AUTOMATED ROBOT

(LINE TRACER )

BY

NAME ROLL NOS

 
DEPARTMENT OF ELECTRONICS AND
TELECOMMUNICATION
 What is a line tracer?
• Sensing a line and maneuvering the robot to
stay on course, while constantly correcting
wrong moves using feedback mechanism forms
a closed loop system, wherein the machine can
trace a path.
• Suitable extra hardware may be added to the
line tracer according to the need so that it can
also perform certain tasks.
Ex. Data Acquisition System
 Why build a line tracer?
• Direct application of our knowledge of
microprocessors, comparators and motors.
• Initial steps in the field of automation and
robotics.
 Utility of a Line Tracer
• Automated robot used to inform about
various parameters such as temperature,
pressure, humidity etc. in areas inaccessible or
unfavorable for human beings.
• Guidance system for industrial robots moving
on shop floor.
Block Diagram
 Hardware Used:
• Sensing Elements : Infrared Transmitter
Phototransistor Receiver
• Comparator : LM339
• Microcontroller : 89S52
• Motor Driver : L293D
• Motors Used : DC Motors
1kg torque,
125mA current req.,
300rpm.
• Power Supply : 7805
• Battery : 12V DC
 Sensing Elements
• EMITTER : IR EMITTER
• RECEIVER : Phototransistor

EMITTER
DETECTOR

0.5cm
IR Sensor Circuit Diagram
 Comparator LM339
• V1-> Sensor Ckt. O/P
• V2 -> Reference Voltage = 2V
V1(Ideal) V1(Practical) V0=mod(V1-V2)

White(reflecting) 0V 1.5V Logic 0

surface

Black(absorbing) 5V 3.6V Logic 1

surface
 Microcontroller – 89S52
• In System Programming (Flash Memory serial
downloading)

Downloader Kit
 Programming Cases
• All 3 sensors are on the line.
• We are tracing a white line on a black background.
• L->Left sensor, R->Right sensor, C->Centre Sensor

• Case 1: Go Straight Case 2: Turn Left

L C R L C R
White White White White White Black

Microcontroller I/P = 000 Microcontroller I/P = 001

• Case 3: Turn Right Case 4: Stop
L C R L C R
Black White White Black Black Black

Microcontroller I/P = 100 Microcontroller I/P = 111

 Motor Driver (L293D)
• Bipolar Motor Driver
• Can drive two motors simultaneously.
Power Supply
12 V DC Battery: L293D(Motor Driving),
7805 I/P.
7805 : V+,VCC
 Future Scopes
• Inclusion of an onboard Data Acquisition
System so that parameters may be observed
from remote locations.
• Ex. Smoke alarm system, Temperature Sensors
etc.
• Surveillance cameras may be mounted and
may be used for securing vital locations.