International Journal of Electronics and Computer Science Engineering 1362 Available Online at www.ijecse.org ISSN- 2277-1956 Design and Implementation of Cell-Phone Detection based Line follower Robot Kanwaljeet Singh 1, Mandeep Singh 2, Dr. Neena Gupta 3 1 2 3 Department of Electronics and Communication Engineering 1 PEC University of Technology, Chandigarh, India 2 Faculty of DECD, C-DAC Mohali, Punjab India 3 PEC University of Technology, Faculty of E&EC Department 1 Email- kamal1997@gmail.com Abstract The Line follower robot is a mobile machine that can detect and follow the line drawn on the floor. Generally, the path is predefined and can be either visible like a black line on a white surface with a high contrasted colour. Light Dependent Resistor (LDR) sensors that installed under the robot.this paper presents a real time detection of mobile phone in restricted area. Mobile transmission detector can sense the presence of an activated mobile phone from distance of one and- a-half metres. If anyone is using mobile is this range then it will give the alarm and robot will stop at that location. So it can be used to prevent use of mobile phones for spying and unauthorised video transmission.if a obstacle comes on the way of robot it gives alarm. A non contact proximity sensor is used which can measure the distance and orientation of a surface in a range of four to five centimeters. Keywords ldr, cell-phone detection circuit, proximity sensor, microcontrolller, lcd,comparator,motor driver. I. INTRODUCTION Mobile robots are becoming more widely used in daily life as their level of autonomy and intelligence are being improved. A robot can be defined as an electro-mechanical system with the capability of sensing its environment, manipulating it and acting according to the pre-programmed sequence. It is a machine that appears intelligent due to the instructions it receives from a computer inside it which handles multiple tasks. The line follower robot is one of the self operating mobile machines that follow a line drawn on the floor. The path can be a visible black line on a white surface (reverse). Capturing the line position with LDR mounted at the front end of the robot. Most are using ir sensors to detect the line but in this project LDR is used in place of optical sensors. Therefore, the line sensing process requires high resolution and high robustness. This kind of robot can be used for military purposes, delivery services, transportation systems, blind assistive applications. On the there hand, there are many annual line follower robots competitions organized by universities or industries around the world. They usually ask robotic teams for building a small robot with specific dimensions and weight according to the competition rules. Actually, the line follower robots are a perennial favourite of the small robot builder but definitely the tricky part is to make the line follower fast and smooth in its response. Figure 1. Shows the structure of Line follower robot Figure 1 Line Follower Robot
Design and Implementation of Cell-Phone Detection based Line follower Robot 1363 II. SYSTEM DESCRIPTION OF CELL-PHONE DETECTION BASED LINE FOLLOWER ROBOT This robot can be divided into several parts: Sensors Cell phone detector circuit Comparator Motor Driver Actuators (Motors and wheels) Chassis and body structure Figure-2 shows Block diagram of Line follower Robot with Cell-Phone Use Detector. Figure shows the working of the line follower robot with cell phone detection. Comparator LM 324 compare the analog signal received form sensors and then transmit the result to the microcontroller in digit '0' or '1' and some of them send the analog signal to the processor directly. Anyway, the analog signal must be converted to the digital form and then the processor can process it according to that digit. Figure 2 Block diagram of cell-phone detection based Line follower Robot. Cell phone use detection circuit detects the cell phone with range of 1.5 metre and give the high (5 V) signal to the microcontroller 89S52. Proximity sensor detects the obstacle from 4-5 cm and gives the signal to microcontroller.the microcontroller and other devices get power supply from AC to Dc adapter through 7805, 5 volts regulator. The adapter output voltage will be 12V DC none regulated. The 7805/7812 voltage regulators are used to convert 12 V to 5V/12V DC. A. Sensors Figure-3 shows Circuit Diagram of Sensor circuit for the White LED (Emitter) and LDR (Detector) circuit. When the resistance of the LDR s changes due to the increased light reflected from the surface, the voltage at the positive input to the comparator increases. When it passes the reference voltage at the negative input to the comparator, the comparator outputs logic one to the controller. The White LED is used to transmit the light on the tape (line) and the LDR is used to sense the reflected light of LED as shown in the Fig.3 The output of the sensors is an analog signal which depends on the amount of light reflected back.
IJECSE,Volume1,Number 3 Kanwaljeet Singh et al. Figure 3 Circuit Diagram of Sensor circuit for the White LED (Emitter) and LDR (Detector) These sensors were constructed and tested, 5mm appears to be the optimum range, considering variance in the sensors and ground clearance, and this is the sensors output at 5 mm. Figure 4 shows the graph resistance over surface shade. Figure 4 Graph of surface resistance over surface shade Based on these results, these sensors are suitable for the vehicle. Taking a cut-off of 50% on the comparator s range to allow for maximum tenability, this being 2.5V. The sensors are arranged according to Figure 5 to get optimal results and this spacing work well for ¾ width tape lines. Figure 5 Sensor Spacing Figure 6 shows the Proximity sensor which can measure the distance and orientation of a surface in a range of four to five centimetres. The sensor is based on the scheme of active illumination and triangulation It uses multiple infrared LEDs as the light sources and a PIN-diode area sensor chip for detecting the
Design and Implementation of Cell-Phone Detection based Line follower Robot 1365 Figure 6 proximity sensor Spot positions. Six LEDs with optics for collimating the beam are mounted at the sensor head. The directions of the beams are aligned to form a cone of light converging at a distance of 4,5 cm from the sensor head. As each LED is sequentially pulsed, the sensor chip detects the position, in its field of view, of the spot projected by the LED light beam on the object surface. B. Cell-Phone detection Mobile phone detector circuit can detect both the incoming and outgoing calls, SMS and video transmission even if the mobile phone is kept in the silent mode. The moment the bug detects RF transmission signal from an activated mobile phone, it start sounding a beep alarm and the LED blinks. The alarm continues until the signal transmission ceases. An ordinary RF detector using tuned LC circuits is not suitable for detecting signals in the GHz frequency band used in mobile phones. The transmission frequency of mobile phones ranges from 0.9 to 3 GHz with a wavelength of 3.3 to 10 cm. So a circuit detecting gigahertz signals required for a mobile bug. Figure 7 and 8 shows the hardware implementation of cell phone use detector circuit before and after detection. Figure 7 cell phone use detector circuit before detection Here the circuit uses a 0.22µF disk capacitor (C3) to capture the RF signals from the mobile phone. The lead length of the capacitor is fixed as 18 mm with a spacing of 8 mm between the leads to get the desired frequency. The disk capacitor along with the leads acts as a small gigahertz loop antenna to collect the RF signals from the mobile phone.
IJECSE,Volume1,Number 3 Kanwaljeet Singh et al. Figure-8 cell phone use detector circuit after detection of mobile phone C. Comparator A comparator is an analog circuit with two inputs and one output. It watches and compares two voltages at the inputs and decides if the output should change or not based on the inputs. For example, if the voltage on one of the inputs goes above a fixed trigger voltage on the other input, the output could go from LOW to HIGH. The comparator used is LM324 quad operational amplifier (op amp). There are four general purpose op amps in the LM324.Generally, the received signals from the sensors are analog and must be converted to the digital form. Therefore, the circuit can be designed to send the sensors' signals to the processor, directly. Hence, the processing time can be managed just by using an external ADC. D. Motor Driver Robot needs a driver IC for controlling and giving power to the motors. The microcontroller sends a signal to the driver which acts as a switch. The microcontroller only sends a signal to the switch and then the switch must give required voltage to the motors. If the received signal by the driver is high, it will rotate the motors. A good motor driver is IC L298 which can be used to control two motors. It is an integrated monolithic circuit in 15-lead Multi watt and Power SO20 packages. It is a high voltage, high-current dual full-bridge driver designed to accept standard TTL logic levels and drive inductive loads such as relays, solenoids, DC, and stepping motors. Two enable inputs are provided to enable or disable the device independently of the input signals. L298 has 2 amperes per channel current capacity and it can support up to 45 volts for outputting. Moreover, L298 works happily up to 16 volts without any heat sink. Figure 9 shows Pin description of L293D driver IC. Figure 9 Pin description of L293D driver IC
Design and Implementation of Cell-Phone Detection based Line follower Robot 1367 Table 1 Shows the Direction and movement of Robot. The microcontroller sends instructions to the driver after processing the data coming from sensors part. The driver gives voltage to the motors according to the inputs. Actually the diver gives positive voltage to one of the motor pins and gives negative voltage to another one which there is five states: Table 1 Direction movement of Robot Left Motor Right Motor Robot Movement Straight Straight Straight Stop Straight Left Reverse Straight Sharp Left Straight Stop Right Straight Reverse Sharp Right Reverse Reverse Reverse D. Actuators (Motors and Wheels) The movement system is an important part of a robot and its objective is how to move robot from one point to another point. This system has some details which show us how to use motors and wheels. There are many kinds of motors and wheels. Our choice is dependent on the robot function, power, speed, and precision. At the beginning of the project, at first, we wanted to use two step motors for gaining the best speed and a remarkable control but it was too hard and sometimes impossible to write a good program for two step motors because each step motor has at least four inputs, and moreover we must use two motor drivers, L298, for getting the required voltage to the motors. Actually, it is better to use gearbox motors instead of common DC motors because it has gears and an axle and its speed does not change towards the top of a hill or downhill. Pay attention that the more speed is, the less precision will be Thus it is better to choose a motor that has authentic RPM. Eventually, we used two DC gearbox motors. In general, a programming technique is used in this project to control the speed of motors and it will be explained in the programming part, section 3. Usually there are two movement systems for robots: 1. Wheel 2. Tank system It is better to use wheels for line follower robots. We can use four wheels. Two of them are joined to the motors and installed rear the robot and the two wheels is free and installed front of the robot as a passive caster. Like Fig. 10 which can be seen in below. Figure 10 Front and rear wheels
IJECSE,Volume1,Number 3 Kanwaljeet Singh et al. E. CHASSIS AND BODY There are some good materials for designing robots such as wood, plastic, aluminium and brass alloys. We must pay attention to the resistance, weight and mechanical ability for choosing one of them. There are some agents that we can use them to choose a good body, ability to perforate, incision, flexibility and etc. In the designed robot, aluminium has been used for chassis because of its lightweight and being strong enough for our project. All components can be installed on the circuit fibre to decrease the weight. For example, motors can be fixed under the fibre and other segments can be installed on the fibre. III. APPLICATION OF CELL PHONE DETECTION LFR It is used in examination hall, Military or government premises where cellular usage is prohibited. Hospitals, medical centers or intensive care unit that forbids cellular usage. Cinemas, theaters, concerts, museums or art galleries. Offices, restaurants or any commercial premises that would like to shun away cellular or RF disturbance. Library, colleges, schools and any study place. Cell-phone detection circuit detects RF transmission signal from an activated mobile phone in restricted areas with a range of 2 meter and give the alarm to robot to stop. IV. CONCLUSION AND FUTURE WORK In this paper we discussed the design of low cost cell phone use detector using robot which will follow a line. The main advantage that anyone can be used it because of its simplicity. The device can be improved in certain areas as follows. 1) The range of the cell-phone use detector should increase from 2 meters to 5-10 meters or even more. 2) When the cell-phone in restricted areas found we can also send the message to high authority using GSM module. 3) Robot can operated with remote using RF technology. 4) In this project robot will stop and give the alarm if cell-phone use is detected but it will not give the exact location so we can improve by using more hardware and programming.so it can give the exact location of the cell-phone. 5) Robot cannot rotate at any particular angle which is less than 75 degree. To rotate less than 75 degree angle more sensors and programming would be used. V. REFERENCES [1] Nor Maniha Abdul Ghani, Faradila Naim, Tan Piow Yon, Two Wheels Balancing Robot with Line Following Capability, World Academy of Science, Engineering and Technology, pp-634-638, 2011. [2] Pakdaman, M.; Sanaatiyan, M.M., "Design and Implementation of Line Follower Robot," Computer and Electrical Engineering, 2009. ICCEE '09. Second International Conference on, vol.2, no., pp.585-590, 28-30 Dec. 2009. [3] P. Heyrati, A. Aghagani, "Science of Robot Design and Build Robot", Azarakhsh Publication, 2008. [4] Ilknur, Evolving a Line Following Robot to Use in Shopping Centres for Entertainment, IEEE, pp.3803-3807,2006. [5] Anjum Khalique Bhatti, Command Based Line Following Robot using RF Technology. Journal of Advanced Computer Science and Technology Research 1, pp. 25-35,2011. [6] Swope Design. Inc., Balancing Robots Made Easy, Available at: http:// www.balbots.com, 2004. [7] T. Gomi and K. Ide. Evolution of gaits of a legged robot. Special Issue on Learning in Autonomous Robots, Autonomous Robots Journal, 1997. [8] Román Osorio, Inteligent Line Follower Mini-Robot System, International Journal of Computers, Communications & Control Vol. I, No. 2,pp. 73-83,2006. [9] Seyed Ehsan Marjani Bajestani, Technical Report of Building a Line Follower Robot International Conference on Electronics and Information Engineering (ICEIE 2010), vol 1,pp v1-1 v1-5,2010 [10] Priyank Patil, AVR Line Following Robot, Department of Information Technology K. J. Somaiya College of Engineering Mumbai, India. Retrieved Mar 5, 2010. [11] Miller Peter, Building a Two Wheeled Balancing Robot, University of Southern Queensland, Faculty of Engineering and Surveying. Retrieved Nov 18, 2008.