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Introduction:
The name line follower itself clear its meaning that it is a robot which traces or follows a specific path .The principle of the line follower is based on sensing the background surface by making use of IR sensor. Basically IR sensor takes input by detecting the reflection of the IR rays from the surface and accordingly gives its output to the motors. The output of the sensors are not directly fed to the motors instead a L293D IC is used in between the sensors output and motors input. The sensors output is given to the input pin of L293D and the output pin of L293 IC is connected to the motors. The L293D IC is having two H-bridges which is capable to rotate motor in bidirectional.
DC Gear Motors:
In our line follower dc gear motors are used.
WHY DC MOTOR?
Easy to control Require only two signals For change the direction of rotation just reverse the polarity Speed can be controlled by the voltage
USE OF GEARS
To provide enough torque. Increases the torque on the expense of speed.
IR Sensors:
Sensors are basically electronic devices which are used to sense the changes that occur in their surroundings. The change may be in color, temperature, moisture, sound, heat etc. They sense the change and work accordingly. In IR sensor the there is emitter and detector. Emitter emits the IR rays and detector detects it. The IR sensor basically consists of three components: IR LED (emitter) Photodiode (detector) Op-Amp
IR LED:
Fig. 1 IR LED is a light emitting diode which emits the IR radiations. The basic function of the emitter is to convert electricity into light. It works on the principle of recombination of the electron-hole pair. As in the conduction band of a diode, electrons are the majority carrier and in the valence band, holes are majority carrier. So when an electron from a conduction band recombines with a hole of valance band, some amount of energy is released and this energy is in the form of light. The amount of energy released is depends upon the forbidden energy gap. The IR Led has two legs, the leg which is longer is positive and other leg is negative.
Photo Diode:
Photodiode Fig. 2
PIN Photodiode
The photodiode is a p-n junction diode which is connected in reverse bias direction. The basic function of the detector is to convert light into electricity. As its name implies that it works effectively only when the certain number of photon or certain amount of light falls on it. When there is no fall of light on the photodiode it has an infinite resistance and act as an open switch but as the light starts falling on the photodiode, the resistance becomes low and when the full intensity of light fall on the photodiode then its resistance becomes zero and it starts act like a closed switch.
PIN type P stand for p-type semiconductor. I stand for intrinsic semiconductor. N stand for n-type semiconductor. Avalanche type
Op-Amp:
Op-Amp stands for operational amplifier. It is a DC-coupled high gain amplifier with differential inputs and single output. Typically the output of the op-amp is controlled by either negative feedback or positive feedback. Due to the fact that it performs several operations like addition, subtraction, multiplication, integration etc, it is named as operational amplifier. It has two inputs, inverted (Pin 2) and non-inverted input (Pin3). The signal which is applied to the inverted input gives output 180 degree out of phase with input whereas in the non-inverted input gives output in phase with that of input. Op-amp has a variety of uses in different electronics devices. In the line follower it is used in the comparator mode. The op-amp IC which is used here is LM358 IC, which is an 8-pin IC having two inbuilt op-amps. In the comparator mode, the reference voltage is set at the inverted input pin and then it is compared with the input at non inverted pin. As the voltages at two input pins of op-amp is compared, as the voltage at Pin 3 exceeds the reference voltage at Pin 2 the output of the comparator becomes high (5 V) otherwise it becomes low (0 V). The reference voltage at Pin 2 is set with the help of variable resistor.
Types of Op-amp:
1. General purpose op-amp. 2. Special purpose op-amp.
Working:
White surface Comparator output is high. Black surface Comparator output is low.
Sensitivity of IR sensor:
The sensitivity of sensor means that how much effectively the sensor senses the change that is occurring in its surrounding. The sensitivity of the IR sensor is controlled by reference voltage at pin 2 using variable resistor. Large value of reference voltage less sensitive. Small value of reference voltage more sensitive.
L293D IC
LM7805
IR LED
Photo Diode
IR Sensors
Thank You