My aim is to produce a line follower robot with a bump sensor
which can reverse if it goes off course.
Research: Line follower robots are most commonly produced to
take part in competitions. The purpose of the line follower robot is
to follow a line. The robot will only follow a line that is black
against a white background or a white line against a black background.
This is so that the sensors can distinguish a clear difference in
light and so the robot can trace and follow the line. From my research
I have decided to use infrared LED emitters (phototransistors). They
are fairly cheap but work relatively well.
To research into the project I was going to make I looked on the
internet to find other examples of the line follower robots. I found
many different variations and concentrated on the components used. I
looked into books and gathered information on how to assemble the
circuit on the breadboard and researched on how the components work.
I have researched on the type of amplifiers I could use for the line
follower. I will use an amplifier to increase the current as I am
using low voltage. I looked on the Maplins website (www.maplins.co.uk)
and decided to use the LM386 because it is suitable for low voltage
applications and it is relatively cheap.
Specification:
* The robot has to be able to follow straight lines, curves and turn
around corners
* It has to follow a black line that is against a white background
* It must work using one 9V battery
* The robot must be able to reverse from any obstacle it hits
* It should be able to function on its own (No help needed to guide
it)
* It should be small and light, easy to move and pick up if veered
off course.
* Should indicate what direction it will turn
Generation of possible solutions:
I could use 2 light dependant resistors to detect the difference in
light reflected from the line. It would react quite slowly
I could use two phototransistors which emit infrared beams onto the
line. When less light is detected on the phototransistors there is
less resistance thus allowing the motors to move.
Sub-system development:
My circuit had two designs combined. First is the line follower, which
detects light and moves according to the line, and the other part is a
bump sensor which when it stumbles across an obstacle it reverses,
this is ...
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...llowed the light. I also used an ammeter to check the current
passing through the circuit. This confirmed that my circuit was
working correctly. When I covered the phototransistors the there was
around 0.4 A passing through. However, when I applied light onto the
phototransistors (using an ordinary LED) I noticed that the reading on
the ammeter was 8.6 A. this proves my theory that covering the
phototransistors, it increases the resistance.
Evaluation: My circuit works well and follows my specification.
The motors move forward when light is placed and it and slow down when
no light is present on the phototransistors.
* Robot has the ability to move in s straight line, around curves
and turn corners.
* With the photo transistors it can follow a black line against a
white background.
* It works using a 9V battery
* It has a relay which reverses the direction of the motors turning
so it can move away from obstacles
* It doesn’t require anyone to move it or guide it using a remote
control.
* It is light and easy to move so when it goes of course I am able
to put it back on the line
* Has two LEDs which indicate what direction it is turning
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