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It consists of the four pairs of the sensors which sense the black path. The
sensors are arranged by the several distances. The distance between the
Transmitter and receiver is 2.5mm. The distance between the sensor sets and
center point is 2cm. And the distance between the sensor array and black path is
15mm.
COMPARATOR SECTION
It is employed by the quad comparator LM324. The comparator compares the
sensor output with the reference voltage which is varied by the manually through
the 20K potential resistor controller. According to the output of the sensor
section, It gives the output to the controller.
MICROCONTROLLER AT89C2051
Features
Compatible with MCS-51Products
2K Bytes of Reprogrammable Flash Memory
Endurance: 10,000 Write/Erase Cycles
2.7V to 6V Operating Range
Fully Static Operation: 0 Hz to 24 MHz
Two-level Program Memory Lock
128 x 8-bit Internal RAM
15 Programmable I/O Lines
Two 16-bit Timer/Counters
Six Interrupt Sources
Programmable Serial UART Channel
Direct LED Drive Outputs
On-chip Analog Comparator
Low-power Idle and Power-down Modes
Green (Pb/Halide-free) Packaging Option
Description
The AT89C2051 is a low-voltage, high-performance CMOS 8-bit microcomputer
with 2K bytes of Flash programmable and erasable read-only memory (PEROM).
The device is manufactured using Atmels high-density nonvolatile memory
technology and is compatible with the industry-standard MCS-51 instruction set.
By combining a versatile 8-bit CPU with Flash on a monolithic chip, the Atmel
Reference: http://seminarprojects.com/Thread-black-line-follower-robot-usingmicrocontroller#ixzz3SpqAqnZO
BLOCK DIAGRAM
Let us see how the line follower robot works. First see the block diagrams.
An array of sensor is used to detect the line. Based on the status of sensors,
special circuit or controller decides the position of line and also the required
direction of motion required to follow the line. Motor driver circuit is used to
ON/OFF the LEFT/RIGHT motors of the robot to provide desired motion.
SENSORS
Sensors are required to detect position of the line to be followed with respect to
the robots position. Most widely used sensors for the line follower robot are
PHOTOSENSERS. They are based on the basic observation that the white
surface reflects the light and the black surface absorbs it.
PHOTOSENSORS
IR or VISIBLE light is emitted from the emitter (IR light is mostly preferred to
avoid interference from the visible light which is generally around the robot.
However IR light is also present in atmosphere but its intensity is much less than
that of visible light, so IR light can give much reliable output. For better accuracy
of the sensors, they must be covered properly for the isolation from the
surrounding.)
This emitted light strikes the surface and gets reflected back. If the surface is
white, more intensity of light gets reflected and for black surface very less
intensity of light is reflected.
Case-1
Black area=1
White area=0
Case-2
Black area=0
White area=1