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The Philippine Electronics and Technology Forum > Mixed Systems and Specialization > Mechatronics and Robotics (Moderators: edaph, marcelino) > line follower mobot
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aze
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« on: July 18, 2008, 05:17:51 PM »
gud day po...
sir eto na po..  Smiley panu po mg umpisa?
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« on: July 18, 2008, 05:17:51 PM »
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maldihtah13
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« Reply #1 on: July 18, 2008, 05:32:14 PM »
Simulan natin sa sensor. Paano gagamitin ung mga ir reciever at emmiter ng mouse.
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Lenjei
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im back..
« Reply #2 on: July 18, 2008, 05:36:58 PM »
wat do you mean pong line follower mobot??

last sem po gumawa kame ng photobot, following black line.. hehe...
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maldihtah13
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« Reply #3 on: July 18, 2008, 05:43:42 PM »
Quote from: lenjei on July 18, 2008, 05:36:58 PM
wat do you mean pong line follower mobot??

last sem po gumawa kame ng photobot, following black line.. hehe...

un na nga un give us more details that may help us.
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aze
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« Reply #4 on: July 18, 2008, 05:46:07 PM »
ocge po. meron na po akng sensor nung sa mouse. anu po ang gagawin para mgwork po un? katulad po ba din kng paanu mg work ang LDR?
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aze
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« Reply #5 on: July 18, 2008, 06:22:13 PM »
Quote from: lenjei on July 18, 2008, 05:36:58 PM
wat do you mean pong line follower mobot??

last sem po gumawa kame ng photobot, following black line.. hehe...

cge na po help us... hehe
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tiktak
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« Reply #6 on: July 18, 2008, 06:31:49 PM »
check mo tong link na ito http://www.electronicslab.ph/forum/index.php?topic=558.0 andiyan ung circuit nung line follower namin using sensor ng mouse.
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aze
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« Reply #7 on: July 18, 2008, 06:57:11 PM »
ang gamit ba nung LM324 na ic sir para ma amplify ung signal nang sensor?
naguguluhan po ako sa sensor ng mouse. anu po ba ung color na madetect nya para mg on ung sensor?
black po ba o white? ganu po ba kalayo ung maximum na layo nung sensor sa surface ng kulay para madetect nya ung color? kc ung sa mouse ang lapit lang po. hehehe xenxa na po kng dmi akng tanung....
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paranz
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« Reply #8 on: July 18, 2008, 07:03:40 PM »
The LM324 is used as a comparator, para malinis na 0-5V ang output ng sensor circuit...

The infrared sensor actually detects the white surface, and it will output near 5V (if using 5v supply) and near 0V if the surface is black
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paranz
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« Reply #9 on: July 18, 2008, 07:09:02 PM »
eto po yung equivalent circuit ng IR sensor sa opto-mechanical mouse





It's merely 2 diodes back to back.  Wink
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aze
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« Reply #10 on: July 18, 2008, 07:12:33 PM »
Quote from: paranz on July 18, 2008, 07:03:40 PM
The LM324 is used as a comparator, para malinis na 0-5V ang output ng sensor circuit...

The infrared sensor actually detects the white surface, and it will output near 5V (if using 5v supply) and near 0V if the surface is black

ahhhh... thanks sir... un pla un... hehehe
kya lng wla pa akng LM324 hehe bibili pa po ako.
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paranz
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« Reply #11 on: July 18, 2008, 07:28:46 PM »
here is the schematic of the IR LED and IR sensor..






The IR LED is forward biased and emits an IR signal.

The IR sensor detects the IR signal and it will be forward biased also, and a (approximately) +5V signal appears at Vout. If there is no IR signal detected, the IR sensor outputs 0V.
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maldihtah13
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« Reply #12 on: July 18, 2008, 08:15:20 PM »
nice info. prang gusto ko tuloy gumawa ng encoder using mga lumang mouse sa bahay
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paranz
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« Reply #13 on: July 18, 2008, 09:01:25 PM »
Quote from: nomad13 on July 18, 2008, 08:15:20 PM
nice info. prang gusto ko tuloy gumawa ng encoder using mga lumang mouse sa bahay

ginamit ko rin yung transmitter/sensor pair for a simple tachometer
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paranz
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« Reply #14 on: July 18, 2008, 09:38:06 PM »

as used in the line following mobot, ito po ang setup ng IR LED/sensor  pair.





If the surface is white, the IR signal is reflected by the surface to the sensor and the sensor will detect the signal (output a 5V at Vout)
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paranz
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« Reply #15 on: July 18, 2008, 09:41:22 PM »

If the surface is black, there will be no reflected IR signal. The sensor outputs 0V at Vout





If the surface is greyish, a small amount of IR signal is reflected, and the sensor output a signal less than 5V (say, 2 V)
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paranz
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« Reply #16 on: July 18, 2008, 09:57:19 PM »

We may need to use 3 transmitter (LED) / sensor pairs to properly detect the orientation of the mobot on top the black line..

here is the improved schematic..
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paranz
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« Reply #17 on: July 18, 2008, 10:39:16 PM »

consider again the figure below...





The output is 5V if a white surface is detected or 0V if black.

  • VOUT = 5V (white surface)
  • VOUT = 0V (black surface)


Now, you might think of connecting the output directly to the input pin of a microcontroller, since the sensor output is already TTL level, but this is only an ideal output.

In actual operation of the IR transmitter/sensor pair, the output may not be 5/0 V due to improper alignment of the LED and sensor, or maybe due to poor operation of the components themselves.

When you build the circuit, you might get an output of say, 4V (white surface) and 1.5 V (black). Dont panic, that is ok  Cheesy

Unfortunately, you cant feed directly this 4V/1.5 signal to the microcontroller. It's not a "clean" TTL signal.  Sad The microcontroller may detect the 4V as a logic high input, but may have difficulty knowing whether 1.5V is a logic low input.

We need to convert this "unclean" signal to a "clean" TTL 5/0V signal so we need to use a comparator to do that, as shown in the circuit below.
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paranz
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« Reply #18 on: July 18, 2008, 10:51:07 PM »

The operation of the comparator is quite simple. (A comparator is one of the simplest application of an op-amp)

If the voltage at the noniverting input ( the input pin with (+) label) is higher than the voltage at the inverting input ( pin with the (-) label ), the output of the comparator is +5V.

And if the voltage at the noniverting input is lower than the voltage at the inverting input, the output of the comparator is 0V.
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paranz
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« Reply #19 on: July 18, 2008, 11:05:12 PM »

Let's assume that the output of the IR sensor is 3.8V/1.5V, as shown below





We need to convert the sensor output to 5V/0V. To do this adjust the potentiometer (R3) so that the voltage at the inverting pin is between the 2 voltage level, and as in the example above, its 2.65V.

When the sensor output is 3.8V, it is higher than 2.65V and the comparator output is 5V.

When the sensor output is 1.5V, it is lower than 2.65V and the comparator output is 0V.

We now have a "clear" 5/0V signal at the comparator output and can be directly connected to a microcontroller input pin.
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