Académique Documents
Professionnel Documents
Culture Documents
Path Tracer
Muchhala Polytechnic
EDP’s Final Project
PATH TRACER
Project In charge
Prof. K.B. Katkar
Group Guide
H.O.D
Prof. Aishwarya Diwane
Prof. Rashmi Bhatia
Group Members
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Kunal H. Kava
Varun K. Trivedi
Syed Aqhsa
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DEDICATED
TO
OUR
PARENTS
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ACKNOWLEDGEMENT
sincere and deepest gratitude and indebtedness to all those who have
“Path Tracer”. To begin with it has to be our respected parents. They have
been with us all through our thicks and thins, given us all sort of support
foundation is laid by our parents but it will be a big mistake if we ignore the
fact that although foundation sets the base but a building cannot stand
erect without pillars and our pillar is our respected teacher and fortunately
Bhatia for their never ending encouragement, moral support & patience
during the preparation of our project. We are also very thankful to Mini
miss, Katkar sir & Madhuri miss giving solution for obstacles arising in
our project.
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INDEX
1) General Information
2) Introduction
3) Basic Principle
4) Block Diagram
5) Circuit Diagram
7) PCB Layout
8) Components
9) Fault Finding
11) Application
13) Bibliography
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GENERAL
INFORMATION
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‘PROJECT’
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NECESSARY?
application of these skills to some part of their daily operation. The rapid
business processes all require these skills to some degree. All are aimed
must accept that internal change is a normal process to meet the demands
of external changes.
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Introducing new processes
flexible organization
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PLANNING
Success of any project depends on careful and proper
1. Project capacity:-
The first and the foremost step we saw were all factors
affecting the capacity of the project. We decided that the work has to be
done by all the members equally. We checked the feasibility which is most
2. Distribution of work:-
Once the project was decided by us, the circuit diagram was
execution much easier and more goals oriented. After this, P.C.B. was to
be designed.
4. Material required:-
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easy to decide which of them are required for purchase. It depends on,
Quantity of each.
Price of each.
5. Operation Planning:-
processes so as avoid all kind of wastages. For this purpose this method
study is necessary.
6. Time study:-
Cost calculation
Budgeting
Procurement of capital
Design of capital
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Soldering of all components stage by stage
@ Pessimistic time:-
@ Optimistic time:-
time is only required for each activity to complete under ideal condition
assume that thing will in normal with few set back. This estimate of time
7. Method study:-
labor and time. First the work was divided into suitable stages and then
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8. Equipment required:-
the exact number of equipments and tools required. Drawing also helped
9. Budgeting:-
Master budget
Sales budget
Production budget
Financial budget
Material budget
Labor budget
Financial budget:-
project.
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Working capital is to be collected by the leader from the
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INTRODUCTIO
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Introduction:-
robots of popular culture are not much different from these frictional
biological creations.
environment.
able to sense the environment and give useful feedback to the device.
Cars in large factory halls find their way with aid of sensors
and track in or on the floor. The track may consist of black or dark line
detected with optical sensor. Other variants of track types include metal
strips, which can be followed with the help of metal detector or a slot in the
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tasks. Simplify put robots are machines that can perform variety of jobs
and they can range from simple machines to highly complex computer
factories, labs and houses. In future they might show up in the schools,
used for industrial automation to extent that the terms robotics and
robotics system much easier, the need is only to identify right product for
application.
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BASIC
PRINCIPLE
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Basic Principle:-
sensor techniques for detecting black or dark color line. The presence and
absence of black line will detect by IR sensor and proportional output will
robot. This output is helpful to motor driver IC for driving the motor in
required direction.
At time any one sensor will detect the particular black line.
had detected black line and there depending on black line, the output of
respective sensor will changes and then microcontroller will take the
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BLOCK
DIAGRAM
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Block Diagram:-
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Sensors: -
The four sensors are the primary part of our project. Out of
these four sensors any one of the sensors will active and the activating of
Comparator: -
Microcontroller: -
arises it executes program and then respective output will pass to motor
driver IC.
current to motor. It takes input from the microcontroller and drives the
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Power supply: -
IR Receiver: -
IR Transmitter: -
detect the black line. It is also called as black line sensor. Here we are
using LDR &LED as a black line sensor. LDR & LED pair consists of
distance between the surface & the sensor i.e. height of the sensor from
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universal directions i.e. right, left, front and rare. The sensors are
connected at the distance of 2cm from the middle point in all this four
Sensor 1 - Right
Sensor 2 - Back
Sensor 3 - Front
Sensor 4 - Left
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CIRCUIT
DIAGRAM
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Circuit Diagram: -
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value 270 ohms, 10 k ohms and 470 ohms. The whole circuit is working on
one voltage with the help of potentiometer. The inverting terminals of all
through 10kohms resistor and emitter is grounded. Also the anode of all IR
LED is connected to +5v supply through 270 ohms resistors and cathode
Working of Circuit: -
two parts.
1) When LED emits Green light on black line and if there is presence
of black line, it absorbs Green light and it remains off. The voltage
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2) Now when there is absence of black line, the green light which is
particular sensor will go high. So the respective LED will not glow.
of LED indicates that the particular sensor has detects black line.
Main Circuit: -
circuit and now we will see the secondary part of our circuit to which the
Construction: -
resetting the microcontroller we can start the robot. The output from out 1
and out 2 pin of L293D is given to right motor and output from out 3 and
out 4 is given to left motor. Vcc to AT89C2051 and L293D is +5v and Vm
to L293D is +10v.
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Working: -
the program and it will generate respective output which is then passed to
IC L293D will rotate the motor in respective direction and hence robot will
Power Supply: -
Ni-Cadmium batteries. One cell provides 3.6v so such three cells provide
total 11V and 800mA current. The battery is connected to IC 7805 which is
regulator IC to achieve constant +5V supply. Thus we will get +11v & +5v
supply. This +5v is used to provide Vcc supply to all the IC'S & 12v of
motor.
Transmitter: -
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frequency of 38k Hz and o/p is taken from pin no. 3 which is given to IR
Receiver: -
IR signal end give o/p at pin no. 3. That o/p is given to pin no.2 of IC 555
which is working in mono stable mode. This will increase the time period of
received signal and o/p is taken from pin no. 3 of IC 555 end given to clock
input of IC 4027. Which have two JK Flip-Flop which work as a T-Flip Flop
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PROGRAM
&
FLOW CHART
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Flow chart: -
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Program: -
* DDS MICRO-C 8031/51 Startup Code & Runtime library for TINY model
LJMP START
ORG $0003
LJMP SERVICE_EX0
ORG $000B
LJMP SERVICE_TIMER0_INTERRUPT
* Fixed memory locations for alternate access to the R0-R7 register bank.
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?R2 EQU ?R0+2 "" "" "" ""
START EQU *
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LCALL
* may fail "Out of range" because it gets translated to ACALL, and $001B
cannot
below>...
* If you are NOT using MON51 (or MONICA which works the same), you
will
* need to change this to whatever action you desire when main() returns.
SERVICE_TIMER0_INTERRUPT EQU *
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PUSH ACC
PUSH PSW
MOV TL0,#$00
INC tick
MOV A,tick
CJNE A,#100,RIGHT
MOV tick,#0
RIGHT
CLR C
SUBB A,speedright
JC ON_RIGHT
CLR P1.0
SJMP LEFT
ON_RIGHT
SETB P1.0
LEFT
MOV A,tick
CLR C
SUBB A,speedleft
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JC ON_LEFT
CLR P1.1
SJMP EXIT_I
ON_LEFT
SETB P1.1
EXIT_I
POP PSW
POP ACC
RETI
SERVICE_EX0 EQU *
INC cputick
RETI
$SE:1
$SE:2
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tick DS 1
speedright DS 1
speedleft DS 1
cputick DS 1
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PCB
LAYOUT
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P.C.B.: -
conducting paths whose dimension depends upon the current that can be
handled by them. The P.C.B used for this project is single sided one.
glass, ceramic and the flat board configuration, however, is most widely
used and it may be of the nature of single "mother board" into which
Board Design: -
care during work. In this case great are must be taken while tracing the
Crossovers are unavoidable then only of the jumper can be used. Circuit
board carrying copper on both the sides can also help to solve this
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Main Circuit: -
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Transmitter Circuit: -
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since this makes the working on that much easier, especially when the
temperature of conductors.
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The points where the component holes for component lead wire
P.C.B Making: -
When the master probable twice the size of real PCB has
been involved, the text major step consists of etching or dissolving the
mounted on a special fame on easy facing of a larger camera and with the
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into operation. This comprises the camera body mounted so that side
ways after each exposure. In this way number of copies of the original
important factors that need not be taken into account. If the finished device
is to work properly we must consider gain factor and ensure that the input
and output parts are sufficiently well isolated to avoid the possibility. We
current are well separated from these parts of the circuits. We are also to
make sure that all components need to return to earth are properly
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The copper side of the board must be thoroughly cleaned
(from figure of instance) will impure the etching process and when the
circuit plan has been neatly transferred to copper in this manner the board
is held under running tap and allowed to dry before resist is applied.
carbon paper between a copper surface of the board and working plan and
Resist:-
easily seen the copper that are to be left in fact as the copper conductors
must be covered when resists the leaguer type of paints posses good
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edges of the trace on the PCB, now-a-days, etching taps along with IC
pads are commonly used. The etching taps and pads are available in
different sizes.
Correcting Errors:-
have been made can usually be corrected by gently scratching away with
knife. To ensure clear out lines round edges of copper conductor’s board
Etching: -
etch anti ferric chloride and to this is added small quantity of HCL to
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Agitation: -
Small plastic bath is idle for storing the etch ant process. The
laminated board carrying the resist pattern circuit is then dropped into etch
copper foil.
Finishing Off: -
conductors, beard should be taken from an etch ant and washed in water.
The .resist must be polished with any kind of cleaner. It should be seen
the PCB. The PCBs are coated coating material for protection in lab
effect of environment of conductors, then PCB is drilled i.e. holes for filling
and mounting the components on PCB are drilled with suitable drill bit.
Assembling Of PCB:-
clean soldering iron in order to get easy and accurate soldering. Removing
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impurity particles that are gathered on iron bit due to repetitive use cleans
soldering iron.
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COMPONENTS
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Component List: -
ITEMS SPECIFICATION
IC1 LM324
R1 270 ohms
R2 270 ohms
R3 270 ohms
R4 270 ohms
R5 10 k ohms
R6 10 k ohms
R7 10 k ohms
R8 10 k ohms
R9 470 ohms
R10 470 ohms
R11 470 ohms
R12 470 ohms
D5 LED1
D6 LED2
D7 LED3
D8 LED4
Q1 LDR
Q2 LDR
Q3 LDR
Q4 LDR
2) Main Circuit:
ITEMS SPECIFICATION
IC1 AT89C2051
IC2 L293D
R1 8.2 K ohms
R2 220 ohms
C1 10 mf
C2 30 Pf
C3 30 Pf
D1 IV4007
X 11.0592 MHZ
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IC3 CD4027
IC4 LM555
IC5 TSOP1738
MI 30 RPM gear motor
M2 30 RPM gear motor
ITEMS SPECIFICATION
IC1 7805
CI 1000MF,50V
C2 1MF,50V
C3 0.1MF
D1 1N4007
Battery NI-CD 3.6*3=11
4) Miscellaneous:
START SWITCH
WIRES
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Microcontroller IC 89C2051: -
Features: -
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Description: -
bytes of Flash, 128 bytes of RAM, 15 I/O lines, two 16-bit timer/counters, a
addition, the AT89C2051 is designed with static logic for operation down
modes. The Idle Mode stops the CPU while allowing the RAM,
The power-down mode saves the RAM contents but freezes the oscillator
disabling all other chip functions until the next hardware reset.
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Pin Description: -
1) VCC
Supply voltage.
2) GND
Ground.
3) Port 1
P1.7 provide internal pull-ups. P1.0 and P1.1 require external pull-ups.
P1.0 and P1.1 also serve as the positive input (AIN0) and the negative
Port 1 output buffers can sink 20 mA and can drive LED displays directly.
When 1s are written to Port 1 pins, they can be used as inputs. When pins
P1.2 to P1.7 are used as inputs and are externally pulled low, they will
source current (IIL) because of the internal pull-ups. Port 1 also receives
4) Port 3
pin. The Port 3 output buffers can sink 20 mA. When 1s are written to Port
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3 pins they are pulled high by the internal pull-ups and can be used as
inputs. As inputs, Port 3 pins that are externally being pulled low will
source current (IIL) because of the pull-ups. Port 3 also serves the
Port 3 also receives some control signals for Flash programming and
verification.
5) RST
Reset input. All I/O pins are reset to 1s as soon as RST goes
high. Holding the RST pin high for two machine cycles while the oscillator
clock cycles.
6) XTAL1
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7) XTAL2
Oscillator Characteristics: -
used. To drive the device from an external clock source, XTAL2 should be
duty cycle of the external clock signal, since the input to the internal
Function Register (SFR) space is shown in the table below. Note that not
all of the addresses are occupied, and unoccupied addresses may not be
general return random data, and write accesses will have an indeterminate
effect. User software should not write 1s to these unlisted locations, since
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they may be used in future products to invoke new features. In that case,
the reset or inactive values of the new bits will always be.
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Comparator IC LM324: -
Specifications: -
Internally Compensated
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Device Operation
Description: -
with true differential inputs. They have several distinct advantages over
the MC1741 (on a per amplifier basis). The common mode input range
includes the negative supply, thereby eliminating the necessity for external
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IC L293D: -
Specification: -
Per channel
Per channel
Enable facility
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Description: -
current four channel driver designed to Accept standard DTL or TTL logic
Supply input is provided for the logic, allowing operation at a lower voltage
and internal clamp diodes are included. This device is suitable for use in
and used for heat sink. The L293dd is assembled in a 20 lead surface
Mount which has 8 center pins connected together and used for heat sink.
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IC 555: -
Features: -
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Description: -
operation, the frequency and duty cycle are accurately controlled by two
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IC 4027: -
Description: -
and features independent set direct (SD), clear direct (CD), clock (CP)
input makes the circuit highly tolerant to slower clock rise and fall times.
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IC TSOP1738: -
transmission codes.
Features: -
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IC 7805: -
Features: -
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Resistors: -
Capacitor: -
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FAULT
FINDING
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Fault Finding: -
Its plays a vital role in or project because it helps us to detect our mistake
present if any. While doing so if any fault is detected, firstly its root cause
So, we must not forget to note a point that in any project the
successful one.
without any problem. During the project we also had to face many
problems.
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SOLUTION:
possible.
SOLUTION:
work of soldering.
SOLUTION:
circuit soldering was not done proper so there was wrong connection.
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car has to move in right direction, the car will take left
turn. And when the car has to move in left direction the
car will take right turn. So car deflected from the path
only.
SOLUTION:
have connected left motor to the signal coming of right motor and left
of motor.
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ADVANTAGES
&
DISADVANTAG
ES
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Advantages: -
It does not require a driver or a person to look after it. Once the
own.
the mat with the new route or lay the mat according to new route.
maintenance.
tracks.
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supply.
Disadvantages: -
It is not programmed such a way that it can take its own decisions.
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APPLICATIONS
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Applications: -
sections.
carrying goods.
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FUTURE
ENHANCEMEN
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Future Enhancement: -
The black line path or dark path can be replaced by metal strip
detector.
requirement.
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With using latest SMD technologies, it can be reduced in a size.
BIBLIOGRAPH
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Bibliography: -
Web-sites: -
www.roobotroom.com
www.google.co.in
Reference books: -
microcontroller 89C2051
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Software Used: -
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