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Dr. N.G.P. Institute of Technology, Coimbatore – 641048
(An Autonomous Institution)
Approved by AICTE, New Delhi & Affiliated to Anna University, Chennai.
Recognized by UGC & Accredited by NAAC with A+ Grade and NBA.
(BME,CSE,ECE,EEE and Mechanical)
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
ACADEMIC YEAR 2023-2024[EVEN SEM]
Project Members:
MODULAR MOBILE ROBOT
Guided By:
Dr. B. Aruna Devi PhD Darshan S (710722106022)
Dasdagheer S (710722106023)
Dharanesh RG (710722106029)
Elango Nm (710722106037)](https://image.slidesharecdn.com/das-241120202904-cea4f367/85/Line-following-robot-using-Arduino-pptx-1-320.jpg)
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RESULT AND EXPLANATION
S No Performance
Characteristics
N. Niparnan et al
[3]
S. Das et al
[11]
Proposed
system
1 Stability Upto 60% - Upto 80% due to
use of PID
algorithm
2 Implementation Hardware only Software only Both hardware
and software
3 Maximum
operational speed
50 RPM - 150 RPM](https://image.slidesharecdn.com/das-241120202904-cea4f367/85/Line-following-robot-using-Arduino-pptx-33-320.jpg)
Line following robot using Arduino .pptx
- 1. 1 Dr. N.G.P. Institute of Technology, Coimbatore – 641048 (An Autonomous Institution) Approved by AICTE, New Delhi & Affiliated to Anna University, Chennai. Recognized by UGC & Accredited by NAAC with A+ Grade and NBA. (BME,CSE,ECE,EEE and Mechanical) DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING ACADEMIC YEAR 2023-2024[EVEN SEM] Project Members: MODULAR MOBILE ROBOT Guided By: Dr. B. Aruna Devi PhD Darshan S (710722106022) Dasdagheer S (710722106023) Dharanesh RG (710722106029) Elango Nm (710722106037)
- 2. 2 CONTENTS • Introduction • Base paper Explanation • Literature Survey • Problem Identification • Objective • Block diagram • Working Algorithm • Hardware Description • Software Description • Future work • Conclusion • References
- 3. 3 INTRODUCTION • The equipment-carrying line-following robot represents a significant advancement in industrial automation, specifically engineered to transport materials along predetermined routes. • By utilizing IR sensors to detect lines, usually black tape on a white floor, these robots navigate factory floors with exceptional precision. • This automation enhances efficiency by reducing manual labor and delays, while also improving safety by minimizing human involvement in hazardous tasks. • These robots are widely employed in manufacturing plants, warehouses, and assembly lines for transporting components, moving inventory, and delivering parts, respectively.
- 4. 4 BASE PAPER EXPLANATION • Proportional control calculates the difference of the robot • Speed with the target speed of 0.5 m/s to determine whether the • robot is under or over speed, and outputs PWM values to • control two motors to help the robot achieving the target speed Source: Lukas Huber et al., " Fast Obstacle Avoidance Based on Real- Time Sensing " , IEEE Robotics and Automation letters, vol. 8, no. 3, 2023.
- 6. 6 PROBLEM IDENTIFICATION • Less weight carrying ability • High power consumption • Low path following accuracy
- 7. 7 OBJECTIVE • Design a modular mobile robot with weight carrying capacity improvement
- 8. 8 PROPOSED WORK • To build an industrial line follower robot, use an Arduino for control, L298N motor drivers for motion, and IR sensors for line tracking. Ensure a robust chassis, reliable power supply, and program the microcontroller for precise navigation and safe equipment transport. Test thoroughly for industrial reliability. • It's engineered to autonomously transport materials, tools, and components in manufacturing, aiming to minimize manual labor dependency. • The system will include features to safely carry equipment between locations, ensuring reliable operation in dynamic industrial environments. • These predefined tracks feature multiple manual-operated delivery stations.
- 11. 11 WORKING ALGORITHM The algorithm involves comparing the readings from the IR sensors to predefined thresholds. If the sensor detects the line, the robot continues moving forward. If the sensor detects a deviation from the line, the robot adjusts its direction to realign itself with the line. The control loop typically consists of the following steps: • Read sensor values: Obtain readings from the IR sensors to determine the robot's position relative to the line. • Process sensor data: Analyze the sensor readings to determine the appropriate action for the robot to maintain or correct its position on the line. • Adjust motor direction: Based on the analysis of sensor data, adjust the motor direction to steer the robot back onto the line if it deviates from its path.
- 12. 12 WORKING LOGIC • The IR sensor module is connected to the microcontroller, which identifies the path and sends analog signals to the controller. The microcontroller receives signals from eight sensors in the IR module to decide its next action. S1 (volts) S2 (volts) S3 (volts) S4 (volts) S5 (volts) ACTION 950+ 900 900 900 900 Sharp Left 950+ 950+ 900 900 900 Slight Left 900 900 950+ 900 900 Forward 900 900 900 900 950+ Sharp right 900 900 900 950+ 950+ Slight right
- 13. 13 HARDWARE DESCRIPTION • Arduino Uno R3 • 3 channel line tracking module (IR Module) • Metal motor 100RPM • Motor driver L298N • 18650 2500mah Battery 3.7v
- 14. 14 ARDUINO UNO R3 • The Arduino Uno R3 is a versatile microcontroller board widely used for various electronic projects and prototyping. • The Uno R3 is programmed using the Arduino Software (IDE), which supports C/C++ programming. • The board is user-friendly and ideal for both beginners and advanced users, facilitating easy interaction with sensors, actuators, and other electronic components.
- 15. 15 PIN CONFIGURATION • Digital I/O Pins: Total Digital I/O Pins: 14 PWM Pins: 6 (Pins 3, 5, 6, 9, 10, and 11) • Analog Input Pins: 6 (Pins A0 to A5) • PWM Pins: Pins 3, 5, 6, 9, 10, and 11 • Serial Communication: Pins 0 (RX) and 1 (TX) • Power Pins: Vin, 5V, 3.3V, GND, IOREF, Reset
- 16. 16 SPECIFICATIONS Microcontroller: ATmega328P Operating Voltage: 5V Input Voltage (recommended): 7-12V 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 (ATmega328P) of which 0.5 KB used by bootloader SRAM: 2 KB (ATmega328P) EEPROM: 1 KB (ATmega328P) Clock Speed: 16 MHz LED BUILTIN: Pin 13
- 17. 17 IR MODULE The basic concept of IR(infrared) obstacle detection is to transmit the IR signal(radiation) in a direction and a signal is received at the IR receiver when the IR radiation bounces back from a surface of the object Features: There is an obstacle, the green indicator light on the circuit board Digital output signal Detection distance: 2 ~ 30cm Detection angle: 35 ° Degree Comparator chip: LM393 Adjustable detection distance range via potentiometer: Clockwise: Increase detection distance Counter-clockwise: Reduce detection distance
- 18. 18 SPECIFICATIONS • Operating Voltage: 3.3 to 5V • Current Supply: 100mA • Output Voltage Range: 0V to supplied voltage • Output Format: 8 Analog I/O compatible signal • Sensing Distance: 3mm • Maximum Sensing Distance: 9.5mm
- 19. 19 BO MOTOR 300RPM • This 12V Metal Gears DC Motor (300 RPM) is ideal for all-terrain robots and various robotic applications. • A DC motor is an electrical motor that uses direct current (DC) to produce mechanical force. • The most common types rely on magnetic forces produced by currents in the coils. • Nearly all types of DC motors have some internal mechanism, either electromechanical or electronic, to periodically change the direction of current in part of the motor.
- 20. 20 SPECIFICATIONS Type: DC Metal Gear Motor Rated Voltage: 12V DC No-Load Speed: 300 RPM No-Load Current: 150 mA Stall Current: 1.5 A Stall Torque: 10 kg cm Output Shaft Diameter: 6 mm Output Shaft Length: 15 mm Gearbox: Metal gears for durability Gear Ratio: 1:120 Motor Size: Approximately 37 mm in diameter, 54 mm in length Weight: Approximately 200 g
- 21. 21 MOTOR DRIVER L298N • This L298N Motor Driver Module is a high power motor driver module for driving DC Motors. • This module consists of an L298 motor driver IC and a 78M05 5V regulator. • L298N Module can control up to 4 DC motors, or 2 DC motors with directional and speed control.
- 22. 22 SPECIFICATIONS • Driver Model: L298N 2A • Driver Chip: Double H Bridge L298N • Motor Supply Voltage (Maximum): 46V • Motor Supply Current (Maximum): 2A • Logic Voltage: 5V • Driver Voltage: 5-35V • Driver Current: 2A • Logical Current: 0-36mA • Maximum Power (W): 25W • Current Sense for each motor • Heatsink for better performance • Power-On LED indicator
- 23. 23 18650 2500mAh 3.7v BATTERY • The 18650 2500mAh battery is a popular and widely used rechargeable lithium-ion cell known for its high energy density and reliability. • With a standard cylindrical shape measuring 18mm in diameter and 65mm in length. • The 18650 cell is commonly utilized in various electronic devices, including laptops, flashlights, power banks, and electric vehicles.
- 24. 24 SPECIFICATIONS Dimensions: 18mm diameter x 65mm length Capacity: 2500mAh Nominal Voltage: Typically 3.6V or 3.7V Full Charge Voltage: 4.2V Discharge Cut-off Voltage: Around 2.5V to 3.0V Maximum Discharge Current: ranges from 10A to 20A Cycle Life: Around 300 to 500 charge cycles.
- 26. 26 PROJECT VIDEO
- 27. 27 CODING PART
- 28. 28 SOFTWARE DESCRIPTION • Arduino IDE • The Arduino Integrated Development Environment (IDE) is a software platform specifically designed for programming and developing projects with Arduino microcontroller boards. • The Arduino IDE supports the C and C++ programming languages, making it accessible to both beginners and experienced developers.
- 29. 29 ARDUINO SKETCH • An Arduino sketch, also known as a program or code, is a set of instructions written in the Arduino programming language, typically based on C and C++. • Each sketch is composed of a setup() function, which is executed once at the start of the program, and a loop() function, which runs continuously as long as the Arduino board is powered. • Within the sketch, developers can define variables, constants, and functions to control various aspects of the Arduino board, such as reading sensor data.
- 30. 30 ESTIMATION OF THE PROPOSED WORK S.NO HARDWARE QUANTITY AMOUNT (Rs) 1 Arduino UNO R3 1 700 2 IR Sensor LM393 3 150 3 Chassis and carboard 1 200 4 18650 2500mAh battery 2 300 5 Battery holder 1 50 6 L298N Motor Driver 1 140 7 Jumper cable Few 50 8 BO Motor 300RPM 2 200 9 Wheels 2 140 TOTAL Rs-1930/-
- 31. 31 APPLICATIONS • Industrial automated equipment carriers. • Automated cars. • Tour guides in museums and other similar applications. • Deliver the mail within the office building • Deliver medications in a hospital.
- 32. 32 ADVANTAGES AND DISADVANTAGES • The robot must be capable of following a line. • Insensitive to environment factors like noise and lightning. • It should be capable of taking various degrees of turns. • The color of the line must not be a factor as long as it is darker than the surroundings. • LFR can move on a fixed track or path. • It requires power supply. • Lack of speed control makes the robot unstable at times. • Choice of line is made in the hardware abstraction and cannot be changed by software.
- 33. 33 RESULT AND EXPLANATION S No Performance Characteristics N. Niparnan et al [3] S. Das et al [11] Proposed system 1 Stability Upto 60% - Upto 80% due to use of PID algorithm 2 Implementation Hardware only Software only Both hardware and software 3 Maximum operational speed 50 RPM - 150 RPM
- 34. 34 TRACK SPECIFICATIONS • The Path of the robot consists of a marked path (usually a black line) with a width of 2.5cm on a • white surface with various curves, intersections, and obstacles. • Robots will be autonomous and follow the line without any external control or guidance. • The robot path following will begin at a designated starting line, and the robot must successfully • follow the line until it reaches the finish line.
- 35. 35 CONCLUSION • In conclusion, the adoption of equipment-carrying line followers represents a significant step towards enhancing efficiency, safety, and productivity in industrial settings. • While there are challenges to overcome, the potential benefits make it a worthwhile investment for companies looking to stay competitive in today’s rapidly evolving manufacturing landscape.
- 36. 36 REFERENCE • P. Saranrittichai, N. Niparnan, and A. Sudsang, ”Robust local obstacle avoidance fro mobile robot based on dynamic window approach,”in Proc. IEEE Int.conf. Elect. Eng./Electron., Comput., Telecommun. Inf. Techol., May 2013, pp, 1-4. • R. H. Rafi, S. Das, N. Ahmed, I. Hossain and S. M. T. Reza, "Design & implementation of a line following robot for irrigation-based application," 2016 19th International Conference on Computer and Information Technology (ICCIT), Dhaka, 2016, pp.480483.doi:10.1109/ICCITECHN.2016.7860245 • S. Tayal, H. P. G. Rao, S. Bhardwaj and H. Aggarwal, "Line Follower Robot: Design and Hardware Application," 2020 8th International Conference on Reliability, Infocom Technologies and Optimization 2020, pp. 10-13, doi: 10.1109/ICRITO48877.2020.9197968.
- 37. 37 Thankyou