Line Following RobotDavid Bouse

Jonathan ChenMichelle ChuKayla Seliner

Need • To come up with a practicum project that full filled the 411 requirements• Create a fun project that would get kids interested in science and engineering. • Incorporate all the engineering knowledge we have learned over the past 3+ years.

Objective

• To design, test, and build a mini robot that senses and maneuvers along a path. • This path is a visible black line on a white surface.• The robot will navigate based on the feedback between sensors and motors.

Approach • Decision Matrix with four different projects.

• Line following robot was the winner.• Project Proposal• Requirements Specifications• Design Process

• Block Diagram• Schematic• Parts List• Board Layout• Prototype

• Testing

Requirements Specifications Engineering Requirements

Power•Robot must be able to operate on a battery supply•Robot must operate for a minimum of 2 hours before replacing battery

Cost•Material cost must not exceed $100/robot

Usability•Robot must not exceed .75 pounds•Robot must detect a black line with a width between .6 in. to .9 in.•Robot should follow a line with minimum radius of 6 in.

Safety •Robot must not have any exposed wires•Robot must not contain any harmful materials

Marketing•Robot must be controlled by micro-controller•Robot must have at least one input sensor•Robot must have at least one actuator•Robot must use a two layer PBC that is between 1 & 16 in. 2, with no side smaller than 1 in. or bigger than 12 in.

Justifications

Easy to replace and low cost. / Allows portabilityLimit the frequency needed for battery change

Team members have limited funds for this project

Limit the load on the motorsStandard width of electrical tape is 0.75 in & easily used to create a lineMinimum maneuverability of robot.

Prevent shocking the user when in use.Robot will be used by children & must be safe

Requirements set by Andrew Greenburg.Requirements set by Andrew Greenburg.Requirements set by Andrew Greenburg.Requirements set by Andrew Greenburg.

Design Process• Basic Block Diagram

Hardware Design

• Level - 0 & Level -1 Block Diagram• Prototyping

• Sensor • Motor

• Design Power Supply• Schematic• Board Layout• Prototyping

Schematic Design

Board Layout

Top Layer Bottom Layer

Software Design• Basic Algorithm

Software Design (Cont.)

• Differential signaling• Calibration

• Forward• Left (6 different

sharpness's)• Right (6 also)

• Hard coded values for speeds

IP and Prior WorkLego Power Motor

Schematic and use www.philohome.com/pf/pf.htm

Arduino Uno Prototyping Micro-Controller

arduino.cc/en/Reference/HomePage

LadyadaInterfacing photocells

http://www.ladyada.net/learn/sensors/cds.html

Blogs SpotInfrared Transmitter information

http://irbasic.blogspot.com/

Testing

Hardware Testing•Tested different types of sensor•Photo Resistors•Investigated sensor output values•Motor Testing•Power Supply Testing

Software Testing•Applied PWM to control motor speed•Used sensor for motor control•Tested prototype with motors and sensors to control direction

Test Cases

Test Cases

Alternative Sensor Methods

IR Sensors

Photo Transistors

Voltage Range was limited

Light Sensing Range was limited

Results

• By integrating the sensors, microcontroller, and motors our robot was able to follow a black line!

Bill of Material

Contributions

David Bouse• Board Layout • Enclosure Design• Schematic

Jonathan Chen• Schematic• Hardware Testing• Prototyping• Software• Enclosure Design

Michelle Chu• Hardware Testing• Schematic• Prototyping• Enclosure Design

Kayla Seliner• Software • Software Testing• Prototype Testing• Web Administration

Lessons Learned

• Schematic Design• Board Layout• Soldering• Prototyping• Testing & Debugging• Scheduling / Time Management• Team Coordination

Questions?