MINOR PROJECT REVIEW

on

LINE FOLLOWER ROBOT

Presented by: Guided by:

Shreejita Chaudhuri(16BEC045) Dr. Dhaval Shah
Shreya Adhikari(16BEC047)
OUTLINE

● Introduction
● Work Done
● Timeline
● Future Scope
● Conclusion
MOTIVATION

● Very marketable method to automate human work

● Versatile
● Can be modified for usage in various application such as separation of
objects based on colour, colour-based guidance and object
identification systems etc.
● Scope of upgradation and improvisation
OBJECTIVE

● To study existing ways of building line follower.

● To develop a color sensing mechanism that can sense the line on any
color background .
● To build a working prototype.
 INTRODUCTION
5V

RFID Color selection EM-18 RFID

TAGS 125 KHz freq. Reader
M
12 bytes Comm. Protocol
Specific ASCII
RX
Digital O/P

L293D Motor
Driver
Digital ARDUINO
TCS 230 Pulse(O/P) UNO
Digital
I/P
Light Current to
Photodiode
frequency 5V M
Array
converter
5V
OE
S2 S3 S0 S1
 Work Done till Review 1
5V

RFID Color selection EM-18 RFID

TAGS 125 KHz freq. Reader
M
12 bytes Comm. Protocol
Specific ASCII
RX
Digital O/P
Color Detection
L293D Motor
Driver
Digital ARDUINO
TCS 230 Pulse(O/P) UNO
Digital
I/P
Light Current to
Photodiode
frequency 5V M
Array
converter
5V
OE
S2 S3 S0 S1
 Work Done till Review 2
5V

RFID Color selection EM-18 RFID

TAGS 125 KHz freq. Reader
M
12 bytes Comm. Protocol
Specific ASCII
RX
Digital O/P

L293D Motor
Driver
Digital ARDUINO
TCS 230 Pulse(O/P) UNO
Digital
I/P
Light Current to
Photodiode
frequency 5V M
Array
converter
5V
OE
S2 S3 S0 S1
 Cont...

● The robot senses the line on any background with the help of an RGB
color sensor (Tcs230)[1].
● The control system used must sense the line and maneuver the robot
to stay on course; the microcontroller used is ATmega328p.
● The interfacing is done using Arduino Uno board.
● DC motors are used for the mechanical movement and motor driver
L293D is used .
 Why TCS230?

● High-Resolution Conversion of Light Intensity

to Frequency
● CMOS technology IC
● Programmable Color and Full-Scale Output
Frequency
● Communicates Directly With a
Microcontroller
● Single-Supply Operation (2.7 V to 5.5 V)
● Power Down Feature Nonlinearity Error
Typically 0.2% at 50 kHz
● Stable 200 ppm/°C Temperature Coefficient
● Low-Profile Surface-Mount Package
[1]
 Choice of motor unit

● Dc motors are easiest to control, thus

making it the best choice for high
precision work.
● A single L293D motor driver can be
used to control all the four wheels of
the robot, thus making in compact.

[6]
Colour selection using RFID

● RFID reader(EM-18) is an active device.

● The RFID tag responds to the radio waves by sending its data to the
reader.
● EM-18 RFID reader specifications :
1. Operating Distance- 10 cm
2. Operating Voltage- 5 volts
3. Operating Frequency- 125kHz
4. Current Consumption- <50 Ma
Arduino Uno

● Microcontroller:
MicrochipATmega328P
● Operating Voltage: 5 Volts
● Input Voltage: 7 to 20 Volts
● Digital I/O Pins: 14 (of which 6 provide
PWM output)
● Analog Input Pins: 6
● DC Current per I/O Pin: 20 mA
● DC Current for 3.3V Pin: 50 mA
● Flash Memory: 32 KB of which 0.5 KB
used by bootloader
● SRAM: 2 KB
● EEPROM: 1 KB
● Clock Speed: 16 MHz
[5]
Pins of Arduino Uno
GENERAL PINS SPECIAL PINS

● LED (pin 13) ● Serial/UART(pins 0 and 1 )

● 5V ● External Interrupts(pins 2 and 3)
● 3V3 ● PWM (pins 3,5,6,9,10 and 11)
● GND ● SPI (pins 10,11,12,13)
● IOREF ● I2C ( A4 or SDA pin and A5 or SCL pin)
● Reset ● AREF
WORK DONE

• Demo
TIMELINE
DECIDE ON THE COMPONENTS
TO WORK ON AND HAVE A INTERFACE THE COLOUR
CLEAR UNDERSTANDING OF DETECTOR WITH RFID
THEIR WORKING

INTRODUCTION REVIEW 2

REVIEW 1 REVIEW 3

BUILD THE MODEL FOR

COLOUR DETECTION ON INTEGRATE THE COLOUR DETECTING
ARDUINO CIRCUIT AND THE MOTOR CIRCUIT TO
PRESENT THE FULLY FUNCTIONAL
PROTOTYPE
CONCLUSION

● The project follows a RGB color sensor for sensing mechanism and
ATmega328p integrated on a Arduino Uno board.
● Complex to implemet as compared to basic IR sensor based line
follower robot but more fexible.
● Variations come in output values as the distance between sensor and
color changes.
FUTURE SCOPE

● Can be improved to follow a particular color line in a grid of lines.

● Integrated with object collision avoidance.
● Use of Camera and image processing algorithms for better recognition
and path tracking.
● This can also be implement in hospitals and restaurants for human
work automation at a larger scale.
REFERENCES

[1] F. B. Diagram, “PROGRAMMABLE COLOR LIGHT − TO − FREQUENCY CONVERTER Texas

Advanced Optoelectronic Solutions Inc . PROGRAMMABLE,” no. 972, pp. 1–10, 2003.

[2] R. K. Sure and S. Patil, “ANDROID BASED AUTONOMOUS COLOURED LINE FOLLOWER
ROBOT,” pp. 368–373, 2014.

[3] M. B. Nugraha and D. Darlis, “Design and Implementation of RFID Line-Follower Robot System with
Color Detection Capability using Fuzzy Logic,” pp. 2–5.

[4] A. Nahid and K. J. Reza, “Sensor Based Autonomous Color Line Follower Robot with Obstacle
Avoidance Sensor Based Autonomous Color Line Follower Robot with Obstacle Avoidance,” no.
April, 2013.

[5] A. Uno and R. Front, “Arduino Uno.”

[6] D. Information, “L293x Quadruple Half-H Drivers,” 2016.