Report on Introduction to Robotics

ENT 3152
End Semester Robot Evaluation Project
Line Follow Robot

Faculty of Technology
University of Ruhuna

TG/2016/066 – ADIKARI A.M.P.I

TG/2018/313 – SURAWEERA B.D.P.D
TG/2018/332 – CHATHURIKA H.A
TG/2018/358 – M.B.H.M. RIHAN
TG/2018/359 – KANDANAGE K.D.A.M
1
 TABLE OF CONTENT PAGE

1. INTRODUCTION...........................……….……………………………….…01

2. HOW DOES A LINE FOLLOW ROBOT WORKS? ……………….………03

3. COMPONENTS REQUIRED……………….…………………....………….05

4. CIRCUIT DIAGRAM………………….…………………………………….06

5. CODE……………………….….……...……………………………………..08

6. CONCLUSION……………….……...………………………………………09

7. REFERENCES …………………………...........……………………………10

2
 INTRODUCTION

In this project we designed a Line Follow Robot by using Arduino. The main purpose of
this project is to get a proper knowledge of how to design a Line Follow Robot by using
Arduino programming software, working principle of motor controller system and IR
sensor.
A Line Follower Robot, as the name suggests, is an automated guided vehicle, which follow
a visual line embedded on the floor or ceiling. Usually, the visual line is the path in which
the line follower robot goes and it will be a black line on a white surface. Definitely, this
kind of robot should sense the line with its infrared ray (IR) sensors that installed under the
robot. Certain advanced Line Follower Robots use invisible magnetic field as their paths.
Large line follower robots are usually used in industries for assisting the automated
production process. They are also used in military applications, human assistance purpose,
delivery services etc.
The line following robots is commonly used for carry children through shopping malls,
homes, entertainment places, industries. On the other hand, they can be used in industries as
automated equipment carriers. It can be used for home for floor cleaning and in hotels they
are being used for the transfer of things from one place to another following a straight path
and another use of line following robot is transport the materials from one place to another
place in the industries. This robot movement completely depends on the track.

Line follow Robot Figure

3
 Advantages Of Line Follow Robot

 They Increase Production

We just can’t compete with robot productivity. They’re designed for a job, and they
don’t stop doing it unless they breakdown or we turn them off.
 They’re More Accurate Than Humans
With no caffeine in our system our brain literally won’t function. Give us a math
problem and we’d probably cry, or slap. We’d definitely get it wrong. Robots suffer no
such problem. They’re accurate to infinity. We calibrate their systems correctly and they
don’t let us down.
 They Reduce Wastage
Mistakes lead to waste. We have to throw stuff away and start again. Materials, money,
and resources all-around get tossed in the trash and washed down the drain. Robots
waste very little. That makes them better for the environment and better for business.
 They Can Work continuously (24 hrs)
That productivity is no accident. Robots continue when humans have to take breaks.
Robots keep at it when humans get sick, go on holiday, or seek a career change. Robots
can keep working, all day every day if we want them to.
 They Save Time
Robotic efficiency and effectiveness mean we’re more likely to meet it. Again, there are
no mistakes and never-ending work. That all helps to save time at every turn.
 They’re Fast Too
Robots get stuff done in a jiffy. Remember, no breaks and no mistakes. More to the
point, though, they’re mechanical. Robots are designed and manufactured for specific
tasks and have the tech required to whizz through them. If time is of the essence, then
robots are what’s required.
 They Create New Jobs for People
People often bemoan robots for stealing jobs. In truth, though, they provide almost as
many as they take. It’s just that the nature of the jobs that change. For instance, jobs in
the coding and engineering industries are both important for designed and creating
robots.

4
 Limitations Of Line Follow Robot

 They Need Constant Power

Robots need electricity to run. That makes them expensive to run and potentially
damaging to the environment. Unless we shift over to greener sources of energy, the
growing demand for robots in society could lead to additional issues with global
warming and greenhouse gas emissions.

 They’re Restricted to their Programming

Robots can’t think for themselves yet. They rely on clever humans to program them for
specific tasks. And, though artificial intelligence and machine learning are coming on
fast, this is a limiting factor in what Robots can do. They can’t think outside the box,
mould themselves to novel needs, or do anything other than the task for which they’re
programmed.

 The Perform Relatively Few Tasks

In a similar way, robots are only suited, as of now, for specific roles and responsibilities.
They come into their own in industry, research, medical practices, and the military.
Outside of those domains, though, they have minimal practical usage. Our day to day
lives are slowly becoming more robot-centric. For now, though, there’s a way to go
before we start putting robots to work around the house at scale. As realistic as they
might become, a major disadvantage of robotics is their inability to feel, empathize, and
interact as humans do.

 They Suffer Expensive Faults and Repairs

Another financial issue involved with robots is to do with any faults and problems that
occur. Everything from the materials involved to the engineers required to fix them can
be expensive. Throw in the cost of downtime and you’re looking at significant sums of
money.

 It may not move properly if the black line drawn is of low intensity.

 The IR sensors may sometimes absorb IR rays from surroundings also. As a result,
robots may move in improper way.

5
 CONCEPTS OF LINE FOLLOW ROBOT

The workings of a line

follower robot are pretty
straightforward. We use
here the behavior of light at black
and white surface. When light fall
on a white surface it is almost full
reflected and in case of black
surface light is completely
absorbed. This behavior of light is
used in building a line follower
robot.

Figure 02 : IR sensor reflection (White surface)

Figure 03 : IR sensor reflection (Black surface)

 In this Arduino based line follower robot we have used IR Transmitters and IR receivers also
called photo diodes. They are used for sending and receiving light. IR transmits infrared lights.
When infrared rays fall on white surface, it’s reflected back and catched by photodiodes which
generates some voltage changes. When IR light falls on a black surface, light is absorbed by
the black surface and no rays are reflected back, thus photo diode does not receive any light or
rays. Here in this Arduino line follower robot when sensor senses white surface then Arduino
gets 1 as input and when senses black line Arduino gets 0 as input.
Working of line follower is very interesting. Line follower robot senses black line by using
sensor and then sends the signal to Arduino. Then Arduino drives the motor according to
sensors' output.

M1
Motor
Sensor Arduino
Driver
M2

Figure 04 : Working of Line Follow Robot

Here in this project we are using two IR sensor modules namely left sensor and right sensor.
When both left and right sensor senses white then robot move forward.

Figure 05 : Robot move forward

7
 If left sensor comes on black line, then robot turn left side.

Figure 06 : Robot turn left side

If right sensor sense black line then robot turn right side until both sensor comes at white
surface. When white surface comes robot starts moving on forward again.

Figure 07 : Robot turn right side

8
 COMPONENTS REQUIRED

01). Arduino UNO Board

Arduino Uno is a microcontroller board based on the ATmega328P. It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16
MHz ceramic resonator (CSTCE16M0V53-R0), a USB connection, a power jack, an
ICSP header and a reset button.
Arduino UNO is a low-cost, flexible, and easy-to-use programmable open-source
microcontroller board that can be integrated into a variety of electronic projects. This
board can be interfaced with other Arduino boards, Arduino shields, Raspberry Pi
boards and can control relays, LEDs, servos, and motors as an output.
The features of Arduino Uno ATmega328 includes the following.
 The operating voltage is 5V
 The recommended input voltage will range from 7v to 12V
 Digital input/output pins are 14
 Analog input pins are 6
 DC Current for each input/output pin is 40 mA
 Flash Memory is 32 KB
 SRAM is 2 KB

Figure 08 : Arduino UNO Board

9
 02). Motor Controller
A motor controller is a device or group of devices that can coordinate in a predetermined
manner the performance of an electric motor. A motor controller might include a manual
or automatic means for starting and stopping the motor, selecting forward or reverse
rotation, selecting and regulating the speed, regulating or limiting the torque, and
protecting against overloads and electrical faults. Motor controllers may use
electromechanical switching, or may use power electronics devices to regulate the speed
and direction of a motor.

Figure 09 : Motor Controller

03). Two motors with wheels

The DC motors of the robot are connected to
the controller using a motor driver IC. As the
output of the controller is maximum 5V with
very small current, it cannot drive the motors.
So, to amplify this voltage motor driver IC
is used.

Figure 10 : Motors with wheels

10
 04). IR sensors
An infrared sensor (IR sensor) is a radiation-sensitive optoelectronic component. There are
two types of infrared sensors. Those are active sensors and passive sensors. Active
infrared sensors both emit and detect infrared radiation. Active IR sensors have two parts
such as a light emitting diode (LED) and a receiver. When an object comes close to the
sensor, the infrared light from the LED reflects off of the object and is detected by the
receiver. Active IR sensors act as proximity sensors, and they are commonly used in
obstacle detection systems such as in robots.
QRD1114 IR reflective line/object sensor
and CNY70 reflective optical sensor are the most
commonly used sensors for line follower
robots. The CNY70 is a reflective sensor that
includes an infrared emitter and phototransistor in
a leaded package which blocks visible light.

Figure 11 : IR sensor

05) Rechargeable Battery

A rechargeable battery, storage battery, or
secondary cell (formally a type of energy
accumulator), is a type of electrical battery
which can be charged, discharged into a
load, and recharged many times, as
opposed to a disposable or primary
battery, which is supplied fully charged
and discarded after use.

11
 Figure 12 : Rechargeable
Battery

06) Breadboard
A thin plastic board used to hold electronic components (transistors, resistors, chips, etc.) that
are wired together.

Figure 13 : Bread Board

07) Glue gun

08) Soldering Gun
09) Connecting wires
10) Double tape (07) (08) (09)

11) Arduino Software for programming

12
 CIRCUIT DIAGRAM

13
CODE

14
CONCLUSION

In this project we designed a Line Follow Robot by using Arduino. The main purpose of this
project is to get a proper knowledge of how to design a Line Follow Robot by using Arduino
programming software, working of motor controller system and IR sensor.
Robotics has a significant role in global economy and everyday life. Another concern of robotics
research is to be competitive and design patents for global industries according to their nature of
applications. The demand of robotics technology is expanding in wide range of applications and
human activities, especially for manufacturing, medical, service, defense, and consumer
industries. The designed robot has two IR sensors, Arduino UNO microcontroller board, and
Motor controller. Arduino mainly controls the robot to follow the line. This line follower robot
is the prototype of robots for industrial use. By studying this one can build line follower robot
for industrial use. The line following robot is automobile system that has ability to recognize its
path, move and change the robot's position toward the line in the best way to remain in track.

REFERENCES

 http://www.buildtronix.com/arduino-uno-evelopment-board-with-atmega328.html
 https://create.arduino.cc
 https://www.elprocus.com

INDIVIDUAL INVOLMENT FOR THE PROJECT

15
16