This robot will follow the black line which check the
different color of ground. The running manner will follow the
line depends upon the infrared volume received by the sensor.
Technical Specifications:
- Power supply : 2 rechargeable AA batteries (not included).
- Consumption : 150mA.
- Infrared detecting speed : controllable.
- PCB dimensions : 2.18 x 2.63 in.
(1) ROBOT CONTROL CIRCUIT
How To Work:
The circuit is composed of 2 major parts, light detecting
and light flashing, as shown in Fig. 1.
The light detecting part is composed of 2 alike circuits that
will work in the same manner. Each circuit will start working
when the photo received infrared light from LED INF, causing
voltage being passed through. The more reflected light will
lessen the internal resistance and give bigger passing through
voltage. Less reflected light will enlarge the internal resistance
and give less passing through voltage.
When there is voltage being passed through the photo, it
will cause TR6 and TR7 to work and force motor M1 to rotate.
Moreover, this voltage will feed the light flashing part to work
as well. Therefore, if any photo receives more light volume, the
robot will move to the direction of that photo position. The
VR1 and VR2 will work as a light detecting speed controller of
each photo.
When the light flashing part received voltage, TR5 will start
working and cause the light flashing set to work. TR3 and TR4
will be assembled as a multivibrator circuit and alternatively
work. When TR3 works, it will light up LED3. And when TR4
works, LED2 will be lit up. The flashing speed will be
depended upon R7, R8, C1 and C2. R6 and R9 will reduce the
current for LED2 and LED3. For LED1 will act as LED power
and control the voltage of VR3 to be approximately 1.7 volts.
Circuit Assembling:
The PCB will be divided into two boards, FK1105-1 for
circuit controlling and BR001-1 for motor, wheel and battery
container assembling.
The FK1105-1 circuit assembling has been shown in Fig 2.
It is recommended to assemble the circuit starting with a less
height component i.e. diodes, resistor, electrolytic capacitors
and transistors etc. Be careful while assembling and check for
the matching of PCB poles and components before soldering as
shown in Fig 3. For IDE port, press the pin of IDE port to be
level with the black plastic before soldering as shown in Fig 4.
Use a max. 40W solder and soldering tin with a tin and lead
ratio of 60/40 together with a joint solution inside. Recheck the
assembled circuit for your own confidence. Better use a lead
sucker or a lead wire absorber in case of component
misplacing to protect PCB from damage.
The BR001-1 circuit is to be assembled as shown in the next
page.
Testing:
When the two circuit boards have been completely
assembled, insert two AA batteries into the battery holder.
Then adjust VR1, VR2 and VR3 to the middle point and slide
switch SW to "on" position.
Lay down the assembled robot on the paper with black line.
But if the robot is running out the black line, adjust VR1 to the
left side a little bit and test again. In case of the robot is
running out the black line to left side, adjust VR2 to the right
side a little bit until the robot runs follow the line. But if the
robot is running out the black line to right side, adjust VR3 to
right side a little bit.
VR1 and VR2 will act as a infrared detecting speed
controller of the photos. VR3 will act as a infrared transmit
level controller of the infrared LED.
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Figure 2. FK1105-1 Circuit Board Assembling
IDE port
Figure 4. IDE Port
Assembling To
The FK1105-1 Circuit Board.
Press the pin of IDE port
to be level with the black plastic.
Install IDE port to PC-board
and soldering.
Troubleshooting:
As the circuit has only a few components, the main cause of troubles
will come from component misplacing and defaulted soldering. When
found out that the circuit does not work, check for the proper
component placings and various soldering points.
R
TACON LINE FOLLOW ROBOT
CODE 1105
Figure 2. TACON Line Follow Robot Circuit
FK1105-1
ON SW OFF
+
+
6
VR1
8
+
INF
PHOTO
PHOTO
INF
LED
1A
K
LED
3
A
KLED
2A
K
VR2 VR3
72 1
43
5
RESISTOR ELECTROLYTIC
CAPACITOR
TRANSISTOR
TRIMMER
POTENTIOMETER
HORIZONTAL
VERTICAL
Figure 3. Components Installing
Watch the polarity!
R .....Ω
R
R
NPN
B
E
C
TR
TR
K
A
LED
K
A
VR .....KΩ
1
2
3
VR
VR
VR
VR
C
+
+
C .....µF
C
+
PNP
B
E
C
PHOTO
PHOTO
(WATER CLEAR)
PHOTO
PHOTO
INF
RED LED AND
BLACK INFRARED
