CO PROJECT

EDGE AVOIDING ROBOT

USING 8051
MICROCONTROLLER

BY-
KUSHAL N (PES1201701567)
JUTHIK BV (PES1201700452)
 INTRODUCTION

Robotics is the branch of technology that deals

with the design, construction, operation, and
application of robots. A machine capable of
carrying out a complex series of actions
automatically, especially one programmable by a
computers is defined as a robot.This 8051
microcontroller based robot detects an edge and
avoids it by turning. This is a robot which keeps
moving on a platform and as soon as it detects
that is if it detects the edge of platform in front, it
starts moving backward, if it detects an edge in
its left then it turns to its right and vice versa. Let
us see how can we design a edge avoiding
robot.
COMPONENTS REQUIRED

1)Nuvoton Microcontroller

2)IR Sensor Module

3)Motor Driver IC(L293D)

4)DC Motor
1)Nuvoton Microcontroller

A highly integrated chip that contains all the

components comprises a controller. Typically this
includes a CPU, RAM, some form of ROM, I/O ports,
and timers. Unlike a general purpose computer, which
also includes all of these components, a
microcontroller is designed for a very specific task; to
control a particular system. As a result, the parts can
be simplified and reduced, which cuts down on
production costs.
2)IR Sensor Module

IR sensors give output by receiving the reflected rays

transmitted by the transmitting diode. If the surface is
black, ray will be absorbed and will not be received
and if the surface is white then receiver will get the
reflected ray and generate output.

3)Motor Driver IC(L293D)

L293D is an integrated chip which is used to control
motors in autonomous Robots and also in Embedded
Circuits. L293D has a dual H-Bridge motor Driver
integrated circuit. This motor driver acts as a current
amplifier. The motor takes a low-signal current and
provides a high-output signal at Output. This high
signal current is then transferred to the attached
Motor. Its input terminals is controlled by the
microcontroller.

4)DC Motor
CONCEPT OF EDGE
AVOIDING ROBOT
Concept of Edge Avoider robot is same as line
follower. In these types of robots, we generally use
behaviour of light at black and white surface.
When light fall on a white surface it will almost full
reflects and in case of black surface light is absorbed
by black surface. This behaviour of light is used in an
line follower robot as well as edge avoider robot.Here
we have used IR transmitter and receiver also called
photo diodes are used for sending and receiving light.
IR transmits infrared lights.
When infrared rays falls on any surface except black
or much dark surfaces, it’s reflected back and catched
by photodiode and generates some voltage changes.
When IR light falls on black surface, light is absorbed
by the black surface and no rays reflect back,
resultantly photo diode doesn't receive any light or
rays.

Here in this Edge Avoider robot when sensor senses

white surface then microcontroller gets 0 as input and
when senses black line controller gets 1 as input.

CIRCUIT DIAGRAM
 Circuit Working
We can divide the Edge Avoider Robot project into three
different sections that are sensor section, control section
and driver section:

Sensor section: This section contains IR sensor module

consists of potentiometer, Comparator (Op-Amp) and LEDs.
Potentiometer is used for setting reference voltage at
comparator’s one terminal and IR sensors are used to sense
the line and provide a change in voltage at comparator’s
second terminal. Then comparator compares both voltages
and generates a digital signal at output. Here in this circuit we
uses two comparators for two sensors. LM 358 is used as
comparator. LM358 has inbuilt two low noise Op-amp.

Control Section: 8051 microcontroller is used for controlling

whole the process of line follower robot. The outputs of
comparators are connected to pin number P0.0 and P3.4 of
8051. 8051 reads these signals and send commands to driver
circuit to drive line follower.

Driver section: Driver section consists motor driver and two

DC motors. Motor driver is used for driving motors because
microcontroller does not supply enough voltage and current
to drive the motor. So we add a motor driver circuit to get
enough voltage and current for motor. Microcontroller sends
commands to this motor driver and then it drive motors.

Working of this edge avoider robot is quite interesting in the

operations after sensing inputs. In this robot when it senses
white surface it goes forward and when any one of sensors or
both sensors sense no signal or black surface it gets stop and
move backward and change its direction and if again it sense
white surface than go forward.

Circuit diagram is shown for this edge avoider robot. Output

of comparators is directly connected to pin number P0.0 and
P3.4 of microcontroller. And motor driver’s input pin 2, 7, 10
and 15 is connected at pin number P2.3, P2.2, P2.1 and P2.4
respectively. And one motor is connected at output pin of
motor driver 3 and 6 and another motor is connected at 11 and
14.

In programming first of all we have defined input and output

pins. And then in main function we checked inputs and sends
output accordingly to output pins for driving motor. There are
four conditions in this edge avoider that we read by using 8051
microcontroller. We have used two sensors namely left sensor
and right sensor.

CODE
 CONCLUSION
Today we are in the world of robotics. Knowingly or
unknowingly, we have been using different types of robots in
our daily life.This project had the goal of manipulating
different parts of the robot to make it react according to our
desire.Once the edge is detected the sensor will send the
signal to the controller and the controller will stop the motor
(left/right), in order to move the ROBOT left/right direction.
That results in securing the robot falling from certain
heights. To the edge avoiding robot, it is of vital importance
to separate objects from the background.
The present and near future main application areas of edge
avoiding robot are robotics vision (e.g. in self-driving
vehicles) and classification of medical images (to find
fingerprints for “diseases”such as tumors). Regarding a
concrete area of application, it seems to me that the current
and next future big application of edge avoiding robot is self-
driving vehicles in self driving cars you have tough edge
detection problems because the algorithms must perform
detection in real time at driving speed.

Although the project is very little about the robot’s use in

real world, with the help of guidelines and the abundance of
resources the outcome, it could be very beneficial for many
people and different sectors of the world depending on the
sensors and features required as per necessity.