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tube on the car, the photosensitive triode will be saturated, the output end of the module is high level and the
indicating diode will light.
As is shown in the schematic diagram 3.2.17 (U1 is comparator, such as LM358, LM324, LM393, LM339
and a series of comparators, we use the 74HC14D comparator in TCRT5000), A and C are connected to the
light emitting diode, C and E to the receiving diode, as shown in Fig.3.2.16. In the "Hummer-Bot" car, we use
three modules, two in the left and right sides, one in the middle. Its installation is shown in Fig.3.2.18,the
tracing sensors are in a straight line.
Figure .3.2.17 Schematic Diagram of Tracing Module Figure. 3.2.18 Diagram of Tracing Module
Installation
The X1 and Y1 are the first direction control sensors, and the width of the two sensors on the same side
of the black line must not be greater than the width of the black line. When the car is moving forward, the
driving track is always between the two first level sensors X1 and Y1 (the black track as shown in Fig. 3.2.18),
when the car deviates from the black line:
If the left X1 detects the black line which can't be detected by the right Y1 and intermediate sensors, the
the car has shifted to the right, then the car will turn left slightly, and keeping intermediate sensor always
detecting the black line; if the right Y1 detects the black line which can't be detected by the left X1 and
intermediate sensors, the the car has shifted to the left, then the car will turn right slightly, and keeping
intermediate sensor always detecting the black line; if the car turns back on the track driving along the black
line, X1 and Y1 can all detect the white line, and send high level to the microcontroller.
3.2.3.3 Module Parameters
◆
Using TCRT5000 infrared reflection sensor
◆
The detection distance: 1mm~25mm, the focal distance is 2.5mm
◆
The comparator output signal waveform is clean, good-shape and it has more than 15mA strong drive
ability.
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