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Robotics Line Tracing Sensor

The document discusses a line tracing sensor used in robotics. It uses infrared transmitters and receivers to sense black and white surfaces. When the sensor passes over a white surface, the infrared light is reflected back and detected, while over a black surface it is absorbed. The sensor sends this input to an Arduino board which controls motor drivers and DC motors to move the robot forward when both sensors detect white, turn when one sensor detects black, and stop when both detect black.

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Clayn Devi Alba
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© © All Rights Reserved
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127 views

Robotics Line Tracing Sensor

The document discusses a line tracing sensor used in robotics. It uses infrared transmitters and receivers to sense black and white surfaces. When the sensor passes over a white surface, the infrared light is reflected back and detected, while over a black surface it is absorbed. The sensor sends this input to an Arduino board which controls motor drivers and DC motors to move the robot forward when both sensors detect white, turn when one sensor detects black, and stop when both detect black.

Uploaded by

Clayn Devi Alba
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Robotics Line Tracing

Sensor
What is a Line Tracing Sensor?
• Line follower Robot is a machine which follows a line, either a black
line or white line. Basically there are two types of line follower robots:
one is black line follower which follows black line and second is white
line follower which follows white line. Line follower actually senses
the line and run over it.
• Concepts of Line Follower
• Concept of working of line follower is related to light. We use here
the behavior of light at black and white surface. When light fall on a
white surface it is almost full reflected and in case of black surface
light is completely absorbed. This behavior of light is used in building
a line follower robot.
What happens if the sensor passes to a
white Surface?
What happens if the sensor passes to a
black Surface?
• In this arduino based line follower robot we have used IR
Transmitters and IR receivers also called photo diodes. They
are used for sending and receiving light. IR transmits
infrared lights. When infrared rays falls on white surface, it’s
reflected back and catched by photodiodes which generates
some voltage changes. When IR light falls on a black
surface, light is absorb by the black surface and no rays are
reflected back, thus photo diode does not receive any light
or rays.
• Here in this arduino line follower robot when sensor senses
white surface then arduino gets 1 as input and when senses
black line arduino gets 0 as input.
Circuit Explanation
• The whole arduino line follower robot can be divided
into 3 sections: 
• sensor section
• control section
• driver section
sensor section

• This section contains IR diodes, potentiometer, Comparator (Op-Amp)


and LED’s. Potentiometer is used for setting reference voltage at
comparator’s one terminal and IR sensors are used to sense the line
and provide a change in voltage at comparator’s second terminal.
Then comparator compares both voltages and generates a digital
signal at output. Here in this line follower circuit we have used two
comparator for two sensors.
Parts of the Light Sensor
IR diodes

Comparator photo diode
(Op-Amp)

Conductor Pin

LED

potentiometer
control section

• Arduino UNO is used for controlling the whole process


of line follower robot. The outputs of comparators are
connected to digital pin number 2 and 3 of arduino.
Arduino read these signals and send commands to
driver circuit to drive line follower. 
Control Section: Arduino Uno
Driver section
• Driver section consists motor driver and two DC motors.
Motor driver is used for driving motors because arduino
does not supply enough voltage and current to motor. So
we add a motor driver circuit to get enough voltage and
current for motor. Arduino sends commands to this motor
driver and then it drive motors.
Motor Driver
DC Motor
Working of Line Follower Robot using
Arduino
• Working of line follower is very
interesting. Line follower robot
senses black line by using
sensor and then sends the
signal to arduino. Then arduino
drives the motor according to
sensors' output.
Here in this picture we are using two IR sensor modules namely left sensor and right sensor.

Situation No. 1
Situation No. 2
Situation No. 3
Situation No. 4
There are four conditions in this line following robot that we read by
using arduino. We have used two sensor namely left sensor and right
sensor.

Input Output
Movement
Left Motor Of Robot
Left Sensor Right Sensor Right Motor
 

LS RS LM1 LM2 RM1 RM2  

0 0 0 0 0 0 Stop

0 1 1 0 0 0 Turn Right

1 0 0 0 1 0 Turn Left

1 1 1 0 1 0 Forward

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