Smart Color Sorting Robot

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SMART COLOR SORTING ROBOT

SITI NADRAH BINTI SELAMAT

This report is submitted in partial fulfillment of the requirements for the award of the Bachelor of Electronic Engineering(Electronic Telecommunication) With Honours

Faculty of Electronic and Computer Engineering Universiti Teknikal Malaysia Melaka

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FAKULTI KEJURUTERAAN ELEKTRONIK DAN KEJURUTERAAN KOMPUTER

BORANG PENGESAHAN STATUS LAPORAN PROJEK SARJANA MUDA II

Tajuk Projek : ………

Sesi

Pengajian :

Saya ……….. (HURUF BESAR)

mengaku membenarkan Laporan Projek Sarjana Muda ini disimpan di Perpustakaan dengan syarat-syarat kegunaan seperti berikut:

1. Laporan adalah hakmilik Universiti Teknikal Malaysia Melaka.

2. Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja.

3. Perpustakaan dibenarkan membuat salinan laporan ini sebagai bahan pertukaran antara institusi

pengajian tinggi.

4. Sila tandakan ( √ ) :

SULIT*

*(Mengandungi maklumat yang berdarjah keselamatan atau kepentingan Malaysia seperti yang termaktub di dalam AKTA RAHSIA RASMI 1972)

TERHAD** **(Mengandungi maklumat terhad yang telah ditentukan oleh

organisasi/badan di mana penyelidikan dijalankan)

TIDAK TERHAD

Disahkan oleh:

__________________________ ___________________________________ (TANDATANGAN PENULIS) (COP DAN TANDATANGAN PENYELIA)

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“I hereby declare that this report is the result of my own except for quotes as cited in the references”

Signature :

Author : Siti Nadrah Binti Selamat

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“I hereby declare that I have read this report and in my opinionthis report is sufficient in terms of the scope and quality for the award of Bachelor of Electronic Engineering

(Telecommunication Electronics) With Honours.”

Signature :

Supervisor‟s Name : Madam Nurmala Irdawaty Bt Hassan

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ACKNOWLEDGEMENT

All praise be too might ALLAH S.W.T Merciful and Beneficent for the strength and blessing throughout the entire research and completion of this PSM.

First and foremost, all praise is due to Allah, Lord of the worlds for giving us wellness, intellect and strength to do this project and also the following individuals. Without them, it would not be possible for us to complete this project. In particular, I owe a debt of gratitude to our project supervisor Miss Nurmala Irdawaty bt Hassan for guide, and giving advice and idea to us complete our project. Without her, this project cannot be done.

Next, I would like to say a million thanks to my parents for their support and understanding in allowing me to focus my attention to this project. They have always been the driving force in pushing us to excel in everything that I do. To our friends, all of you have been an inspiration to the both of us.

Finally, I would also like to extend our utmost gratitude to all the lecturers of University Technical Malaysia Malacca (UTeM) for their guidance and patience. Their teachings have thought me that education and knowledge are vital in life if we wish to succeed.

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ABSTRACT

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ABSTRAK

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TABLE OF CONTENTS

CHAPTER TITLE PAGE

TITLE OF PROJECT

STATUS CONFIRMATION FORM

DECLARATION

ACKNOWLEDGEMENT

ABSTRACT

ABSTRAK

TABLE OF CONTENTS

LIST OF TABLES

LIST OF FIGURES

LIST OF ABBREVIATION

LIST OF APPENDICES

i ii iii v vi vii viii xi xii xiv xv

I INTRODUCTION

1.1 Project Background 1.2Objectives

1.3Scope Work 1.4Problem Statemant 1.5Significant of Project 1.6Report Structure

1 1 2 3 3 4 5

II LITERATURE REVIEW

2.1 Application Review

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2.1.2.1 Similarity Matching vs. Thresholding

2.1.2.2 Positioning of Photoresistor 2.2 Controller Review

2.2.1 Microcontroller (PIC16F876A) 2.3Sensor Review

2.3.1 Infra Red Sensor

2.3.1 Photoresistor (LDR) 2.4 Driver Review

2.4.1 L293D

2.5 Component Review 2.5.1 Servo Motor

2.5.2 Gearbox with DC Motor 2.6 Power Supply

2.7 Electrical Part 2.7.1 DC Motor

7 8 9 9 11 11 12 12 12 13 14 14 15 16 16

III METHODOLOGY

3.1 Project Methodology

3.2 Explanation of Project Planning 3.2.1Searching For Project Title

3.2.2Understanding The Circuit Operation And Circuit analysis

3.2.3 Preparing For Proposal 3.2.4 Searching For Components 3.2.5 Testing The Circuit Function 3.3 Flow Process of Project

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3.3.1.2 Sensor Circuit 3.3.1.3 Driver Motor 3.3.2 Hardware Flowchart 3.3.3 Software Flowchart

3.4 Printed Circuit Board (PCB) Manufacturing 3.4.1 PCB

3.4.2 Classification of PCB‟s 3.4.3 Types Of The PCB‟s 3.5 PCB Design

3.5.1 Schematic Design 3.5.2 Schematic

3.5.3 Layout Design

3.5.4 The Printed Circuit Board Layout (PCB) 3.5.4.1 Method To Make The Layout 3.5.5 PCB Fabrication

3.5.6 Component Placement And Orientation 3.5.7 Etching Process

3.6 Prepare The PCB For Use And Drill The PCB 3.7 Drilling

3.8 Drilling process 3.9 Soldering Process 3.9.1 Solder onto a PCB

3.10 Testing and Troubleshooting The Circuit Function

3.11 Designing a Body Structure 3.11.1 Base Body Development 3.11.2 Tower Ball Development 3.11.3 Ejector Development

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V

4.1 Result

4.2 Data Analysis and Discussion

4.3 Similarity Matching and Thresholding

CONCLUSIONS AND RECOMMENDATIONS

5.1 Conclusions 5.2 Recommendations

REFERENCE

APPENDICES

45 48 51

52

52 53

54

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TABLES OF TABLES

NO TITLE Page

Table 3.3.1.1 Table of I/O List 24

Table 3.3.1.2 The Operation of The Motor 2 Driver 27

Table 4.2.1 Table 4.2.2

Voltage Reading Decimal Reading

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LIST OF FIGURES

NO TITLE PAGE

Figure 1.1 Overview of The project Sequence 2

Figure 2.1.1 (a) Simple Closed Loop System 6

Figure 2.1.1 (b) Block Diagram of Line Follower 6

Figure 2.1.2.2 Positioning of Photoresistor 8

Figure 2.2.1 PIC16F876A Pin Diagram 9

Figure 2.3.1 Infra Red Sensor 11

Figure 2.3.2 LDR 12

Figure 2.4.1 (a) L293D 13

Figure 2.4.1 (b) L293D Pin Diagram 13

Figure 2.5.1 Servo Motor 14

Figure 2.5.2 Double Gearbox with DC Motor 15

Figure 2.7 Motor Control Circuit 17

Figure 3.3.1 Flow of Main Process in This Project 22

Figure 3.3.1.1(a) Sequence to assemble These Circuit 23 Figure 3.3.1.1(b) Controller circuit Schematic Diagram 24

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[image:14.612.121.514.58.721.2]

Figure 3.3.1.2(c) Schematic Diagram for LDR 26

Figure 3.3.1.3 Schematic Diagram for L239D 27

Figure 3.3.2 Process in Developing Hardware Part 28

Figure 3.3.3 Figure 3.5.7(a) Figure 3.5.7(b) Figure 3.5.7(c) Figure 3.5.7(d) Figure 3.5.7(e) Figure 3.6 Figure 3.8 Figure 3.9.1

Process in Developing Software Part Circuit on Plastic Transparent Circuit Printed Put onto PCB Board Exposure Units

PCB After Developing

PCB Circuit After Come Out from MEGA Drilled PCB Drilling Process Soldered PCB 29 36 36 37 37 38 39 40 42

Figure 3.11.1 Base Body with Controller Circuit 43

Figure 3.11.2 Figure 3.11.3 Tower Ball Ejector 43 44

Figure 4.1(a) Main Line Sensor 46

Figure 4.1(b) Station Sensor 46

Figure 4.1(c) Robot at Station 1 46

Figure 4.1(d) Press „Run‟ Button to Move 46

Figure 4.1(e) Orange Ball (Station 2) 47

Figure 4.1(f) Red Ball (Station 3) 47

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LIST OF APPENDICES

NO TITLE PAGE

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CHAPTER I

INTRODUCTION

This chapter will briefly discuss on the project overview. The objective, scope, and thesis outline will be presented in this chapter.

1.1 Project Background

Smart Color Sorting Robot is based on the placing system with some capability to decide the object according to their color. The object will be defined by determining color of the ball while the system will figure which location the object should be located. With the PIC as a controller for the system, a manually feed object which is a coloring ball will be determined by the robot to take and eject them to their exact location or station.

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There are four stations in the Color Sorter system that we made. Each station had their own range of color except for the first station which is the load and unloading station.

The ball will be inserting manually by the user. Then the LDR sensor will detect what color is the object, after the detection been done, the decision will be made and the line follower will take the object to the station that been recognized for it.

In this system, there are 4 station;

Station 1 = Load and Unloading station (10 sec delay) Station 2 = White

[image:17.612.182.472.303.550.2]

Station 3 = Blue Station 3 = Red

Figure 1.1 Overview of the Project Sequence

1.2 OBJECTIVES

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project is to study how to communicate the programming language with the color sensor. After that, the line follower system will make its own decision to the station that been programmed. The objective can be summarized as below:

i. To sort the object according to their color. ii. To sort the object to the station accordingly.

iii. To make the system run continuously with less rest.

iv. To make an interface between the programming of line follower and the sensors.

1.3 SCOPE OF PROJECT

This project is subjected to several scope and limitations that are narrowed down to the study.There are a few scopes and guidelines listed to unsure the project is conducted within its intended boundary. This is to ensure the project is heading in the right direction to achieve its intended objectives. The objectives are:

i. Research study on the Programmable Intelligence Computer, PIC16F876A microcontroller and the control system of the circuit.

ii. To acquire the each sensor that use in this project. iii. To design circuitry for the overall system

iv. To develop the program that can integrate and control the overall system. v. To construct the model and test either the robot is function or not.

1.4 PROBLEM STATEMENT

The problems which often occurred in the industrial that can be solve by this project are:

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ii. Each company, have their own cost; this project can be minimizing the cost of the company by minimizing the workers.

iii. Usually, the worker maybe doing some mistakes while doing their job, by developing this project, the company can decrease the human mistakes.

1.5 SIGNIFICATION OF THE PROJECT

i. Manage to gain more idea and information about the sensor and valve. ii. Manage to work on the PIC programming

iii. Manage to apply knowledge about the robotic. iv. Manage to build up the robot.

1.6 REPORT STRUCTURE

Chapter one briefly introduces he overall of the project title Smart Color Sorting Robot. The introduction consists of overview, objective, problem statement, scope of work, methodology and structure report.

Meanwhile chapter two discuss about the background of study related to security system. Literature review will produce overall structure of the Smart Color Sorting Robot which shows the relationship between project research and theoretical concept.

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Chapter four consists of result and discussion of the project, finding and analysis throughout the research and project development.

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CHAPTER II

LITERATURE REVIEW

This chapter is to discuss some fundamental ideas of line follower and color sensor. The features of this project are also including. All components using for this project will be explain as well.

2.1 Application Review

In this project, there is two application will be combine. This application is: 1. Line Follower.

2. Color Sensor.

Thus, the research on this application was revealed and a few references found in order to complete this project.

2.1.1 Line Follower

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line follower will sense a line and maneuvering the line follower to stay right on the line by using infra red sensor as its „nose‟.

[image:22.612.149.566.218.341.2] [image:22.612.153.560.498.625.2]

If the line follower tries to move out of track, the infrared sensor will give a signal to the brain of the robot to stay on line. This situation is made based on the simple closed loop feedback.

Figure 2.1.1(a): Simple Closed Loop System [1]

R(s) represented as a power supply from 5V and C(s) represented as a direction of the line follower. A suitable program is needed in order to make this line follower able to track a line and it‟s supposed to think like a „human‟. The overview of this line follower is shown as Figure 2.1.1(b).

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2.1.2 Color Sensor

According to Society of Robot‟s Article [2], photoresistor cannot see the color of an object. It only can read the value gain from reflection of the object. The value gain from a various object is difference. Therefore, some research has been made and the result seems to be that photoresistor can be use as color detection element. There are two methods in order to differentiate object‟s color.

1. Similarity Matching Method 2. Thresholding Method

2.1.2.1 Similarity Matching vs. Thresholding

In reality the sensor must be calibrate before the sensors before work. This means the sensor must sense the object, record the readings, and then make a chart using this data. That way when the robot is doing its thing and senses the same object, it can compare the similarity of the new reading vs. the calibrating reading.

For example, suppose the robot needs to follow a white line on a grey floor. The robot would use a microcontroller to sense the analog value from the sensor. During the calibration phase the robot measured an analog value of 95 for the grey floor, 112 for the white line, and then stored these values in memory. Now your robot is on the line, and a sensor reads 108.

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Staying with white line example, using similarity matching, by using the equation: abs(new reading - calibrating reading)/calibrated reading * 100 = similarity if,

grey floor = (108 - 95)/95 * 100 = 13.7% different white line = (108 - 112)/112 * 100= 3.6% different compare: white line < grey floor

therefore the sensor sees a white line

This method can be used for any color and any number of colors, given that the calibration beforehand. Consider calibration as a way of teaching the robot to differentiate various colors.

2.1.2.2 Positioning of Photoresistor

[image:24.612.246.408.533.678.2]

The photoresistor must be placed in the middle of the LED. It is because a photoresistor needs all the values from the LED‟s of the same distance in order to differentiate the object color.

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2.2 Controller Review

A controller used in this project is a microcontroller PIC16F876A. This is a 28 pins PIC and it is enough since the sensor used is only 13 ports.

2.2.1 Microcontroller (PIC16F876A)

[image:25.612.189.468.319.479.2]

This microcontroller consist 28 pins, 22 I/O ports. This microcontroller is a high performance RISC-CPU. The operating speed used for this microcontroller is 20 MHz clock input. [3]

Figure 2.2.1: PIC16F876A Pin Diagram [3]

Microchip PIC16F876A Microcontroller Features

High-Performance RISC CPU

Operating speed: 20 MHz, 200 ns instruction cycle Operating voltage: 4.0-5.5V

Industrial temperature range (-40° to +85°C) 14 Interrupt Sources

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Special Microcontroller Features

Flash Memory: 14.3 Kbytes (8192 words) Data SRAM: 368 bytes

Data EEPROM: 256 bytes

Self-reprogrammable under software control In-Circuit Serial Programming via two pins (5V) Watchdog Timer with on-chip RC oscillator Programmable code protection

Power-saving Sleep mode Selectable oscillator options In-Circuit Debug via two pins

Peripheral Features

22 I/O pins; 3 I/O ports

Timer0: 8-bit timer/counter with 8-bit prescaler Timer1: 16-bit timer/counter with prescaler

o Can be incremented during Sleep via external crystal/clock

Timer2: 8-bit timer/counter with 8-bit period register, prescaler and postscaler Two Capture, Compare, PWM modules

o 16-bit Capture input; max resolution 12.5 ns

o 16-bit Compare; max resolution 200 ns

o 10-bit PWM

Synchronous Serial Port with two modes:

o SPI Master

o I2C Master and Slave

USART/SCI with 9-bit address detection

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Analog Features

10-bit, 5-channel A/D Converter Brown-Out Reset

Analog Comparator module

o 2 analog comparators

o Programmable on-chip voltage reference module

o Programmable input multiplexing from device inputs and internal VREF

2.3 Sensors Review

In this project, three infra red sensors has been use to sense a line and one LDR to detect a ball‟s color.

2.3.1 Infra Red Sensor

[image:27.612.174.484.561.651.2]

Infra red sensor is a „transmit – receive‟ sensor where it is used as a line tracking sensor of the project. It works when the receiver gain a signal from transmitter. The transmitter will emit an original signal to the specified surface, thus the original signal will mix up with surface condition and change. Since the original signal has been modified, it will read by receiver.

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2.3.2 Photoresistor (LDR)

[image:28.612.263.393.318.464.2]

A LDR (Light Dependent Resistors) sensor is used as a color sensor in the project. It is able to receive a value in analog signal with a small range provided. Commonly, this type of sensor used to detect the light. A sensor can be used to measure the voltage drop across the resistor with the analog port of the microcontroller. An LDR is a light sensor, is a sensor that resistance is proportional with exposure of light. The output of this sensor is analog signal. It must be part of the voltage divider circuit in order to give an output voltage. The voltage supply 6Vdc can be applied to the circuit for this sensor. Same as other analog sensor, it must be used with comparator to get a digital signal from this sensor. [4]

Figure 2.3.2: LDR [4]

2.4 Driver Review

L293D is used as a motor driver for the DC motor.

2.4.1 L293D

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[image:29.612.241.414.274.466.2]

can drive motor with Imax: 600ma, Vmax: 32V. By using this motor driver, user can eliminate the complicated wiring to drive the two DC motors.

Figure 2.4.1(a) : L293D [5]

Figure 2.4.1(b) : L293D Pin Diagram [5]

This driver is connect to left and right motors and able to enable one or both motor at a time.

2.5 Component Review

There is a few components that is used in this project. 1. Servo Motor

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2.5.1 Servo Motor

[image:30.612.239.416.278.391.2]

Servo motor is used as an ejector in this project. It will eject the ball from their position when the robot reaches target station. The servo motor used in the project is 4kg/cm type. Its power supply is from 4.8V to 6V (normally use 5V). Servo motor is used in the project because it can give accurate angle control e.g. 90 degree, 40 degree. In addition, it can hold the angle continuously. The servo motor needs an operating frequency of 40Hz. It can rotate from 0 degree to 180 degree when the pulse duty ration changed. [6]

Figure 2.5.1: Servo Motor [6]

2.5.2 Gearbox with DC Motor

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[image:31.612.217.442.68.229.2]

Figure 2.5.2 : Double Gearbox with DC Motor [7]

2.6 Power Supply

The system support 9V DC power supply (dc battery). A LED power indicator is used to avoid ensure the polarity and the availability of the adapter power supply. In this project, a separation of two power supply was to avoid interface and to make the robot moves without any problems. The parts of the power supply are shown below:

1. Power supply to DC motor (6V) 2. Power supply to Microcontroller (9V) 3. Power supply for Servo Motor (6V)

9V power:

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5mA) is used to indicate the system is power on/off. The LED is connected through 1KR resistor to limit current pass through LED is 5mA.

6V power:

The 6V power only used for L293D motor driver to drive 2 motors forwards, reverse, stop. Same time the 6V power also supply to servo motor.

2.7 Electrical Parts

In this project, DC motor was used to converting electrical power into mechanical work.

2.7.1 DC Motor

A DC motor works by converting electric power into mechanical work. This is accomplished by forcing current through a coil and producing a magnetic field that spins the motor. The simplest DC motor is a single coil apparatus, used here to discuss the DC motor theory.

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[image:33.612.172.483.169.344.2]

magnetic field. At 180 degrees, the same phenomenon occurs, but segment A-B is forced up and C-D is forced down. At 90 and 270-degrees, the brushes are not in contact with the voltage source and no force is produced. In these two positions, the rotational kinetic energy of the motor keeps it spinning until the brushes regain contact. [8]

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CHAPTER III

METHODOLOGY

This chapter contains the process of designing Smart Color Sorting Robot which discusses about the hardware and software development including the hardware design and software programming. This chapter will explain about the project‟s methodology that is used in developing the software and hardware for smart window shade. The methodology of a project is guidelines that will explain about the project path from the beginning until it is completed. Every selection and action that must be done while implementing the project must be explains in stages. This methodology is needed to make sure the project that consists will be developed systematically, smoothly and successfully in order to obtain better results.

3.1 Project Methodology

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should be identify. As soon as the purpose and function of the project is clear, the project will be divided into two parts.

For the hardware design, initially the design has to be built. Then the circuit is designed based on a few references. A few circuits found are studied to make sure all the information is reliable for the title given. After having enough information, circuit is design using PROTEL, PROTEUS and MULTISIM software. A simulation for the circuit was done to make sure the circuit used is corrected. If the simulation shows an incorrect outcome, the circuit will be redesigned until the correct circuit is obtained. Labs experiments are also done to verify the overall designed are operation.

After check component list, the components buy from the electronics‟ shop and get free from the PSM lab. Then, the circuits have been constructing to test the feasibility of the circuit that obtained from internet or books. After do a construct and test the circuit at breadboard, troubleshoot the circuit if the circuit cannot work. After troubleshooting the circuit on breadboard, design the PCB etching is needed. After process on etching, at the point need put in the leads of component and jumpers then solder the lead of component at the protoboard.

After all, check the circuit on protoboard can function or not. If not, try troubleshooting it. Following this, to test the circuit, it will be simulated to detect errors in the circuitry. If errors are discovered the circuit will be troubles hooted and simulated once again. Then hardware circuit will be transferred to PCB board and the etching process will be done. The complete circuit then will be interfaced with the home appliances. After that, troubleshooting will be done to both circuits until the project function successfully. A model was build to place the project and easy to use.

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combination of both will be tested, simulated and troubles hooted. In the process of troubleshooting, the project will be analyzed and repaired.

3.2 Explanation of Project Planning

3.21 Searching For Project Title

Firstly, before going any further, a suitable title is needed to make sure it is easy to construct and follow all the criteria fixed by university. So the title Smart Color Sorting Robot is proposed. This is because, based on the function of this robot that have capability to decide the object according to their color and the object will be defined by determining color of the ball while the system will figure which location the object should be located. This project is developed with the purposed to optimizing the productivity, minimizing the cost of the project and make no human mistakes.

3.22 Understanding The Circuit Operation And Circuit Analysis

After a suitable title was chosen, the next step is to do some analysis upon circuit diagram and understand the circuit operation. This is important to understand the circuit operation to help us find what is wrong when the circuit is not functioning while testing it. This project starts by searching for literature reviews from readability source as books and journals. A few circuits found are studied to make sure all the information is reliable for the title given. This also can help us explain the circuit operation during the seminar and presentation in front of the panel.

3.23 Preparing For Proposal

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proceeding with the project or not. This proposal is subject to the criteria that been fixed by university. If this title is not accepted, another project that follows according to the criteria has to be found. If the project is accepted, then the project has to be discussed with the supervisor to get advice and information that related to the project.

3.24 Searching For Components

If the proposal is accepted, it means that the title chosen have follow according to the criteria that have been fixed by university. Then, it will need us to find the components for the project. Some types of components are provided at the PSM/PMD laboratory such as resistors, capacitors, light emitting diode, transistors and pushbutton. University will prepare RM200 to each student that need to claim for components that are not provided.

3.25 Testing The Circuit Function

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CHAPTER IV

RESULT AND DISCUSSION

This chapter will discuss on the result and discussion of this project. The analysis, calculation and gantt chart will presented in this chapter.

4.1 RESULT

The result of this project is the robot capable to sense the line and move on the track only. At first, the robot should be manually feed object which is colouring ball at load and unloading station. When placing the robot, there is three line sensors which are two of it was located under the body to detect main line as shown in Figure 4.1(a), while the other line sensor was located at the side of body to identify the station as shown in Figure 4.1 (b).

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component not damaged by heat. Since the robot capable to place three type of color, relay was used to switch the color.

Figure 4.1(a): Main Line Sensor Figure 4.1(b): StationSensor

When the robot is ON, there is two LED that locate at the both side of the robot will be ON as shown in Figure 4.1(c) and the buzzer will buzz to inform the user that the robot is ready to use. At Station 1 (load and unloading station), the RUN button will be push to start the robot as shown in Figure 4.1(d). Then, the robot will move according to the track that readily made.

Figure 4.1(c): Robot at Station 1 Figure 4.1(d): Press “run” button to

[image:62.612.99.505.113.279.2] [image:62.612.117.537.449.636.2]

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At Station 2, the robot must eject Orange Ball as shown in Figure 4.1(e). When the station sensor detects station, the robot will stop. Then, the color sensor will make confirmation whether the ball is correct which is orange ball. Next, the robot will move on to the next station. At Station 3, the robot must eject Red Ball as shown in Figure 4.1(f) while at Station 4, the robot should eject Green Ball as shown in Figure 4.1(g). At every station the process for each station are the same with process at Station 2.

Figure 4.1(e): Orange ball Figure 4.1(f): Red Ball Figure 4.1(g): Green Ball

(Station 2) (Station 3) (Station4)

At every station, the robot will eject only the color that has been programmed which is orange color for Station 2, red color for Station 3 and Green color for Station 4. If the color is incorrect, the robot will detect the station and LED for the station will ON and the buzzer will buzz. The robot will move to the station of the color object that the robot carry and it will direct move to home if there is no other ball. If the robots arrive at home, but there is any object in the tower of robot, the run button must be push to deliver the object.

[image:63.612.116.541.229.458.2]

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4.2 Data Analysis and Discussion

To set the LED with a suitable ball, voltage reading for each ball color was measured. Then, the value of the voltage reading was converting to decimal so that easy to make a comparison between each color. The voltage readings are shown in Table 4.1 below:

Ball Color White LED Red LED Blue LED All LED

Orange 0.54 - 0.69 0.1 - 0.22 2.28 - 2.32 2.67 - 2.7

Red 0.27 – 0.36 0.11 – 0.20 1.82 – 1.84 2.1 – 2.12

[image:64.612.295.406.379.560.2]

Green 0.26 – 0.34 0.04 – 0.11 0.6 – 0.64 0.96 – 1.01

Table 4.2.1 : Voltage reading

Conversion to decimal

X = 27.54≈27

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The decimal reading is shown in Table 4.2.1 below:

Ball Color White LED Red LED Blue LED All LED

Orange 27 - 35 5 – 11 116 - 118 136 - 137

Red 13 - 18 5 – 10 92 - 93 107 – 108

[image:65.612.109.548.134.231.2]

Green 13 - 17 2 - 5 30 - 32 48 – 51

Table 4.2.2 : Decimal reading

From the value of the decimal reading, hence, the LED was select as i. Orange Ball = Red LED

ii. Red Ball = Blue LED iii. Green Ball = White LED

4.3 Similarity Matching and Thresholding

In reality, sensor must be calibrated. This means the sensor should be test to sense the object. Then, the readings are recorded and charts are prepared based on the data. Therefore, when the robot senses the same object, it can compare the similarity of the new reading with the calibrating reading.

For example, suppose the robot needs to follow a white line on a grey floor. The robot would use a microcontroller to sense the analog value from the sensor. During the calibration phase the robot measured an analog value of 95 for the grey floor, 112 for the white line, and then stored these values in memory. Now the robot is on the line, and a sensor reads 108.

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= threshold

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CHAPTER V

CONCLUSIONS

This chapter will include the conclusion of this project

5.1 Conclusions

Nowadays, industries need a lot of development in order to cut the labor cost and to maximize the productivity. This project is a new generation of combination between the line follower and the color sensor system by using PIC interface as the main controller in order to achieve the industrial needs.

There is some issues being consider in order to making this project successful and become the most illegible prototype. As refer to the reference and feedback from the industries, a new version of Smart Color Sorting Robot is created.

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language file to hexadecimal file. There are a few main parts of this project; line follower, color sensor, and the most important here, capability of this system to detect the object and it will be chosen based on their color

In conclusions, after all the project is success the robot should be able to sort the ball according to their color and the station accordingly. The system should be run continuously with restless and be able to operate based on the project that have been programmed.

5.2 Recommendations

This project physically functions as a line follower robot that uses to place an object at the correct station. In future in order to upgrade the capability of this project, here is some suggestion:

1. The robot capable to sort more color of the object to be placed at the station. 2. The robot has to use a long-time life so that the robot could be use efficiently. 3. The robot could switch the ball by itself when the objects in the robot that have

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REFERENCES

[1] Priyank Patil, K.J Somaiya College Of Engineering, Line Following Robot.

[2] Society of Robot‟s Article,

http://www.societyofrobots.com/sensors/sensor_color.shtml [3] Datasheet Article,

http://www.datasheetcatalog.com/datasheets_pdf/P/I/C/1/PIC16F876A.shtml

http://www.societyofrobots.com/schematics_photoresistor.shtml

[5] SGS-Thomson Microelectronics, L293D Datasheet. http://search.datasheetcatalog.net/key/L293D

[6] Servo Motor Article,

http://people.ee.duke.edu/~cec/final/node59.html

[7] Gear Motor Article,

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http://www.societyofrobots.com/schematics_dcmotorbraking.shtml

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L293DD

PUSH-PULL FOUR CHANNEL DRIVER WITH DIODES

600mA OUTPUT CURRENT CAPABILITY PER CHANNEL

1.2A PEAK OUTPUT CURRENT (non repeti-tive) PER CHANNEL

ENABLE FACILITY

OVERTEMPERATURE PROTECTION

LOGICAL "0" INPUT VOLTAGE UP TO 1.5 V (HIGH NOISE IMMUNITY)

INTERNAL CLAMP DIODES

DESCRIPTION

The Device is a monolithic integrated high volt-age, high current four channel driver designed to accept standard DTL or TTL logic levels and drive inductive loads (such as relays solenoides, DC and stepping motors) and switching power tran-sistors.

To simplify use as two bridges each pair of chan-nels is equipped with an enable input. A separate supply input is provided for the logic, allowing op-eration at a lower voltage and internal clamp di-odes are included.

This device is suitable for use in switching appli-cations at frequencies up to 5 kHz.

The L293D is assembled in a 16 lead plastic packaage which has 4 center pins connected to-gether and used for heatsinking

The L293DD is assembled in a 20 lead surface mount which has 8 center pins connected to-gether and used for heatsinking.

June 1996

BLOCK DIAGRAM

SO(12+4+4) Powerdip (12+2+2) ORDERING NUMBERS:

L293DD L293D

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ABSOLUTE MAXIMUM RATINGS

Symbol Parameter Value Unit

VS Supply Voltage 36 V

VSS Logic Supply Voltage 36 V

Vi Input Voltage 7 V

Ven Enable Voltage 7 V

Io Peak Output Current (100 µs non repetitive) 1.2 A

Ptot Total Power Dissipation at Tpins = 90 °C 4 W

Tstg, Tj Storage and Junction Temperature – 40 to 150 °C

THERMAL DATA

Symbol Decription DIP SO Unit

Rth j-pins Thermal Resistance Junction-pins max. – 14 °C/W

Rth j-amb Thermal Resistance junction-ambient max. 80 50 (*) °C/W

Rth j-case Thermal Resistance Junction-case max. 14 –

(*) With 6sq. cm on board heatsink. PIN CONNECTIONS (Top view)

SO(12+4+4) Powerdip(12+2+2)

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ELECTRICAL CHARACTERISTICS (for each channel, VS = 24 V, VSS = 5 V, Tamb = 25 °C, unless

otherwise specified)

Symbol Parameter Test Conditions Min. Typ. Max. Unit

VS Supply Voltage (pin 10) VSS 36 V

VSS Logic Supply Voltage (pin 20) 4.5 36 V

IS Total Quiescent Supply Current

(pin 10)

Vi = L ; IO = 0 ; Ven = H 2 6 mA

Vi = H ; IO = 0 ; Ven = H 16 24 mA

Ven = L 4 mA

ISS Total Quiescent Logic Supply

Current (pin 20)

Vi = L ; IO = 0 ; Ven = H 44 60 mA

Vi = H ; IO = 0 ; Ven = H 16 22 mA

Ven = L 16 24 mA

VIL Input Low Voltage (pin 2, 9, 12,

19)

– 0.3 1.5 V VIH Input High Voltage (pin 2, 9,

12, 19)

VSS≤ 7 V 2.3 VSS V

VSS > 7 V 2.3 7 V

IIL Low Voltage Input Current (pin

2, 9, 12, 19)

VIL = 1.5 V – 10 µA

IIH High Voltage Input Current (pin

2, 9, 12, 19)

2.3 V ≤ VIH≤ VSS – 0.6 V 30 100 µA

Ven L Enable Low Voltage

(pin 1, 11)

– 0.3 1.5 V Ven H Enable High Voltage

(pin 1, 11)

VSS≤ 7 V 2.3 VSS V

VSS > 7 V 2.3 7 V

Ien L Low Voltage Enable Current

(pin 1, 11)

Ven L = 1.5 V – 30 – 100 µA

Ien H High Voltage Enable Current

(pin 1, 11)

2.3 V ≤ Ven H≤ VSS – 0.6 V ± 10 µA

VCE(sat)H Source Output Saturation

Voltage (pins 3, 8, 13, 18)

IO = – 0.6 A 1.4 1.8 V

VCE(sat)L Sink Output Saturation Voltage

(pins 3, 8, 13, 18)

IO = + 0.6 A 1.2 1.8 V

VF Clamp Diode Forward Voltage IO = 600nA 1.3 V

tr Rise Time (*) 0.1 to 0.9 VO 250 ns

tf Fall Time (*) 0.9 to 0.1 VO 250 ns

ton Turn-on Delay (*) 0.5 Vi to 0.5 VO 750 ns

toff Turn-off Delay (*) 0.5 Vi to 0.5 VO 200 ns

(*) See fig. 1.

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TRUTH TABLE (one channel)

Input Enable (*) Output

H L H L

H H L L

H L Z Z

Z = High output impedance

[image:75.595.74.530.96.264.2]

(*) Relative to the considered channel

Figure 1: Switching Times

Figure 2: Junction to ambient thermal resistance vs. area on board heatsink (SO12+4+4 package)

[image:75.595.68.531.299.507.2]

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POWERDIP16 PACKAGE MECHANICAL DATA

DIM. mm inch

MIN. TYP. MAX. MIN. TYP. MAX.

a1 0.51 0.020

B 0.85 1.40 0.033 0.055

b 0.50 0.020

b1 0.38 0.50 0.015 0.020

D 20.0 0.787

E 8.80 0.346

e 2.54 0.100

e3 17.78 0.700

F 7.10 0.280

I 5.10 0.201

L 3.30 0.130

Z 1.27 0.050

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SO20 PACKAGE MECHANICAL DATA

DIM. mm inch

MIN. TYP. MAX. MIN. TYP. MAX.

A 2.65 0.104

a1 0.1 0.2 0.004 0.008

a2 2.45 0.096

b 0.35 0.49 0.014 0.019 b1 0.23 0.32 0.009 0.013

C 0.5 0.020

c1 45 1.772

D 1 12.6 0.039 0.496

E 10 10.65 0.394 0.419

e 1.27 0.050

e3 11.43 0.450

F 1 7.4 0.039 0.291

G 8.8 9.15 0.346 0.360 L 0.5 1.27 0.020 0.050

M 0.75 0.030

S 8° (max.)

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Information furnished is believed to be accurate and reliable. However, SGS-THOMSON Microelectronics assumes no responsibility for the consequences of use of such information nor for any infringement of patents or other rights of third parties which may result from its use. No license is granted by implication or otherwise under any patent or patent rights of SGS-THOMSON Microelectronics. Specification mentioned in this publication are subject to change without notice. This publication supersedes and replaces all information previously supplied. SGS-THOMSON Microelectronics products are not authorized for use as critical components in life support devices or systems without express written approval of SGS-THOMSON Microelectronics.

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Top View Bottom View

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; colour ball robot

include "p16F877.inc"

_code_tmp_0000 equ 0x70 _code_tmp_0001 equ 0x71 param00_delay_ms equ 0x72 param00_delay_s equ 0x74 _DELAY1 equ 0x75 _A equ 0x76 _B equ 0x77 _C equ 0x78 _t equ 0x79 _PORTC equ 0x07 _PORTD equ 0x08 _PORTE equ 0x09 _TRISC equ 0x87 _TRISD equ 0x88 _TRISE equ 0x89 _ADCON1 equ 0x9f ORG 0 clrf PCLATH goto start__code _point goto _point__code _tscn goto _tscn__code _delay_ms goto _delay_ms__code _delay_s goto _delay_s__code start__code movlw D'10' movwf _DELAY1 clrf _t

__CONFIG _CP_OFF & _WDT_OFF & _BODEN_OFF & _PWRTE_ON & _XT_OSC & _WRT_ENABLE_ON & _LVP_OFF & _CPD_OFF

_main__code

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clrf PORTB clrf _PORTC clrf _PORTD clrf _PORTE bsf _PORTC, D'0' movlw D'50'

movwf param00_delay_ms call _delay_ms

bcf PCLATH, 3 bcf PCLATH, 4 bcf STATUS, RP0 bcf STATUS, RP1 bcf _PORTC, D'0' movlw D'50'

bcf PCLATH, 3 bcf PCLATH, 4 bcf STATUS, RP0 bcf STATUS, RP1 bsf _PORTC, D'0' movlw D'50'

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movlw D'200'

bcf PCLATH, 3 bcf PCLATH, 4 movlw D'32' bcf STATUS, RP0 bcf STATUS, RP1 movwf _PORTC movlw D'200'

bcf PCLATH, 3 bcf PCLATH, 4 bcf STATUS, RP0 bcf STATUS, RP1 clrf _PORTC movlw D'200'

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bcf STATUS, RP1 bcf _PORTC, D'0' movlw D'50'

bcf PCLATH, 3 bcf PCLATH, 4 bcf STATUS, RP0 bcf STATUS, RP1 clrf PORTA clrf PORTB clrf _PORTC clrf _PORTD clrf _PORTE _f1

bcf STATUS, RP0 bcf STATUS, RP1 clrf PORTB clrf _PORTD movlw D'50'

bcf PCLATH, 3 bcf PCLATH, 4 label_0002

movlw D'240' bcf STATUS, RP0 bcf STATUS, RP1 movwf _PORTC movlw D'70'

bcf PCLATH, 3 bcf PCLATH, 4 bcf STATUS, RP0 bcf STATUS, RP1 movf _PORTE, W sublw D'1' movlw 1

btfss STATUS, Z clrw

sublw 0

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bcf PCLATH, 3 bcf PCLATH, 4 _RUN

bcf STATUS, RP0 bcf STATUS, RP1 clrf _PORTD movlw D'20'

bcf PCLATH, 3 bcf PCLATH, 4 bcf STATUS, RP0 bcf STATUS, RP1 movf PORTB, W andlw D'32' movwf _A movf PORTB, W andlw D'64' movwf _B movf PORTB, W andlw D'224' movwf _C

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btfsc STATUS, Z goto label_0005 movlw D'1' movwf PORTA movf _DELAY1, W

bcf STATUS, RP0 bcf STATUS, RP1 movf _PORTD, W sublw D'6' movlw 1

sublw 0

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btfsc STATUS, Z goto label_0008 clrf _code_tmp_0000 movf _t, W

addlw D'1' btfsc STATUS, C

incf _code_tmp_0000 , F movwf _t

bsf _PORTC, D'0' movlw D'50'

bcf PCLATH, 3 bcf PCLATH, 4 call _point bcf PCLATH, 3 bcf PCLATH, 4 _C1

call _tscn bcf PCLATH, 3 bcf PCLATH, 4 goto _C1 label_0008

sublw 0