Instrumentation & Measurement Systems

(SEMESTER PROJECT)

MOBILE ROBOT

GROUP MEMBERS

 USAMA WAKEE (150668)

 HASSAN SHAHID (150623)
 HAMZA BUTT (150593)
 AHMED JAMAL (150611)

DEPARTMENT OF MECHATRONICS ENGINEERING,

AIR UNIVERSITY
 Project Work Distribution

 Idea & Coding (150668)

 Integration & Hardware Simulation (150623)

PROBLEM STATEMENT

Mobile Robots are robots with a mobile base which makes the robot move freely in the
environment. One of the advanced mobile robots is the Line Follower Robot. The path can be
a black line on the white floor (visible) or a magnetic field (invisible). We had to calculate the
acceleration and speed of our robot,so that we can compare our robots speed with other robots
in the competition because the robot that finishes all tasks in less time wins the competition.
We also had to calculate the current and voltage that our battery provided using analog sensors
to check if it was enough to drive our motors with required torque and speed.

OBJECTIVES

 Measure the Voltage and Current of Mobile Robot using analog sensor.
 Measure the Velocity of Robot.

INTRODUCTION

A Robot is any machine which is completely automatic, i.e. it starts on its own, decides its
own way of work and stops on its own. It is actually a replica of human being, which has been
designed to ease human burden. It can be controlled pneumatically or using hydraulic ways or
using the simple electronic control ways. Any robot is built on 3 basic laws defined by the
Russian Science fiction author Isaac Asimov:

 A robot should not harm the human being directly or indirectly.

 A robot should obey human orders unless and until it violates the first law.
 A robot should protect its own existence provided the 1st two laws are not violated.

Line follower Robots are commonly used for automation process in industries, military
applications and consumer applications. They are very useful as they can work without any
supervision i.e. they work as automatic guided vehicles. With additional features like obstacle
avoidance and other security measures, line follower robots can be used in driver less cars. A
line following robot carrying medicine has been designed for providing the medicine to the
patient whenever they need it. It can also be used in firefighting and places with radiations
where it is hazardous for humans to go.

Building a basics Robot involves the following steps.

 Designing the mechanical part or the body of the robot.

 Defining the kinematics of the robots.
 Designing the control of the robot.

SENSORS USED

 TCRT 5000 Sensor:

IR Sensors work by using a specific light sensor to detect a select light wavelength in the
Infra-Red (IR) spectrum. By using an LED which produces light at the same wavelength as
what the sensor is looking for, you can look at the intensity of the received light. When an
object is close to the sensor, the light from the LED bounces off the object and into the light
sensor. This results in a large jump in the intensity.

Detecting Brightness
Since the sensor works by looking for reflected light, it is possible to have a sensor that can
return the value of the reflected light. This type of sensor can then be used to measure how
"bright" the object is. This is useful for tasks like line tracking.
 Depiction of the operation of an IR
Sensor to measure brightness

 ACS712

ACS712 current sensor is based on the principle of Hall-effect, which was discovered
by Dr. Edwin Hall in 1879. According to this principle, when a current carrying conductor is
placed into a magnetic filed, a voltage is generated across its edges perpendicular to the
directions of both the current and the magnetic field. It is illustrated in the figure shown below.
A thin sheet of semiconductor material (called Hall element) is carrying a current (I) and is
placed into a magnetic field (B) which is perpendicular to the direction of current flow. Due to
the presence of Lorentz force, the distribution of current is no more uniform across the Hall
element and therefore a potential difference is created across its edges perpendicular to the
directions of both the current and the field. This voltage is known Hall voltage and its typical
value is in the order of few microvolts. The Hall voltage is directly proportional to the
magnitudes of I and B. So if one of them (I and B) is known, then the observed Hall voltage
can be used to estimate the other.

Principle of Hall-effect

The ACS712 device is provided in a small, surface mount SOIC8 package. It consists
of a precise, low-offset, linear Hall sensor circuit with a copper conduction path located near
the surface of the die. When current is applied through the copper conductor, a magnetic field
is generated which is sensed by the built-in Hall element. The strength of the magnetic field is
proportional to the magnitude of the current through the conduction path, providing a linear
relationship between the output Hall voltage and input conduction current. The on-chip signal
conditioner and filter circuit stabilizes and enhances the induced Hall voltage to an appropriate
level so that it could be measured through an ADC channel of a microcontroller. The pin
diagram of ACS712 device and its typical application circuit is shown below. Pins 1, 2 and 3,
4 forms the copper conduction path which is used for current sensing. The internal resistance
of this path is around 1.2 mΩ, thus providing low power loss. As the terminals of this
conduction path are electrically isolated from the sensor leads (pins 5 through 8), the ACS712
device eliminates the risk of damaging the current monitoring circuit due to the high voltage
on the conduction side. The electrical isolation between the conduction current and the sensor
circuit also minimizes the safety concerns while dealing with high voltage systems.

ACS712 Module Pin Outs and Connections

The picture below identifies the pin outs for the ACS172 Modules. Pay attention to the polarity
at the load end of the device. If you are connected as illustrated below, the output will raise. If
you connect it opposite of this picture, the output will decrease from the 2.5 volt offset.

Sensor Specifications

5A Module 20A Module 30A Module

Supply Voltage (VCC) 5Vdc Nominal 5Vdc Nominal 5Vdc Nominal

Measurement Range -5 to +5 Amps -20 to +20 Amps -30 to +30 Amps

Voltage at 0A VCC/2 VCC/2 VCC/2

(nominally 2.5Vdc) (nominally 2.5Vdc) (nominally 2.5VDC)

Scale Factor 185 mV per Amp 100 mV per Amp 66 mV per Amp

Chip ACS712ELC-05A ACS712ELC-10A ACS712ELC-30A

 Basic Hook Up and Functional Description

As mentioned before, these modules are primarily designed for use with micro-controllers like
the Arduino.In those applications, the connections would be as picture below:

 COLOR SENSOR (TCS 3200)

TCS3200 GBB Color Sensor for Arduino is a complete color detector, including a
TAOS TCS3200 RGB sensor chip and 4 white LEDs. The TCS3200 can detect and measure a
nearly limitless range of visible colors. Applications include test strip reading, sorting by color,
ambient light sensing and calibration, and color matching, to name just a few.

The TCS3200 GBB Color Sensor for Arduino has an array of photo detectors, each with either
a red, green, or blue filter, or no filter (clear). The filters of each color are distributed evenly
throughout the array to eliminate location bias among the colors. Internal to the device is an
oscillator which produces a square-wave output whose frequency is proportional to the
intensity of the chosen color.
Specifications
 Single-Supply Operation (2.7V to 5.5V)
 High-Resolution Conversion of Light Intensity to Frequency
 Programmable Color and Full-Scale Output Frequency
 Power Down Feature
 Communicates Directly to Microcontroller
 S0~S1: Output frequency scaling selection inputs
 S2~S3: Photodiode type selection inputs
 OUT Pin: Output frequency
 OE Pin: Output frequency enable pin (active low), can be impending when using
 Support LED lamp light supplement control
 Size: 28.4x28.4mm

PinOut

Pin Name I/O DESCRIPTION

Power supply ground. All voltages are
GND(4)
referenced to GND
OE(3) I Enable for fo (active low).
OUT O Output frequency (fo).

S0,S1（1， Output frequency scaling selection

I
2） inputs.

S2,S3（7，
I Photodiode type selection inputs
8）

VDD（5） Supply voltage

  ENCODERS

To convert from encoder output, it is necessary to physically measure the amount of

travel introduced by one rotation of the motor. For a constant travel L, the drive can calculate
speed s in feet per second by:

Where fp is pulse frequency in hertz.

The drawback to this approach is that it does not consider mechanical slop that may be
introduced by the coupling, gearbox, belt slip, etc. This also brings up an important point: the
mechanical performance of the conveyor belt and the speed resolution of the motor are the
limiting factors in maintaining consistent speed with a conveyor belt. All an encoder can do is
report. The resolution needs to be high enough that it the encoder can accurately report the
change in position that gets converted to speed. Specifying an encoder with resolution above
that will not improve system performance and may even lead to an erroneous reading.

Photo-Interrupter:
Photo Interrupter /Opto-Interrupter module with an IR LED & a Photo Transistor/Diode
mounted facing each other enclosed in plastic body. When light emitted by the IR LED is
blocked because of the alternating slots of the encoder disc (also known as index disc),
conduction level of the photo transistor/diode changes. This change can be detected by a
discrete hardware or by a microcontroller. In short, a photo-interrupter is composed of an
infrared emitter on one side and an infrared detector on the other By emitting a beam of infrared
light from one side to the other, the photo-interrupter can detect when an object passes between
them, breaking the beam.

METHODLODGY

The IR sensor used for path detection. These sensors mounted at front end of the robot.
The microcontroller is an intelligent device the whole circuit is controlled by the
microcontroller.

The mechanical part or body of the robot can be designed using AutoCAD or Workspace. A
basic Line follower robot can consist of a base at the two ends of which the wheels are mounted.
A rectangular sheet of hard plastic can be used as the base. Further a rigid body like a cylinder
can be added along with other shaped bodies inter connected with each other by joints, and
each with its defined motion in particular direction

The next step involves defining the Kinematics of the robot. Kinematic analysis of the robot
involves the description of its motion with respect to a fixed coordinate system. It is concerned
mainly with the movement of the robot and with motion of each body in case of a legged robot.
It generally involves the dynamics of the robot motion. The whole trajectory of the robot is set
using the Kinematic analysis.

The control of the robot is the most important aspect of its working. Here the term control
refers to the robot motion control, i.e. controlling the movement of the wheels. A basic line
follower robot follows certain path and the motion of the robot along this path is controlled by
controlling the rotation of wheels, which are placed on the shafts of the two motors. So, the
basic control is achieved by controlling the motors. The control circuitry involves the use of
sensors to sense the path and the microcontroller or any other device to control the motor
operation through the motor drivers, based on the sensor output.
 FLOWCHART

Line following:
Bill of Materials:

Components Quantity Price (pkr)

Arduino Mega 2560 1 900
IR SENSOR 5 650
JUMPER WIRES 1 100
ACS 712 2 500
TCS 3200 1 650
BREADBOARD 1 100
ENCODERS 2 1000
TOTAL=3900

RESULTS

Velocity:

Current:

Voltage

CONCLUSION

 Current is measured using ACS712 Current sensor.

 Voltage is measured using analog alue.
 Speed of the robot is measured.