When current flows through the coil of the relay from pins 5 to 1, it results in short-circuit between pins 3 and 2. Pin diagram of the relay is shown in Fig. 4: Module with IR sensor pair and LM358 Relay VCC, gnd and output terminals are shown in the module. 4 shows the prototype module with the sensor and LM358 used in this project. Here, each transistor is used as a switch to drive the corresponding relay.įig. Outputs OUT1 and OUT2 of IC1 are connected to the bases of transistors T1 and T2 through resistors R5 and R8, respectively. In this project, if V1 and V2 are the voltages applied to non-inverting and inverting input terminals, respectively, of LM358, then output of comparator Vout=+Vcc, if V1>V2, otherwise Vout=0V Transistorsīipolar junction transistors (BJTs) are used as relay drivers. The comparator can be considered a binary output device, since it provides only two values/states of output in volts: +Vcc and 0V. LM358 operational amplifier (IC1) is used as a comparator that acts as an analogue signal processor. Signals from IR RXs are fed to non-inverting inputs of LM358. When a surface is detected by IR LED, IR rays emitted by IR TX are reflected onto photodiode IR RX, which turns on the photodiode in conducting state. Two pairs of IR transmitter (IR TX) and IR receiver (IR RX) sensors are used. 3: Circuit diagram of line follower robot using LM358 Sensor It is built around infrared (IR) TX LEDs (LED1 and LED3), two IR RX photodiodes (LED2 and LED4), dual-operational amplifier LM358 (IC1), two rectifier 1N4007 diodes (D1 and D2), two LEDs (LED5 and LED6), two single-changeover relays (RL1 and RL2), two 10rpm geared motors and a few other components, including two wheels and a cabinet. The circuit diagram of the line follower robot is shown in Fig. 2: Block diagram of line follower robot Circuit and working Block diagram of the project is shown in Fig. The authors’ prototype of the robot is shown in Fig. It can follow a black line/track (on white surface) or a white line/track (on black surface). The robot provides a simple application to get started with sensor-based projects for newbie electronic hobbyists and enthusiasts. Presented here is the design for a relay-based line follower robot without using a microcontroller (MCU).
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