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Auto Bot: I) Block Diagram

The document describes the design of a line following robot. It discusses the use of an 8 sensor array to detect white lines on a green background and determine the robot's position. The algorithm directs the robot to move such that the two center sensors detect the line. Motor drivers in an H-bridge configuration control the DC motors. Power windows and relays are used to lift loads for the robot.

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k0nqueror
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49 views4 pages

Auto Bot: I) Block Diagram

The document describes the design of a line following robot. It discusses the use of an 8 sensor array to detect white lines on a green background and determine the robot's position. The algorithm directs the robot to move such that the two center sensors detect the line. Motor drivers in an H-bridge configuration control the DC motors. Power windows and relays are used to lift loads for the robot.

Uploaded by

k0nqueror
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Auto bot:

i)Block Diagram:

ii) How to differentiate between white line and green background

The single sensor consists of an Red Light emitting diode and a NPN Darlington
phototransistor. When a light emitted from the diode is reflected off an object and back
into the phototransistor, output current is produced, depending on the amount of
reflected light, which triggers the base current of the phototransistor. he amount of light
reflected off a white line is much more than that of a green background, so we can detect
the black line by measuring the voltage across the transistor. The voltage was measured
using inbuilt ADC and stored. White line gives a higher voltage band while green
background gives a lower voltage band. Threshold was calculated using midpoint of lowest
level of white band and highest level of green band. After this calibration, any voltage
above the threshold is considered as white colour detection while any voltage below the
threshold is considered as green colour detection.
iii)Sensor resolution:

On testing using 2 sensors, it was observed that the robot overshoots from its path
frequently and loses the line. Hence, 8 sensor array was used with the following
algorithm:

Starting from the center, the sensors on the left are named L1, L2, L3, L4 and those on
the right are named R1, R2, R3, R4.

Let us assume that when a sensor is on the line it reads 0 and when it is off the line it
reads 1.
The µC decides the next move so as to position the robot such that L1 and R1 both read 0
and the rest read 1.

Algorithm:

1. L= leftmost sensor which reads 0; R= rightmost sensor which reads 0.

If no sensor on Left (or Right) is 0 then L (or R) equals 0;

For example

2. If all sensors read 1 go to step 3,


else,

If L>R Move Left

If L

If L=R Move Forward

Go to step 4

3. Move Clockwise if line was last seen on Right

Move Counter Clockwise if line was last seen on Left

Repeat step 3 till line is found.

4. Go to step 1.

iv) Motor driver:

The motors used were geared D.C. motors which consumes 3A to 5A each . Hence, Motor
drivers were developed in-house by using IRF-Z Mosfets in H-bridge configuration with
Heat-Sinks to dissipate excessive heat generated during motor control. The motor drivers
were driven using PWM pulses to control speed and direction precisely while maintaining
the required torque.

v) Power Windows:

Power Windows were used in lifting mechanism since available geared motors were found
to be slow in lifting up required weight. To activate power windows for unidirectional
control, relays were used. For bidirectional control, motor drivers were used.

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