Circuit Diagram:

APPARATUS:
1. 1k x (4), 4.7K & 180R
2. Potentiometers 10k x (2)
3. 10uF x (3)
4. LDRs x (2)
5. Bright White LEDs x (2)
6. n4148 Diode
7. Transistors BD3904 x(2)
8. 555 Timers x (3)
9. DC Geared Motors (2)
10. 9v Battery

. The main reason for using DC geared motors is torque which

is essential to carry the weight of the entire robot. Moreover, Gearbox also
allows us to have control on the RPM(Speed) of the motors. If lets say RPM is
too fast, than the sensors will get very less time to understand the difference
between black/white colors and turn on/off motors.Selection of motors is to be
done carefully&properly.

Our motors are not directly connected to the outputs of 555

Timer, but a transistor is used as a switch. The Pin Configuration of this
transistor is (1)Emitter, (2)Base & (3)Collector.Both 555 Timer circuits(others
except center one) are exactly same.The centre 555 timer circuit is configured
as an Astable Square wave generating a trigger pulse with a frequency of 1kHz
where the width of the Square wave is determined by the 4.7K resisotor and
10mF capacitor in this circuit.
 The first and third 555 timer circuits are exactly
sameand are called motor driver circuits or twin circuits(because of the
same appearance).These are circuits in which our DC geared motors are
to be hooked up,so we need to make two circuits like this one in which
The pin no 2 (Trigger) is given input from the Center 555 Timer Circuit In
the above images

It is configured as monostable, that means when they are triggered they

give a pulse on the ouput pin which is then connected to transistor as
switch circuit for motors.

Sensor part: This is the most important part of the LFR, because it
has the sensor which guides the robot to move on Line and donot leave
the track ever. These LDRS are the eyes of the LFR.

As we can see we have kept long wires which we have later connected to
circuit, the reason for taking long wires is to be free of placing this strip
sensor board anywhere suitable to structure and for perfection.

The LEDs in this part, are all the time ON. The reflection of LEDs is sensed
by LDRs. When LEDs are on black area there is no reflection and LDRs are
dark (Motors Run) but when LEDs see white line the LDRs are shone some
light and hence trigger the Motors to turn off

In our circuit.Sensor part is not fixed. When we design our chasis of

Robot, must have any technique to fit the sensor part fixed in the
structure. Make sure to keep sensor part height to be as lowest as
possible for higher efficiency.

Movement Principle of LFR:

We must use DC geared Motors for this

circuit,because ordinarary motors do not have enough torque to carry the

weight of the structure.
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