ROBOT LINE FOLLOWER.

The components that need to consider in making ROBOT LINE FOLLOWER. 
    In making the Line Follower robot, there are two things to note, that the knowledge of mechanical and electronic components. Here's an explanation of the two components. 
Mechanical components 
A. Frame \ Chassis
 Order or so-called chassis is a key ingredient to put all the components supporting robot. The shape and dimensions of the robot is very diverse, adjust to the type danjumlah circuit on the robot will be made.
   1. Ingredients
 Frame robot should be made by using a strong and lightweight material. The materials that can be used mainly as follows. 
 - Printed Circuit Board (PCB)
   Printed circuit boat (PCBs) are found in electronics stores. This material includes materials that are cheap and lightweight. 
 - Acrylic 
   Acrylic is a transparent plastic that resembles glass. Acrylic is tough, lightweight and easy to shape by heating. 
 - Poly Viny chlorides (PVC)
   PVC is one of the building materials that can be used as a pipe. PVC is one of palastik that is  flexible and easy to set up.
 - Aluminum 
   Aluminum is strong thin material, lighter, and often used in raw materials for aircraft. 
 - Robot Kit 
   Robot kit is a special material to use to make a robot easily.2.  
Tips manufacturing line follower robot 
The following are some tips line follower robot creation
.•  robot line followe have maximum dimensions of 20cm x 20cm size x 20cm (length x width x height)
 • Choose strong materials and sturdy lightweight will gar easily controlled robot.
 • PCB is a material commonly used in the manufacture of robots
.• Iron can be used in the heating process and manufacturing ranka using acrylic material.
 • Make a frame with dimensions sufficient to accommodate the supporting components, such as batteries, motors and electronic circuits.
 • To facilitate the creation of robot make seketsanya order first.

B. WHEELS
       Wheel drive is one component of a robot. 
The types of wheels
 • Wheel control 
   Wheel control is connected directly to the motor and serves as the robot's motion direction.
i. AcrylicCan be used debagai wheel base material.
ii. Tamiya Wheel KitWheels that have been finished. 
iii. Wheels ToysWheels toys can be used as long as it has wheels robot form the outer layer of rubber.
 • Wheel-free
 Is wheels that can move freely without control and do not change the direction of motion of the robot.
 i. Tamiya track and wheel set 
Consisting of sprockets and wheels supporting each other can be used according to the desired length. 
ii. Teflon or Plastic PE 
Can be used as spocket wheel drive tanks.

iii. Boiler Fan (Blt)
Rubber is rubber fan shaped chain and is often used on pulleys. 
Electronic Components 
   A follower robort line consists of a series - a circuit of mutual support. Electronic components that support each line follower robot performance as follows. 

A. Power Supply 
Power supply is a source of voltage / power supply is a device or system that can produce electrical energy. 
1. Types of Power supply 
 -Sources of direct current (direct Current / DC) is a constant electric current value and potential high flows from (+) to low potential (-).
 -Source Alternating current (Alternating Current / AC) is an electric current changing back and forth. 
2. Function Power Supply On line follower robot 
  Power Supply can be described as life robot, because without the power supply robots can not perform its function.
3. The types of power supply used on Line Follower Robot 
  Power supply suitable for line follower robot is a power supply that is mobile (moving) Since the line follower robot is a mobile robot. 
# The battery is one example of the size and the power supply voltage is relatively small. The battery contains positive pole (+) and the negative (-), so installation on the cluster needs to be considered. 
# Accumulator (Aki)As the battery, the battery has psitif poles (+) and negative pole (-). There are 2 kinds of batteries that Aki Aki Dry and Wet. 
4. Tips Choosing a Power Supply 
  Here's a tip to choose a power supply that suits your needs in making a line follower robot.
 # Select the Power supply with light weight and great power.
 # Use Power Supply that can be recharged (recharger) because the robot is an electronic instrument that wasteful electricity. 
 # If using AA or AAA type batteries, rope baerai in series with the right amount. 
 # Use the battery dry if the robot berdimaensi.

 B. Light Source 
In Elktronika field, the light source is a device that can transform electrical energy into light energy. The function of the light source in a line follower robot is a transmitter (sender). 
1. Types of Light Sources
       Looks LightVisible light source used to make the robot line foolwe is Emmiting Light Diode (LED). LED has two legs of different length, the longer leg is called the anode or positive pole and the shorter leg is called the cathode or called the cathode. The positive pole is connected to the positive voltage and the negative pole connected to a negative voltage. LED only requires the input of 3Volt. Red INFARed INFA is light invisible to the human eye. Infrared LEDs require only input for 3Volt. 
2. Tip Choosing Light Sources
       A good LED LED light to disperse energy and focused on the end of the LED.LED infrared light invisible to the naked eye, so use a camera phone or digital camera to find infamerah have LED lights or not. LED is an electronic device that can be easily damaged. Make sure the plug correctly. LEDs have several sizes, generally LEDs for line follower robot using 5mm size.

 C. Light Sensor 
The light sensor can be called with a receiver / detector light. In addition to functioning as a light source sender chaya recipient is also required. Sensors can be likened to a robot eye. The selection should be tailored to the transmitter sensor is used. If you use visible light source to be used then the sensor visible light sensor. 
1. Light Sensor Types 
Here are the types of sensors used on the robot line follower. 
   • photodiodePhotodiode electronic components made of semiconductor materials.
   • phototransistorsIntensintas Sensorcahaya capable of converting light into electrical signals. 
   • Light Dependent Trsnsistor (LDT) 
   • resistors resistance value fluctuations due to the influence of light intensity about it.
   • ResistorsSalahatu circuit which is used to limit the current in the circuit yangmengalir closed.
 i. Resistor static or fixed value resistors arranged rings 2 color. A resistor has 4atau5 color rings.
ii. 4 pieces Resistor Color Value 26 250 ohm maximum resistance and the minimum resistance value of 23,750 ohms. 
iii. Five color band resistor maximum resistance value 464 600 455 400 ohm ohm minimum resistance valueiv. Variable resistor, electrical resistance values ​​are in a vulnerable range. 
  • Potensio Meter is a three-terminal resistor komonen.
  • Timmer potentiometer (trimpot) is a three-terminal resistor components as usual potentiometer. 

D. Capacitors
 Condenser is an electronic component that stores electrical charge temporarily functioning. Here are some types of capacitors that can be used on the roboti.  
i. Ceramic capacitors. Since stable good use at high frequencies. 
ii. Capacitors Elaktrolit, polar capacitor mounted on the electronic circuit according to the types of terminals. 
iii. Polyster capacitors, have values ​​between 100pF to 2μF kappasitansi, tolerance of around 5% and the maximum voltage 400volt.

 E. Diodes  
Diode Is one of the main active component that functions as a component of the rectifier. This is different types of diode.
 i. Rectifier Diodes
 ii. Zener Diodes
 Diodes serves as a barrier to backflow current in a DC motor which can interfere with the performance of electronic circuits. 

F. Transsistor  
Transsistor is the first electronic component containing the world's first electronic Tarkan to the modern electronic world. 
i. Types of transistor 
  - BJT (Bipolar Juction Transistors)
    An explanation
 BJT (Bipolar Junction Transistor) is composed of three doped semiconductor material separated by two pn junctions. All three are well known in the semiconductor material as the BJT emitter, base and collector (Figure 1). The area is a semiconductor with a little base doping and very thin when compared to the emitter (doping at the most) and the collector (berdoping semiconductor medium). Because of its physical structure like that, there are two types of BJT. The first type consists of two regions separated by a region n p (npn), and the other type consists of two regions separated by a region p n (pnp). Pn junction that connects the base and the emitter is known as the base-emitter connection (base-emitter junction), while the pn junction that connects the base and collector regions are known as base-collector connection (base-collector junction).
 

Figure 1. Two Types of Bipolar Junction Transistor (BJT)Figure 2 shows the schematic symbol for a bipolar junction transistor npn and pnp type. The term bipolar is used because of the electrons and holes as charge carriers (carriers) in the transistor structure.
 

 Figure 2. Symbols BJT npn and pnp type 

- NPN (Negative Positive Negative)
       NPN (Negative - Positive - Negative) or N-Chanel. NPN type transistor can we assume two terminal diode positinya met, then the meeting was dinamaka base (B), while the two other terminals are emitter (E) and colektor (C). PNP (Positive Negative Positive)
 - PNP (Positive - Negatir - Positive) 
PNP (Positive - Negatir - Positive) or P-Chanel. PNP type transistor can we assume two diodes that meet the negative terminal, and then the meeting was called bases (B), while the two other terminals are emitter (E) and colektor (C). FET (Field Efect Transistors
 -FET (Field Effect Transistor) 
FET (Field Effect Transistor) or in the Indonesian language is called field-effect transistor is a transistor that was created by Julius Edgar Lilienfeld in 1925 and by Oskar Heil in 1934, new FETs marketed widely beginning in the 1990s. FET has 3 pieces of the gate terminal (G), drain (D) and source (S), which function almost the same as the base, collector and emitter of the BJT. Gate (G) can be regarded as open-close control that would allow electrons to flow or prevent it. In addition the agency / body FET is also a separate terminal that serves the technical purpose in pemanjaran transistor into the operating point. The terminal is very rarely used, However once the terminal is required when creating a circuit. Normally this terminal is connected to the highest or lowest voltage in a circuit, depending on the type, but adakalan terminal is not used. 
ii. Tips on Choosing Transistor

-  Choose according to the needs of robot. 

-  Consider transistor legs, and make sure the installation is not reversed. 

 

G. Operation Amplifier (OP-Amp) 

An electronic component in the form of IC (Integrated Circuit) yangmampu mengeluaarkan output power (output) in the form of strengthening the input voltage difference (input).

 i. OP-Amp Typeso 

    • OP-Amp inverting
     Is a voltage amplifier circuit is inversely proportional to the input voltage. 
• non-inverting OP-Amp
 An amplifier circuit, a voltage proportional to the input voltage. 

H. Motor Control
 Motor control is an electronic circuit that serves to strengthen the current and voltage required by the motor. 
- H-BridgeIt is an electronic circuit with the motor at its midpoint, and the two paths that can be opened and closed to passing an electric current to the motor. 
- IC L293An H-Bridge motor controller in the form of IC. 
- Same with the IC L298 as a motor controller.
  
I. Actuators 
 Actuators is an element that can change the amount of electricity into the other scale.i.  
Types of actuators
 • DC Motor
       an electric motor that works on direct current. 
• Motor servo
       is a DC motor with electronic control circuit and an internal gear to control the movement and angular corners. Servo motors are divided into two, namely: 
- 180o standard servo motor servo motors that can rotate 180 ° 
    - continuous servo motor servo motors that can rotate 360o 

Further explanation of the sensor 
LED and Photodiode as sensor lines on Line Follower RobotUnderstanding and How it Works Sensor LineUnderstanding Sensor Line
    Basically, the sensor lines are color sensors are made in such a way that it has the ability to read a line with the principle of light reflection. The sensor lines can be made in several ways. Ways in which to make the sensor line is to use some electronic components, such as LED (Light Emitting Diode), Photodiode, LDR (Light Depend Resistor), comparator, or color sensor IC.
    Basically, the color sensor is the application of the wave theory of light. In light waves, we recognize the existence of the light spectrum. In the light spectrum, there are some colors with a certain wavelength and frequency. By using a specific color, the light frequency is then processed into an energy that is used by the semiconductor to generate electricity. With sufficient frequency, semiconductors can have enough energy to electron flow (or electric current) so that the semiconductor can run the system.
    There are several color sensor, the photodiode, LED LDR, and a microcontroller with ADC. Photodiode converts light, ie the light spectrum, a frequency. Semiconductor photodiode is so much faster. LED LDR is a resistor that capture the spectrum of light that can be used as a light sensor. In the microcontroller, the microcontroller is programmed to detect the light so that it can be used as a light sensor. Some ways to make a color sensor, which is as follows.1. using LED LDR2. connect the LDR resistor in series3. using the ADC (Analog to Digital Converter) to find an appropriate value for the color of the ADC is connected on one of them as you wish4. Photodiode (or LDR) series resistor.
     LDR is a resistor so the response obtained while the photodiode is a semiconductor slow to process data faster. Then, use infrared LEDs (IR LEDs) as the transmitter can increase various devices. IR LEDs are used as the response of the IR LEDs use much faster than regular LED. The combination of the right sensor placement can be used to detect lines efficiently. However, in the LDR you will not get a lot and also u have to implement an LED or lamp with a good shape for a response. Please note that the photo diode only works in the reverse bias. The configuration remains the same.Can be used photo resist, three LEDs (red, blue, yellow), and a microcontroller with ADC. Light each LED separately, waiting for photo resist getting readings. Comparing readings to determine the color. The advantages are very cheap. The disadvantage is not accurate, the sensor should be somewhat shielded from ambient light (or programmed to compensate). It is better to replace the three LEDs for one (or two) tri-color LEDs.TCS230 Color SensorIn this article will discuss about the TCS230 color sensor. IC TCS230 is the color of the light-to-frequency converters. There are two main components forming the IC, ie photodioda and current to frequency converter, as can be seen in Figure 1.
 
                                                                                       

 Figure 2.1Each color can be composed from the basic colors. For light, the basic constituent colors are Red, Green and Blue, or better known as RGB (Red-Green-Blue). Figure2 shows some samples of the color and composition of its scaled RGB 8 bits.Photodiode on IC TCS230 array arranged in 8 × 8 configuration with: 16 photodiode for menfilter red, 16 green photodiode to filter, to filter the photodiode 16 blue, and 16 photodiode without the filter. Group photodiode which to use can be arranged through the leg selector S2 and S3. The combination of the functions of the S2 and S3 can be seen in Table 1.
 
Figure 2.2
Table 1 Filter Color

 
 Photodiode will issue the amount of current that is proportional to the level of the basic colors of light that happened to him. This current is then converted into a signal box with a frequency proportional to the magnitude of the current. The output frequency can be scaled by setting foot selector S0 and S1. Output scaling can be seen in Table 2.Table 2. Ouput Frequency ScaleThus, programs that we need to get the RGB composition is a frequency counter program. There are two common ways to calculate the frequency. The first way: We create a timer berperiode 1 second, and during that period we count the number of times a wave box. The illustrations may be seen in Figure 3.
 

Figure 2.3The second way: We calculate how the period of a wave, and then find the frequency by using the formula:

 

Figure 2.42.1.2 Sensor Line
    There are two sensors to detect lines, using Infra Red and using mikrokontrtoller. Line detection sensor used in robot usually based on the principle of light reflection to discern the lines with the background color. In the dark light absorption is greater than that of white light reflected to the sensor becomes smaller. Light used for the introduction of the line is usually visible light and infra-red.Sensors for visible light is commonly used LDR (Light Depending Resistance), while infrared light is transistor (phototransistor) and a photo diode (photodiode).The method for making robot to follow a line Followers lines there are several ways. The first way is to make the line is between a row of sensors. Second, by making the sensor is above the line. Third, by constantly detecting the edge of the line. The fourth way is always through the lines back and forth.Experiment to find the transistor characteristics of light to detect color differences in line with the background color. The course of the experiment is shown in Figure 2.5.
   
Figure 2.5
 

Here is a plot line in the detection process.
 Figure 2.6Based on Figure 3 sensors are used to observe the world outside of the designed system is active infrared sensor. Desired parameters are being observed by the robot to follow a line in the arena. Sensor output is in the form of raw data in the form of voltage is further extracted by the perception of the signal conditioners strands form a comparator to produce a digital signal with a standard TTL (Transistor Transistor Logic). Here is a schematic of the sensor line Brazilians.
 
 
    Figure 2.7 Schematic Series Sensor LineIn the above circuit, created a line sensor with 6 pairs of LED-Photodiode. In the above circuit, 4 sensors in the middle of a sensor that detects the straight line. Then, use the line sensor to detect the placement of the junction at the edge of the track. This schematic created in Protel Design Explorer 99. Here is a schematic drawing in the form of extensions. Pcb.
 
            
   Figure 2.8By using LED-Photodiode, lines can be detected using transmitter-receiver concept. LEDs emit light. In this case, doing work as a transmitter LED light to be reflected back to the receiver. After the bounce, the light received by the receiver Photodiode. Reflected light received and filtered to be converted into the frequency obtained to obtain certain voltage. This is an analog voltage signal that needs to be converted to digital signals using the ADC on the microcontroller.Digital cues are then processed by a microcontroller based knowledge base in a microcontroller programmed to produce the action command that should be done. This command is processed further by planning and control subsystem that finally the actuation in the form of dc motors and stepper motors to move in accordance with the order. Thus the movement of the robot is expected to follow a line according to his mission.Here is a flow chart line detection.
 


 
Figure 2.9Based on Figure 4, the output voltage of the sensor is processed by strand comparator to produce a standard TTL digital signal. Encoding is logic high if detected in white, and the logic low when detected black color. Comparator output can be directly dihuibungkan to the microcontroller ports. In microcontroller data from sensors is processed by the method of table look to produce an action command to its digital stepper motors and DC motors. In order to drive the motor, a digital signal from the microcontroller boosted with L293D driver IC.

More information about mini system

Beforehand what the heck it MINSYS??? Minsys is a series that's like the computer is the mainboard / motherboard while the AT-MEGA serves as the processor. well here minsys series that will be made mengguanakanATMEGA 16.The following overview description of the ATMEGA 16
 
                                                                       

 Physical form ATMEGA 16


 

 Configuration ATMEGA 16 feet

SYSTEM MECHANICS LFR (line follwer robot)

The components that we need in practice to build LFR is as follows.1. Physical RobotLFR as a base layer to be constructed of materials we use pertinaks or plain PCB copper layers are dissolved using ferriclorit (FeCl3). For more robust results, it is recommended to use a plain fiber PCB material. That's because a thicker fiber. Then, cut the PCB with a size of 170mm x 100mm as a fruit. Size can be adjusted to your needs and desires.2. Robot Actuators
 Gear BoxActuators for LFR project we use permanent magnet DC motors. DC motor price is quite comfortable in the pocket. We can get them in stores or by tamiya toy cars unload children. To facilitate control of LFR, I suggest to add the gear-box on the actuator.
 Gear-Box functions as a booster round of the LFR. Try to learn about the torque / gear. There will be discussed how to increase or decrease the rotations per minute of the actuator. Please note that a robot does not only require a high-speed motor, but also a large torque. For some robot models, the motor speed is not even necessary. An example is berkak robot or robot arm. Here are some examples of the robot actuators.
 DC motors3. Wheel Robota. Rear WheelRear wheel is a wheel that terkemudi. There are two rear wheels, the wheel right and left wheels are each driven by a DC motor. Wheel that is what will be driven by the robot control system.b. Front WheelFront wheels are wheels that can move freely, which move in all directions horizontally. Wheels were often called idle wheel or castor wheels. The number of wheels and the only one located on the front of the robot.4. Sensor Line RobotSesnsor a robot like her eyes. Only with the help of sensors, the robot can determine the direction of movement. Many types of sensors are frequently used types of optical sensors, the infrared sensor. Preparation of the sensor is quite easy, which uses a single photodioda component and one or infrared LEDs are often replaced with superbright LEDs with a specific color that is placed side by side.Based on experience and some sources, the line at LFR sensor mounting configuration should form an equilateral triangle with two wheels terkemudinya.After all the required components complete, the next step is to assemble the robot by drawing or sketch design of robot that we created earlier. Ensure neat assembly.

Motor driver
 Figure 2.5 Driver motors on Line FollowerMotor driver is used to control the motor so as to rotate anti-clockwise direction and thus makes the motor can move forward and backward.Schematic of the motor driver is shown in the picture below
 Figure 2.6 Schematic Driver Motor
 Motor
 Figure 2.7 Motor on Line FollowerMotors used herein are 6 Volt DC motor, motor for precise cassette player, this bike can be purchased at the store nearest electronics. The downside of this bike is not having a large enough torque to hold the load, despite having a pretty good pace.