Final proposal PDF

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Declaration We are students of Bahir Dar University in Bahir Dar Institute of technology (BIT), faculty of Electrical and Computer Engineering. The information found in this proposal project is our original work. And all sources of materials that will be used for the project work will be fully ackno...

Description

Declaration We are students of Bahir Dar University in Bahir Dar Institute of technology (BIT), faculty of Electrical and Computer Engineering. The information found in this proposal project is our original work. And all sources of materials that will be used for the project work will be fully acknowledged. Name

signature

1. Biniyam Tesfaye

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2. Biruk Fentaw

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3. Chalie Engidaw

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4. Derese Amare

This project proposal has been submitted for examination with our approval as a university advisor. Project advisor

Signature

Date

Mr.Gashaye L.

_________

Apr10, 2019

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Abstract Line Following robot is one of the most important aspects of robotics. A Line Following Robot is an autonomous robot which is able to follow either a black line that is drawn on the surface consisting of a contrasting color. It is designed to move automatically and follow the line. The robot uses arrays of Infrared (IR) sensors to identify the line, thus assisting the robot to stay on the track and ultrasonic sensor, thus assisting the robot to detect obstacles. The array of three sensor makes its movement precise and flexible. The robot is driven by DC gear motors to control the movement of the wheels. The Arduino Uno interface is used to perform and implement algorithms to control the speed of the motors, steering the robot to travel along the line smoothly. This project aims to implement the algorithm and control the movement of the robot by proper tuning of the control parameters and thus achieve better performance. It can be used industrial automated equipment carriers, small household applications, tour guides in museums and other similar applications, etc. Concept of working line follower is related to light. We use here the behavior of light at black and white surface. When light fall on a white surface it is almost full reflected and in case of black surface light is completely observed. This behavior of light is used in building a line follower robot. In this arduino based line follower robot we used IR transmitters and IR receivers also called photo diodes. They are used for sending and receiving light.IR transmits infrared lights. When infrared rays falls on white surface, it’s reflected back and cached by photodiodes which generates some voltage changes. When IR light falls on a black surface, light is absorbed by the black surface and no rays are reflected back, thus photodiode does not receive any light or rays. Here in this arduino line follower robot when sensor senses white surface then arduino gets one as input and when senses black line arduino get zero as input. The whole arduino line follower robot can be divided in to three section: - Sensor section, Control section, driver section.

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Contents Declaration .................................................................................................................................. i Abstract ......................................................................................................................................ii 1.

Introduction ........................................................................................................................ 1

2.

Statement of the problem ................................................................................................... 2

3. Objective of the project .......................................................................................................... 2 3.1 General objective: ............................................................................................................ 2 3.2 Specific objective ............................................................................................................. 2 4. Literature Review................................................................................................................... 3 5. Methodology .......................................................................................................................... 4 5.1 Block Diagram of the project ........................................................................................... 5 5.2 Block Diagram Description:- ........................................................................................... 5 5.2.1. Materials Description ............................................................................................... 6 6. Expected outcomes/Results:- ................................................................................................. 9 7. Work Plan or time frame for the project .............................................................................. 10 8. Cost Breakdown ................................................................................................................... 11 9. CONCLUSION .................................................................................................................... 12 10. References .......................................................................................................................... 13

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List of figure Figure 5. 1 over all of the project ............................................................................................... 4 Figure 5.2 General block diagram of line follower.................................................................... 5 Figure 5.3 Infrared sensor .......................................................................................................... 6 Figure 5. 4 White surfaces reflect light and black absorbs ........................................................ 6 Figure 5. 5 Description of various parts..................................................................................... 7 Figure 5.6Forward movement .................................................................................................... 7 Figure 5. 7 Turn right movement ............................................................................................... 8 Figure 5.8 Turn left movement .................................................................................................. 8

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List of Table Table 7.1 work schedule for the project................................................................................... 10 Table 8.2cost breakdown……………………………………………..………………………11

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1. Introduction Line follower robot is a machine which follows a line either a black line or white line. Basically there are two types of line follower robots: one is black line follower which follows black line and second is white line follower which follows white line. Line follower actually senses the line and run over it. Robotics is a new technology that largely used in the manufacturing field. This new technology has found entrance too many industries. Besides that, robots are also employed in the nuclear industry, civil engineering, marine work, ship building, and Agriculture and security super vision. The line follower robot is a self-operating robot that detects and follows a line that is drawn on the floor. It is a reprogrammable, multifunction, manipulator designed for moving materials, tools, parts etc. through various programmed motions to perform a variety of tasks. It is an automatic device that performs functions normally ascribed to humans or a machine in the form of a human. Robot can replace human’s job because robots can perform faster than humans. Robots need not to drink, to be paid or rest as compared to humans. They can do repetitive work with high accuracy and will not stop or slow until the task is finished while humans get bored. A line tracking robot is an autonomous robot which is capable of following a black line drawn on the floor. It can sense a line and maneuver the robot to stay on black line, while constantly correcting wrong moves using open loop system. Generally robots have three main parts which include processor, sensor and motor control system. Robot sensors represent eyes while actuators act as legs and controller acts as the brain of a human. The most apparent reasons that are associated in installing of robotic systems in industry are  Saving of manpower  To improved quality & efficiency.  An ability to work in any hostile environment.  To increase consistency & flexibility.  To increase yields and reduced wastage.  Line tracking robot has applicability in industry as a part of manufacturing process.  To deliver products from one manufacturing point to another point.

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2. Statement of the problem The line follower robot is very sensitive and everything in the robot is perfect to do specific work that we want. Nowadays in office most of the delivery jobs such as deliver books, documents, letters or other things are done by human beings. This daily routine job is actually tedious and time consuming. The line follower robot performs this type of work in effective manner. At the same time it will reduce employee payment cost, time, and human power. It also will increase the efficiency of delivery job because human normally affected by pressure and other problems. In the industry carriers are required to carry products from one manufacturing plant to another which are usually in different buildings or separate blocks by picking and placing the desired products.

3. Objective of the project 3.1 General objective: The main objective of this project is to design and implement a microcontroller based black line follower robot for multipurpose application by considering a suitable body and wheel.

3.2 Specific objective  To design and develop an autonomous robot that follows a black line drawn on the floor while smoothing the tracking motion by using microcontroller.  To design prototype of the robot that can follow the line and can turn according to the sensor signal of the black line with pick and place desired products.  To write the code according to the sensor to sense the black line and send the signal to the microcontroller.  To implement robot design, this integrated with sensors through suitable load speed calculation.

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4. Literature Review The related subject being evaluate here are based on knowledge and the information gather from journals, articles, thesis, books, internet and other sources. Line following robot is a robot that identifies the path and follows the path. The first step of the process is finding the path. For this we used the track colored in black in a white background as the path and sensor for finding that path. Sensors developed distinct resistance depending on the color which it senses. Arduino is used as the microcontroller to control the system and linking the input and output. L293D motor driver was used as the motor controller. The voltage regulator was used for regulating 5v which is required for biasing the micro controller. Two DC motors are separately coupled for the driving wheels for steering the line. [1] A line tracking robot is an autonomous robot which is capable of following a black line drawn on the floor. It can sense a line and maneuver the robot to stay on black line, while constantly correcting wrong moves using open loop system. The sensor to teach the robot how to follow the black line. The line tracking robot will easily leave its track from the black line drawn on the floor because it’s an open loop system. This problem will make the motion of the robot to be unsmooth. Although line tracking robot can follow the black line its motion still need to be improved. [2] The line tracker robot basically use a cadmium sulphide (Cds) photocell sensor or known as light dependent resistor (LDR) and the high intensity blue light emitting diode (LED) to illuminate the area under the photo cell sensor to sense the black track line and the DC motor speed control technique to navigate the black line track the easy method to navigate the black line is to turn on and off the left or the right DC motor according to the sensor reading (black turn off and white turn on). Human robot interaction is the study of interaction between human and robot, where robot are treated as artificial agent with capacity of perception and action in the physical world. Historically, their use has been generalized in factories. [3]

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5. Methodology Research, pertaining to line follower robot was done after the research we formulated a block diagram according to our scope of understanding ,as far as the components go ,then all the proper analysis were done then we checked our analysis by means of software called PROTEUS.  Data collection: Collect necessary data through literature review on existing autonomous line tracking robots, Arduino microcontroller, line sensor, driven motor and circuit design.  Design electronics and mechanical system: Create a circuit diagram for electronics part and design robot structure.  Integration: Build a complete set of autonomous robot by integrates the mechanical structure and electronics device.  Programming and Testing: Build the complete set of program for Arduino microcontroller and run the testing for the complete autonomous robot. General flow of methodology:Problem identification Literature review Material selection and analysis System modeling and design Software simulation Progress presentation Implementation Submission Figure 5. 1 over all of the project

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5.1 Block Diagram of the project Motor power supply

Main Power supply IR (LS)

R dc motor IR (MS)

IR(RS)

Arduino uno

Motor driver

L dc motor

Servomotor2

Arm mov2.

Ultrasonic sensor

Figure 5.2 General block diagram of line follower

5.2 Block Diagram Description:The block diagram consists of input section, controlling, driving and output section. The input section contains three infrared sensors (left sensor, middle sensor and right sensor) and ultrasonic sensor to detect an obstacle. These sensors are used to detect or track the line and help to move the robot at that particular line path. These sensors are input to the arduino microcontroller by detecting the line. The controlling and driving parts are arduino microcontroller and motor driver respectively. The arduino microcontroller gets input from sensors and give outputs to motor driver to drive the motor. These arduino microcontroller is also control pick and place function of the robot. The output section contains two motors for robot movement in a line and other actuators that performs link movement at an angle using servo or stepper motor.

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5.2.1. Materials Description 5.2.1.1. Arduino microcontroller:The arduino microcontroller is the main control system in the project. That controls the motion of each motor through driver for dc motor and servomotor for line tracking and pick and place operation. The microcontroller gets input from sensors and gives output based on the program. 5.2.1.2. Infrared sensor:-

Figure 5.3 Infrared sensor This infrared sensors used to detect the line that is bolt in front of the robot. It has transmitter and receiver as shown the figure bellow.

Figure 5. 4 White surfaces reflect light and black absorbs There are three strategic condition of the infrared sensor how it detects the targeted line.  Straight direction  Left curve  Right curve

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Figure 5. 5 Description of various parts Straight direction We can expect our robot to move in street direction when the middle sensor response is low and the remaining two sensors response is high. i.e., according to our arrangement the middle sensor will always be on the line and as the line is black in color it will not reflect the emitted radiation back and the response of the sensor will be low and the response of the remaining two sensors will be high as they will be on the bright surface.

Figure 5.6Forward movement Right curve When a right curve is found on the line the responses will change i.e. the response of the first sensor which is to the right will become low as that sensor will be facing the black line and the remaining sensors response will be high. When this data is achieved, the control of the wheels is changed i.e. the right wheel is held constant and the left wheel is made to move freely until the response from the middle sensor becomes low. Then the same process repeats again.

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Figure 5. 7 Turn right movement Left curve When a left curve is found on the line the response of the left most sensor will be changed from high to low as the sensor will now face the black or the dark surface. Then the control of the wheel changes i.e. by holding the left wheel constant and allowing the right wheel to move freely until the right sensor changes its response from high to low.

Figure 5.8 Turn left movement The same process continues for all the turns and the robot moves continuously except all robot Wheels will be out of the black surface or detect obstacle. 5.2.1.3. Ultrasonic sensor:This sensor is used for detecting obstacle that are found on the condition when the robot is tracking a line. 5.2.1.4. Motor driver:Motor driver taking the input signals from microcontroller and generate corresponding output for motor .It is used for driving both dc motor and servomotor as the arduino microcontroller ordered in the program.

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5.2.1.5. Dc Gear motor:The two types of motors that we are likely to use in robotic adventure are DC motors and RC servo motors. It is used to drive/move robot by tracking/detecting a line at specified starting and ending point of a line. 5.2.1.6. Servo motors:It is used for the movement of links/arms at a specified joint by a certain angle in the operation of pick and place the industrial products.

6. Expected outcomes/Results:Our expected outcomes or results at the final stage of the project are the robot satisfies its behavior i.e multifunctional, reprogrammable, movable, automatic and also expected that the robot do its task and as well as we want, that is the robot must track or follow the expected line and the robot must pick and place some objects.

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7. Work Plan or time frame for the project Table 7.1 work schedule for the project March Activities

to Wk Wk

be done

1

2

April

May

June

Wk

Wk

Wk

Wk

Wk

Wk

Wk

Wk

Wk

Wk

Wk

Wk

Wk

3

4

1

2

3

4

1

2

3

4

1

2

3

Problem identification Literature review Material selection and analysis System modeling and design Software simulation Progress presentation Implementati on submission

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8. Cost Breakdown Table 8.1cost breakdown Material

Specifications Quantity

Arduino microcontroller

UNO R3

1

$22.5

Motor driver

L293D

1

$17.76

3

$12

Resister

Cost

Ultrasonic sensor

Hc-SRo4

3

$8.95*3

Dc Servo Motor

220rpm

3

$4.06*3

Infrared Sensor(IR) Module

FC-51

3

$20*3

Battery holder

1

$4.99

12v battery

2

$15.98

Small Tires(wheels)

4

$1

Small ON/OFF Switch

2

$2

4

$2...