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Synopsis
Submitted by:
Group No: 1
(Approved by AICTE, Ministry of HRD, Govt of India & DTE, Govt of Haryana and Affiliated to M. D. University, Rohtak)
Faculty Comments
: : : : Approved Rejected
Date to submit new synopsis (applicable only if status is rejected) : If the synopsis is rejected faculty will mention the reason below and group is required to submit the new synopsis by the date mentioned above. Comments :__________________________________________________ _______________________________________________________________________ _______________________________________________________________________
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TABLE OF CONTENTS
1 2 3 4 5 6 7 8 9
AIM AND DESIRED SPECIFICATIONS ..........ERROR! BOOKMARK NOT DEFINED. MATERIAL REQUIRMENT ............................................................................................... 2 BLOCK DIAGRAM ................................................................................................................ 3 CIRCUIT DIAGRAM ............................................................................................................. 4 WORKING5 CONTROL AND LOCOMOTION8 APPLICATION AND LIMITATION.9 CONCLUTION10 REFERENCES .11
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MATERIAL REQUIRMENT The component list for making the robot is as follows:-
Material Required LM358 NE555 SL100 SK100 7408 7432 Vector Board DC motors LDR IR Receiver 32C
Quantity 3 1 8 1 1 1 1 3 3 1 2
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BLOCK DIAGRAM
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CIRCUIT DIAGRAM
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WORKING
Obviously the line following robot will need to see the line, therefore we require a light detector of some sort. We also would like it if the line following robot could do this regardless of the ambient conditions (is the room dark or light? is it lit by sunlight or artificial light?). So the robot will also need its own illumination source. The weapon of choice here will be Infra Red (IR) light. To make this easy for ourselves the light only needs to be constant... if a white line is present then it will reflect a lot of IR from our source. If the line is black then we see the opposite effect.
THE CIRCUIT
All we need is an IR source, an IR photo-transistor and a couple of resistors! Here are the resources: IR emitters and detector pairs: IR emitters and detector pairs: On top of these, it would be nice if the signal that we get could be TTL (on or off, 0V, 5V). So to do this we will also require our favorite BEAM chip, the 74AC240, here Is the circuit:
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Obviously the line following robot will need to see the line, therefore we require a light detector of some sort. We also would like it if the line following robot could do this regardless of the ambient conditions (is the room dark or light? is it lit by sunlight or artificial light?). So the robot will also need its own illumination source. The weapon of choice here will be Infra Red (IR) light. To make this easy for ourselves the light only needs to be constant... if a white line is present then it will reflect a lot of IR from our source. If the line is black then we see the opposite effect.
Circuit operation is simple.... no line to follow put the input to the inverter high, and therefore the inverter outputs a low, line detection turns on the transistor (or photodiode) and thus the inverter gets a low and outputs high. If your robot is following a black line on a white page, then add another inverter after or before the first. So what should the values for R1 and R2 be? how do I set up the 74AC240 chip exactly..... The value for R1 affects the source IR brightness, for maximum brightness we set R1 to give the maximum allowable forward current for the IR led. So what should it be?? Well, look
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at the datasheet for your LED, lookup the value of the maximum forward current. Now a simple bit of electronic theory tells us V=IR, I will assume you are using 5V because this is the voltage the 74AC240 should be run at (6V is OK... 4 AA batteries). Now let say that the max forward current is 100mA so we have 5V = 100mA * R , therefore: 5/100*10^-3 = R = 50ohms. Experiment with different values until you get sensitivity that you are happy with... too bright and the detector will see it when it shouldn't! Also remember this will affect the distance you can have it from the line you are following. So how about R2 ? Just set R2 to about 4K. The chip setup is simple too... ground pins 1, 10 and 19, put 5V onto pin 20. Now choose a pin to input your signal to, if we look at the 74AC240 datasheet on page 14, we will see a connection diagram, any pin with an I is an input, follow it across to find its output. Pins 1 and 19 are the enable pins, which we have grounded to permanently enable the inputs on both side of the chip, this leaves you free to use any of the input pins. For example (in case I haven't spelt it out enough already)... Input your signal at pin 4 and take the output from pin 16. The output signal could be used to directly drive your motor... just connect one side of the motor to the output, and the other side to ground. If you do this for two motors (2 sets of line detectors will require two sets of emitters and detectors, but only one 74AC240 chip), then You have a basic line follower already! The left detector should be used to drive the right motor and vice versa The behavior of this robot as it stands will be too turn a motor on IF a line is present, if both detectors are over the line then it will drive straight, if the left detector goes of the line, it will turn off the right motor causing he robot to turn back onto the line, if the right detector goes off the line then it will turn off the left motor and again go back onto the line. If both detectors come off the line (end of line) then the robot will stop altogether, perfect!
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CONCLUTION
We made it possible using various electrical and mechanical components. It includes in total five geared motors of varying rpm. We have made a differential steering set-up for the various movements of the lower base. The other movements of the upper base, arm and the grabbing system is provided by mechanical coupling, pulley system and a pivoting system respectively. Ball bearing, free rotating wheel etcetera are used for the movement of the bot. For the electrical connection part we had used switches, relays, connecting cables, and other components. In our journey we had met with several problems, especially while working with the grabbing part. We solved most of the problems and finally arrived up till this. However it was fun working in such an innovative and energetic team. Finally we present to you, MASS, our robot. Though it looks somewhat poverty stricken due to its rickety limb, it is capable of performing its task in an efficient way. We had just tried to utilize our meager resources optimally.
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REFERENCES
1. Optically Automated Spy Robot, 'OASR', Gaurav Mittal and Deepansh Sehgal, Punjab Engineering College 2. Rail track and Linear track (PDF) 3. http://mobilerobots.com/MT400_autonomous_robotic_base.html 4. http://www.stanford.edu/~learnest/cart.htm 5. Proceedings of IEEE Robotics and Automation, 1988
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