Line Follower Robot

Overview
A line follower robot is basically a robot designed to follow a line or path
already predetermined by the user. This line or path may be as simple as a
physical white line on the floor or as complex path marking schemes e.g.
embedded lines, magnetic markers and laser guide markers. In order to detect
these specific markers or lines, various sensing schemes can be employed.
These schemes may vary from simple low cost line sensing circuit to expansive
vision systems. The choice of these schemes would be dependent upon the
sensing accuracy and flexibility required.

Block Diagram

IR sensor
L293D motor
driver IC
IR sensor

8051
Microcontroller

DC motor

Components Required
L293D IC

AT 89C2051 IC

LM 358 IC

LM 7805

Preset 10 K

LED

Diode (IN4007) 2
Crystal OSC. (11.0592) MHz 1
Capacitor (33pf) 2
Capacitor (10uf) 3
4

Resistance (1K)

Resistance(470 ohm) 2

POWER SUPPLY
230 V
AC
50
Hz

Bridge rectifier

5V
DC
12V step down
transformer

5v Regulator

Filter(470f)

Resistance

Cont
Resistance is the opposition that a substance offers to the flow of electric

current. It is represented by the uppercase letter R. The standard unit of

resistance is the ohm, sometimes written out as a word, and sometimes
symbolized by the uppercase Greek letter omega. When an electric current of
one ampere passes through a component across which a potential difference
(voltage) of one volt exists, then the resistance of that component is one ohm.
In general, when the applied voltage is held constant, the current in a direct-

current (DC) electrical circuit is inversely proportional to the resistance.

Capacitance

Cont
A capacitor is a passive electronic component that stores energy in the form of

an electrostatic field. In its simplest form, a capacitor consists of two

conducting plates separated by an insulating material called the dielectric. The
capacitance is directly proportional to the surface areas of the plates, and is
inversely proportional to the separation between the plates. Capacitance also
depends on the dielectric constant of the substance separating the plates.
The standard unit of capacitance is the farad, abbreviated. This is a large unit;

more common units are the microfarad, abbreviated F (1 F =10 -6F) and the
picofarad, abbreviated pF (1 pF = 10 -12 F).

Diode

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Cont
The most common function of a diode is to allow an electric current to

pass in one direction (called the diode's forward direction), while

blocking current in the opposite direction (the reverse direction). Thus,
the diode can be viewed as an electronic version of a check valve. This
unidirectional behavior is called rectification.
diodes can have more complicated behavior than this simple onoff

action,

due

to

their

nonlinear

current-voltage

characteristics.

Semiconductor diodes begin conducting electricity only if a certain

threshold voltage or cut-in voltage is present in the forward direction (a
state in which the diode is said to be forward-biased).
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LM358IC

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Cont
The LM358 is a very common low-power, dual channel op-amp.

They are widely used as pre-amplifiers in many audio devices.

They have a wide frequency range and fast response time, and run over

a 3 to 32 volt supply range.

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AT89C2051

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Cont
The AT89C2051 is a low-voltage, high-performance CMOS 8-bit microcomputer with
2K bytes of Flash programmable and erasable read-only memory (PEROM).
By combining a versatile 8-bit CPU with Flash on a monolithic chip, the Atmel
AT89C2051 is a powerful microcomputer which provides a highly-flexible and costeffective solution to many embedded control applications.
Features:
128 x 8-bit Internal RAM
15 Programmable I/O Lines
Two 16-bit Timer/Counters
Six Interrupt Sources
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IC7805

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Cont
Voltage regulator IC's are the ICs that are used to regulate voltage.
IC 7805 is a 5V Voltage Regulator that restricts the voltage output to 5V and draws 5V

regulated power supply. It comes with provision to add heat sink.

The maximum value for input to the voltage regulator is 35V. It can provide a constant

steady voltage flow of 5V for higher voltage input till the threshold limit of 35V. If the
voltage is near to 7.5V then it does not produce any heat and hence no need for heat sink. If
the voltage input is more, then excess electricity is liberated as heat from 7805.
It regulates a steady output of 5V if the input voltage is in rage of 7.2V to 35V. Hence to

avoid power loss try to maintain the input to 7.2V. In some circuitry voltage fluctuation is
fatal (for e.g. Microcontroller), for such situation to ensure constant voltage IC 7805 Voltage
Regulator is used.
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L293D

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Cont
L293D is a typical Motor driver or Motor Driver IC which allows DC motor to drive

on either direction. L293D is a 16-pin IC which can control a set of two DC motors
simultaneously in any direction. It means that you can control two DC motor with a
single L293D IC.
Dual H-bridge Motor Driver integrated circuit (IC). here are two Enable pins on l293d.

Pin 1 and pin 9, for being able to drive the motor, the pin 1 and 9 need to be high. For
driving the motor with left H-bridge you need to enable pin 1 to high. And for right HBridge you need to make the pin 9 to high. If anyone of the either pin1 or pin9 goes low
then the motor in the corresponding section will suspend working. Its like a switch.

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Crystal Oscillator

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Cont
A crystal oscillator is an electronic oscillator circuit that uses the mechanical resonance of

a vibrating crystal of piezoelectric material to create an electrical signal with a very

precise frequency. This frequency is commonly used to keep track of time (as in quartz
wristwatches), to provide a stable clock signal for digital integrated circuits, and to
stabilize frequencies for radio transmitters and receivers. The most common type of
piezoelectric resonator used is the quartz crystal, so oscillator circuits incorporating them
became known as crystal oscillators but other piezoelectric materials including
polycrystalline ceramics are used in similar circuits.
Quartz crystals are manufactured for frequencies from a few tens of kilohertz to hundreds

of megahertz. More than two billion crystals are manufactured annually. Most are used
for consumer devices such as wristwatches, clocks, radios, computers, and cell phones.
Quartz crystals are also found inside test and measurement equipment, such as counters,
signal generators, and oscilloscopes.
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Motor

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Cont
30RPM 12V DC geared motor is high quality low cost DC geared
motor. It is very useful in robotics applications. Very easy to use and
available in standard size. Nut and threads on shaft to easily connect
and internal threaded shaft for easily connecting it to wheel.

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LED

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Cont
A light-emitting diode (LED) is a two-lead semiconductor light source.

It is a p-n junction diode, which emits light when activated.

When a suitable voltage is applied to the leads, electrons are able to

recombine with electron holes within the device, releasing energy in

the form of photons. This effect is called electroluminescence, and the
color of the light (corresponding to the energy of the photon) is
determined by the energy band gap of the semiconductor.

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Working Of Project
In this project we are using LM358 which is an OPM IC it transmit the analog
value coming from the sensor to the micro controller. We are placing two IR
sensors in our project to detect the line; both the sensors are placed at the end
side of the line which robot has to follow. IR work on a principal that if black
surface come then the IR light will not revert but whenever the white surface
come it will revert and send a bit to the connected IR photodiode. So when our
robot is moving whenever the line turn then the sensors will detect the line and
send the bit to the OPM IC which convert this analog signal into to digital bit
and send it to the micro controller. According the coding in the micro controller
it will detect that at what end line is turning and send a bit to the IC L293D,
which is a motor driver IC to turn the robot according to the direction of the line.
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Applications
Guidance system for industrial robots moving on shop floor etc.
Industrial applications.
Home applications.

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Future Aspects
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.

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Query.??
Ouery???
?
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Thank You
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