This line follower robot was designed and constructed in 2011.
This robot was designed, first for fun and learn a bit more in this amazing world of electronics but the main goal was to take part in the Spanish Robotic League event (lnrc.es) on the same year. Although, only the 3kg sumo robot was finished on time.
The main task of this “line follower” is to follow a black line track drawn on a white floor as fast as possible.
You can see an example video of a competition:
Some features of this robot:
- PCB-structure. No additional structural materials were used.
- The microcontroller was a PIC18 (F4550)
- 8 CNY70 sensors
The robot was constructed directly with the PCB used as a structure. So 2 PCBs were designed: The control and sensor board.
The reasons to slipt the design in 2:
- I was able to fabricate only one-sided PCBs
- For miniaturization reasons, the CNY70 infrared sensors were smd. So, the sensors need to face down and the other components of the control board have to be placed on the top. Today, I would simply design a 2-sided board, but at that time I had limited access to resources.
Both PCBs were fabricated with help of a CNC drilling machine.
The sensor board has 8 CNY70 sensors to detect the black line over the white background.
The main schematic
You can see more details about the construction on the schematics below: