lifting and gripping move one by one for some definite time
duration defined in program using timer of controller.
The lifter and gripper arm have various gear arrangement, so
that after movement of each motor of arm one by one the arm
pick an object or work piece softly.
After movement of gripper motor, all the motor of arm starts
moving in reverse direction of previous movement, one by one.
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After picking an object by gripper and lifter arm, either left or right
wheel motor starts moving until the robot reverts his path and both
sensor comes on bright surface after crossing a black surface
between.
At destination both sensors read 0 simultaneously, so that previous
process is repeated and the object is now placed by same movement
of motor.
The robot revert its path and repeats the pick and place process
again and again continuously.
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HARD WARE EQUIPMENTS:

POWER SUPPLY:- 6 volt DC Battery & Solar Panel
MICROCONTROLLER (AT89S52)
DC GEAR MOTOR
MOTOR DRIVER:- L293D
COMPARATOR:- LM324
VOLTAGE REGULATOR:- IC 7805
IR SENSORS
RESISTORS & CAPACITORS
PICK & PLACE ARM
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EMBEDDED SYSTEMS
Definition for :-

EMBEDDED SYSTEMS

A combination of hardware and software which together

form a component of a larger machine.
An example of an embedded system is a microprocessor that
controls an automobile engine.
An embedded system is designed to run on its own without
human intervention, and may be required to respond to
events in real time.
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Micro Controller:
8KB of In-System Programmable (ISP) Flash Memory
4.0V to 5.5V Operating Range
Crystal Frequency 11 MHZ
Three-level Program Memory Lock
4.0V to 5.5V Operating Range
256 x 8-bit Internal RAM
32 Programmable I/O Lines
Eight Interrupt Sources

AT89S52

(Continue)
Pins XTAL1 and XTAL2 are provided for connecting a
resonant network to form an oscillator.
Crystal frequency ranges from 1MHz to 24 MHz, one crystal
of 11.0592MHz and two capacitor is connected in this two pins
19 and 18 and its your clock circuit.
The 8051 has an active high reset pin, a reset input must go
high for two machine cycles when power is first applied and
then goes low.

PIN DIAGRAM OF AT89S52:

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Software Requirements:
Keil Compiler
Language: Embedded C.

LM324(COMPARATOR)
IC LM324 is a comparator IC. It is a MAIN BRAIN of line tracer.
The Ports takes two voltage inputs at positive and negative pin
respectively, compares them and gives a digital output in the form
of logical HIGH or logical LOW.

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IC 7805
A voltage regulator is an electrical
regulator designed to automatically maintain
a constant voltage level.
Heat sink provided in the center to release
heat generated due to drop across the IC.
Input voltage of about 5 to 18 V is given,
Ground is 0 V and regulated output of +5V.

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L293D (H-Bridge)

Motors are arranged in a fashion called

H-Bridge.

H-Bridge-It is an electronic circuit

which enables a voltage to be applied
across a load in either direction.

It allows a circuit full control over a

standard electric DC motor. That is,
with an H-bridge, a microcontroller,
logic chip, or remote control can
electronically command the motor to go
forward, reverse, brake, and coast.
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IR TRANSMITTER & RECEIVER

IR TRANSMITTER ( EMITTING DIODE)

The IR LED emitting infrared light is put on in
the transmitting unit. IR or VISIBLE light is
emitted from the emitter
This emitted light strikes the surface and gets
reflected back. If the surface is white, more
intensity of light gets reflected and for black
surface very less intensity of light is reflected.
IR RECEIVER (PHOTODETECTOR)
Used to detect the intensity of light reflected.
The corresponding analog voltage is induced
based on the intensity of reflected light, which
further compared by comparator and output send
as 0 or 1
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PICK AND PLACE ROBOTIC ARM

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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.
Used in heavy machinery industry.
Used where high load and risky operation going on.
Use in place of the crane.

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REFERENCES :
www.avrfreaks.com,Microcontrollers,Atmel
septiembre-2001. www.atmel.com
The 8051 Microcontroller and Embedded Systems Using
Assembly and C By Muhammad Ali Mazidi, Janice Gillispie
Mazidi &Rolin D.McKinley
AtmelCorp. Makers of the AVR microcontroller
www.atmel.com
www.electronic projects.com
www.howstuffworks.com

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