A Project’s Report on

Object Transporter Line Following Robot

Submitted by:

1- Hossam Magdy Abd El-Latif Amer 101601439

2- Mahmoud Bassiony Atef El-Mokadem 101600623

3- Mohamed Samy Abd El-Motalib Ahmed 101603636

4- Osama Mohamed Mostafa Mahmoud 101603417

5- Zeyad Ayman Fathala Ibrahaim 101700882

Mechatronics (1) - ENM4238

Spring 2020
 Table of Contents
(Note: File Bookmark is Active just click on Section to arrive Down There)
S. No. Section Page No.
1 Table of Contents 1
2 List of Figures 2
3 List of Attachments 3
4 Abstract 3
5 Keywords 3
6 Introduction 4
7 Review of Literature 4
8 Line Following Robot 5
8.1 What is it? 5
8.2 How it works 5
8.3 Why line follower robot?! 6
8.4 Applications of Line Following Robot 6
9 Block Diagram 7
10 Project Components 7
10.1 LIR-18650 Li-ion Battery 7
10.2 Arduino UNO R3 8
10.3 FC-51 Infrared Proximity Sensor 8
10.4 L298N Motor Driver (H-Bridge) 9
10.5 Yellow L Shape DC Gearbox Motors 9
11 Working Principles 10
11.1 IR Sensor 10
11.2 L298 Motor (H-Bridge) 11
11.3 Movement Control 12
12 Project System Design 13
12.1 Schematic Diagram 13
12.2 Wiring Diagram 14
12.3 Proteus Simulation 14
12.4 Arduino Code 15
13 Conclusion 16
14 Future Scope 16
15 References 16
1
 List of Figures
Figure No. Figure Page No.
1 Hiroshima Sea Port 4
2 Object Transporter Robot Model Front 5
3 Object Transporter Robot Model Back 5
4 Object Transporter Robot Model 6
5 Object Transporter Robot Partial Disassembled Model 6
6 Robot Block Diagram 7
7 LIR-18650 Li-ion Batteries + Batteries Holder 7
8 Arduino UNO R3 8
9 (FC-51) Infrared Proximity Sensor 8
10 L298N Motor Driver Module Dual (H-Bridge) 9
11 L298N Motor Driver Single (H-Bridge) Schematic Diagram 9
12 Yellow L Shape DC Gearbox Motors 9
13 Motor (Voltage - Rotational Velocity) Characteristic Curve 10
14 IR Sensor & Light Reflection 10
15 H-Bridge Configuration 11
16 H-Bridge Rotation Direction Control 11
17 Pulse Width Modulation 11
18 Robot Forward Movement 12
19 Robot Steering Left 12
20 Robot Steering Right 12
21 Robot Stops 12
22 Fritzing Beta logo 13
23 Project Schematic Diagram using Fritzing 13
24 Project Wiring Diagram using Fritzing 14
25 System Simulation using Proteus 14
26 Arduino Code using Fritzing 15

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 List of Attachments
For All Attached Project Data Please refer to The following Link:
mega.nz/folder/IMdX2Yha#zILufeZSUZi3MLEyr_f_vQ

No. Attachment
1 SolidWorks Parts & Assembly Files + Required Texture Files

2 SolidWorks Graphics (Snapshots/Rendered Videos & Pics & Gifs)

3 Components Data Sheets PDFs & Motor Characteristic Curve Excel File

4 Fritzing (.fzz) File & Schematic-Wiring Diagrams (Pics & PDF)

5 Arduino IDE (.ino) File

6 Proteus Project Simulation Files

Abstract
Most of the robots are microcontrollers. These make the robots efficient and easy
to control but hard

to make because you need time, this reason, an intelligent line tracking robot is
developed
with a simple concept of digital ICs. This robot is a mobile device that sensor senses
the line contrast of the floor. Then it sends a corresponding signal decides at which
speed the wheels will rotate. The rotating speeds of the wheels are also controlled by
this of the wheels make the robot follows the line by steering right or left.

Keywords
Robot - Line Follower - Automated Vehicles - Arduino - Digital Circuit

3
Introduction
A Robot is any completely automatic machine, i.e. it starts on its own, decides its
way of work and stops on its own. It is a replica of a human being, which has been
designed to ease the human burden. It can be controlled pneumatically, hydraulically,
or using simple electronic control ways. Line follower Robot is one of the first robots
that beginners and students would get their first robotic experience with. In this
project, we have designed a simple Line Follower Robot using Arduino and some
other components. The workings of a line follower robot are pretty straightforward,
and we shall explain them in the coming up.

Review of Literature
The earliest following robots. They were designed to follow a in the floor, or an
field concept. Most of these RobThey could not circumnavigate obstacles; they just
was used in Hiroshima Sea Port in 1978 by Yamaha Motors Ltd. As shown in Figure
1 then it had improvements by Mitsubishi Electric Co. & Omron Adept Technologies
Co . to spread it’s usage in all Japan ports by MLIT (Ministry of Land, of
Transportations in Industries or Logistics starting from Epson Robots Co. & FMC Co.
in U.S.A.’s Ports and Mega Industrial
Zones until reaching Heckler & Koch Co.
and ABB Robotic societies

Figure 1 - Hiroshima Sea Port

as a first step towards the nooks and corners of robotics which lead to another fields
such as Cyber Trucks and Self Driving Cars.

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 Line Following Robot
What is it?
Line following robot is an
machine by changing the shape of the
line. In the most elem be visible like a
black line on a white surface (or vice-
versa line follower is mainly
composed of the system, control
system, an interface

Figure 2 – Object Transporter Robot Model Front

the control system and actuators.

How it works
Line a task in which the to detect
a particular line and keep following it.
For special situations such as cross
over’s where the rot can have more
which can be followed, the predefined
path must be followed to it. In our
Project Following Robot moves to.
The line sensors are used to sense the
line. When the IR signal falls on the
white surface, it gets reflected and if it

Figure 3 - Object Transporter Robot Model Back

is used to scan the Lines for the Robot. Also, the Robot should be capable of taking
various degrees of turns to follow the curved lines and must be insensitive to
environmental factors such as lighting and noise.
-

5
Why Line Following Robot?!
(A Problem Definition & Mechatronic Solution..)
The use of line following robotic
the materials f
rom one place to industries, it’s
usually in different buildings or even
separate bl
ocks. Conventionally trucks or carts
where
in this part of the assembly line
formed the weakest link. So a line
instead of
laying railway tracks which are both
costly depends on the track, which
are usually a visual line painted, Figure 4 - Object Transporter Robot Model
embedded in the floor, or an electrical
wire as a
magnetic field concept. Large line follower robots are usually used for helping the
automated production process, in military applications, human assistance purposes,
delivery services, etc…

Applications of Line Following Robot:

- at hospitals to deliver Medications for
Patients in Covid-19 Quarantine to Protect
Medical Teams.
- Ial Applicans: Used as carriers in industries
replacing trl conveyor belts.
- pplicatis: Can be uas s running on roads with
embedded

- Guidance applications: Can be used to ce in

public places like
Figure 5 - Object Transporter Robot
alls, museums, etc.
Partial Disassembled Model
6
 Block Diagram
The Block Diagram shown in Figure 6 describes
of line follower

it embeddedly to Digital. Then Arduino according to by PWM (Pulse Width the

L298N Motor Bridge) which is connected directly to the power source, feeding the
and Motors. Power Supply
12V-DC
Analog
to Digital

FC-51 IR
Sensor Arduino 5V DC for Right
UNO Arduino DC Motor
L298N Motor Side
Tx (ATmega328P Driver
Microcontroller) 12V DC
Module
FC-51 IR for Motors
(H-Bridge)
Sensor Left
Rx DC Motor
Side
PWM
Figure 6 – Robot Block Diagram

Project Components: Important Note: Please See Attached Project’s

Graphics (Pics & Videos) and Data Sheets!!
LIR-18650 Li-ion Battery:
The 3-Cells shown in Figure 7 which are found in
our Project is a Rechargeable Li-ion type batteries. The
main reason for choosing this battery is its properties
compared to its competitors including current carrying
capability, life cycle, storage life, safety, superior
capacity, discharge rate and more.
- Cell Specifications:
• Nominal Voltage: 3.7V
• Max Charge Voltage: 4.20±0.05V
• Discharge Cut-off Voltage: 3V
• Nominal Capacity: 2,600 mAh
• Max Rapid Discharge Current 1.3A
• Max Pulse Discharge Current 2.6A
• Cell Dimension: 18.4mm ∅ × 65mm
7 Figure 7 – LIR-18650 Li-ion Batteries
+ Batteries Holder
 Arduino UNO R3:
The Arduino Uno R3 shown in Figure 8 is a
microcontroller board based on an ATmega328
AVR microcontroller with removable, dual-inline
(DIP) Package It Has 20 pins (6 can be used as
PWM outputs, and 6 as analog inputs). To load
programs onto it, using the easy-to-use Arduino
computer software. The R3 is the third, and most
recent revision of Arduino Uno.
- Specifications:
• ATmega328 Microcontroller
• Voltage to operate: 5V
• Input voltage (boundary): 6-20V
• I / O Pins: 14 (6 of which supply PWM output)
• Pins with analog input: 6
• Current DC per pin I / O: 40 mA
• DC 3.3V Pin working current: 50 mA
• SRAM (ATmega328): 2 KB
• EEPROM (ATmega328): 1 KB Figure 8 – Arduino UNO R3
• Frequency clocking: 16 MHz
• Flash Memory: 32 KB (ATmega328) of which
the Bootloader used 0.5 KB

FC-51 Infrared Proximity Sensor:

Is a Sensor that continuously emits Infrared Rays
through Infrared LED, Infrared Rays emitted when not
reflected back the output modules are high and when
reflected back the output modules are low, but the
Readings is not well accurate in general.
- Specifications: (Schematic Diagram is attached in Data sheet!!)
• PCB Board size: 3.2 x 1.4cm
• 3mm Screw hole fixed for easy installation
• Working voltage: 3.3 - 5V DC
• Output type: Analog output signal
• Detection angle: 35 ° Degree
• Comparator chip: High Voltage LM393 Figure 9 – (FC-51) Infrared
• Adjustable sensitivity with multi-turning potentiometer Proximity Sensor
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L298N Motor Driver (H-Bridge)
The L298 Mtor Diver Module shown in Figure 10 is a Dul H-Brie hig voltage, it is
designeto accep standard vels of TTL tension. H-bridge drivers are used toontrol speed
in rs and Stepper Motors and to driv and reverse. This
driver can operate voltages up to 46V in nd continuous to 2A in each channel.

Figure 10 – L298N Motor Driver Module Dual (H-Bridge)

- Specifications:

Figure 11 – L298N Motor Driver Single

(H-Bridge) Schematic Diagram

Yellow L Shape DC Gearbox Motors

The Geared Micro DC L Shape Motor with 90
rpm Back Shaft, is the most popular DC Motor in mini
Robots Applications. It is designed to be Inexpensive,
Lightweight, Simple to install and Ideal for Mobile
Robot use. That’s why we choose it.
Figure 12 – Yellow L Shape DC
9 Gearbox Motors
- Specifications:
* Electrical characteristics:
• Voltage range for operation: 4.5~13V
• Maximum. No-load (5V): 140 mA
• Maximum. No-load (12V): 250 mA
• No-load Speed(5V): 50 rpm
• No-load Speed(12V): 90 rpm
• Max Torque: 0.8 Kgf.cm (0.078 N.m)
• Stall Current: 2.8 A
*Mechanical characteristics:
• Pitch ratio: 1:120
• Gear Ratio: 48:1
• Axis diameter: 5.4 mm Figure 13 – Motor (Voltage - Rotational Velocity)
Characteristic Curve [Excel file attached]

Working Principles
IR Sensor
The elated to lit reflection. This
behavior of in blding a line have used IR
Traitters (Tx) and IR receivers (Rx) so
called photo diodes. white surfe, it’s
reflected back and be catched by
ptodiodes which generates some voltge
changes. When IR light is absorb by the
black surface and no rays are reflected
back, thus photo d

e does not receive any light or rays.

Figure 14 – IR Sensor & Light Reflection

10
L298 Motor (H-Bridge)
The H-Bridge working principle split into two terms:
- Motor Rotation Direction Control - Motor Speed Control
1- Motor Rotation Direction Control:
For cont ling the direction, we just to inv se the of the flow thro
ugh the motor. As an H- circuit contains four switching el ments, tr
ans istors or , with the at the ce nte r an H-li ke . By
activating two particular switc hes at th e sa me we can ch ange
the direction of the cur rent , thu s change the di rect
ion of the motor as shown in Figures:

Figure 15 – H-Bridge Configuration Figure 16 – H-Bridge Rotation Direction Control

2- Motor Speed Control:

We know that the motor varies by it with different values of so the
DC motor by
controlling the voltage of motor and the
common for doing that is using PW
M (Pulse W ) signal whi
ch is a technique which a llows to a
djust the average value of the voltage
that goes to the motor by turning
power on and off with fast rate. The
average d epends on the d uty
cy cle, or the amo unt of time the
signal is O N vers us the
amount of time the signal is OFF in a
single of time.
Figure 17 – Pulse Width Modulation
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Movement Control Note: Coding was done by Frizting Beta Program for Code See
Attached Files (Arduino IDE & Fritzing)!!
In this project, we are using 2 IR sensor modules, left and right sensor. When both
left and right sensor senses white then robot move forward both Wheels same speed.

. Figure 18 – Robot Forward Movement

If left sensor comes on black line and right sensor on white surface then robot steers
left side with right wheel faster than left one until both sensor comes at white surface
then the robot starts moving on forward again. And the same case for right sensor.

Figure 19 - Robot Steering Left

Figure 20 - Robot Steering Right

If both sensors comes on black line, robot stops.

Figure 21 - Robot Stops

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Project System Design
For The System Design in our
Project to build it up we used Fritzing
Beta Program which is an open-source
Integrated Development Environment &
CAD software for the design of
Electronics Hardware and Projects
Prototypes. It has Plug-ins to work like Figure 22 – Fritzing Beta logo
the Arduino IDE & Proteus for Preparing
Project Code, Schematic Diagram, Graphic Wiring Diagram and PCB Layout. The
Various Project Design Diagrams are presented next in the following Sections and
shown Figures.

Schematic Diagram
The Schematic Diagram shown in Figure 23 describes The Low-Level
Connections between the various Project Sub-systems (Components) as shown:

Figure 23 – Project Schematic Diagram using Fritzing (Image & PDF files are attached)

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Wiring Diagram
The Wiring Diagram shown in Figure 24 describes The Real Connections
between the various Project Components as shown:

Figure 24 – Project Wiring Diagram using Fritzing (Image & PDF files are attached)

Proteus Simulation
For guarantee that The Sub-System will perform its Commissions accurately in
Real-Time Task performing We used The Proteus Design Suite Software Tool which
is used primarily for Electronic Design Automation, Creating Schematic Diagrams,
PCB Layouts and Simulations for all mentioned previously.

Figure 25 – System Simulation using Proteus (Proteus File attached)

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Arduino Code
For Coding we used Primarily Fritzing to put the first Draft and then moved to
Arduino IDE for extra Verification of Coding although Frizting has Arduino IDE
Plug-in after Verification the Code was passed to Proteus Suite for Final Simulating
Test and The Code was as follows:

Figure 26 –Arduino Code using Fritzing [ .ino(Arduino) & .fzz(Fritzing) Files attached]

15
Conclusion
The rob ots are cons tructed usi ng help of microc ontrollers like Arduino
ATMega based Boards. That makes the ro bots efficient and easy to control but
you need more un derstanding of electronics and cod ing. F or this
reason, we made l ine tr acking robot which is designed with a simpl e conce
pt “Keep the Lin e in The Middl e”. This robot is a mo bile
device runs on it s own, decides its way of work and stops o n its own and detec
ts and foll ows the line drawn on the floor. The path mu st be in a
visible black line on a w hite surface or embed ed in the f loor. The IR sensor
sense s the line by the difference of contrast of the floor. The n it sends a cponding
signal to the will rotate. The rot ating speeds of the wheels are also controlled by
another Module L298N Motor Driver (H-Bridge). The diff erences in the speeds
of the wheels make the rob ot follows the lin e by steering right or left.

Future Scope
Smarter Vers ions of Line within Office
in Ho spital like what happen in China now a days due to
Quarantine for Covid-19 (Corona V irus) that protects the Medical Team and help
to fight the Virus and limit its spr ead. has been suggested for running
Mass Transportation Syste ms and may end up as a part
Cars navigating The Freeway.
Robotics is v ery ield for The New Innovation and Research. By using The
Robot in Real-T ime Application s, The Health Care Sys tem can be managed
in an effect tive Way and other S ystems like Tran sportations, etc...

16
References
1. Prof. Dr. Saber Abdrabbo, “Lecture 6 DC Actuators” Mechatronics
Department, Faculty of Engineering, Sinai University, Egypt, Spring 2020.
2. Dr. Bajestani, Dr. Vosoughinia, “Technical Report of Building a Line
Follower Robot” International Conference on Electronics and Information
Engineering (ICHE 2010), Vol. 1, India, 2010.
3. Prof. Dr. Cohk Yildirim, “Evolving a Line Following Robot to use in
Shopping Centers for Entertainment” IECON 35th Annual Conference of
JEFF Industrial Electronics, Turkey, Nov. 2009.
4. Prof. Dr. Bong. D.M.K, “Automatic Guided Vehicle System” Department of
Electrical Engineering, University of Tenega National, Malaysia, 2004.
5. K.A.Unyelioglu, C.Hatipoglu, and U.Ozguner, “Design and analysis of a Line
Following Robot Controller” IEEE Trans. Control System Technology, Vol.5,
No.1, 1997.
6. Priyank Patil, “AVR Line Following Robot” Department of Information
Technology K. J. Sornaiya, College of Engineering Mumbai, India.
7. Ministry of Land, Infrastructure, Transport and Tourism of Japan “Ports
Development and Management system” mlit.go.jp/en/index.html.
8. Deepak Punetha, Neeraj Kumar, “Applications of Line Following Robot
Based Health System’s COVID-19 Quarantine Crisis Control”
International Journal of Advanced Research in Computer Engineering &
Technology (LJARCET), Volume 2, Issue 8, March 2020.
9. Liverpool City’s Health Care System, “liverpool-ha.org.uk” April 2020.
10.Asian Journal of Applied Science and Engineering, Volume 2, No.2 (2013).
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12.howtomechatronics.com/tutorials/arduino/arduino-dc-motor-control-tutorial-
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15.slideshare.net/RohitDadoriya/final-report-of-line-follower-robot
16.hackster.io/robocircuits/line-follower-robot-arduino-299bae

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18.researchgate.net/publication/279398933_DESIGN_AND_IMPLEMENTATI
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