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STD TCRT5000 Array for Arduino uno/nano

License: Public Domain

Mode: Editors' pick

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Update time: 2024-06-13 12:12:29
Creation time: 2022-07-01 06:32:49


This project involves designing and building an Infrared (IR) sensor array using TCRT5000 IR sensors for a line follower robot. The sensor array comprises six TCRT5000 IR sensors and is optimized to detect a 2.5-3 cm wide black/white line on various surfaces. The design also includes a ball caster to ensure smooth movement and stability of the robot.


  • TCRT5000 IR Sensors (6 units): These sensors detect the presence of the black line by measuring the reflected IR light. The TCRT5000 integrates an IR emitter and a phototransistor in a single package, offering high sensitivity and reliable performance.
  • Ball Caster: Provides additional support and balance to the robot, allowing it to maneuver smoothly without tipping over.
  • Microcontroller Interface: Ports for connecting the sensor array to a microcontroller (e.g., Arduino, Raspberry Pi) for processing the sensor data and controlling the robot's movements.
  • Power Supply: Regulated power supply circuitry to ensure consistent operation of the sensors and other electronic components.

Design Specifications

  1. Sensor Placement: The six TCRT5000 sensors are arranged in a linear configuration on the PCB, spaced evenly to cover the width of a 2.5-3 cm line. This configuration allows the robot to accurately detect and follow the line, even on curves.
  2. Ball Caster Integration: The ball caster is mounted centrally at the rear of the robot, providing stability and smooth movement. It ensures that the robot can navigate different surfaces without losing balance.
  3. Connector Ports: The PCB includes connector ports for easy interfacing with a microcontroller, allowing for straightforward integration into the overall robot system.


  • Line Detection: The TCRT5000 sensors detect the line by emitting IR light and measuring the amount of light reflected back. A white surface reflects more light, while a black line reflects less. The sensor array outputs digital or analog signals corresponding to the presence of the line.
  • Movement Control: The ball caster allows the robot to make smooth turns and transitions, enhancing its ability to follow the line accurately.
Design Drawing
schematic diagram
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ID Name Designator Footprint Quantity
1 HDR-M-2.54_1x4 J3,J4 HDR-M-2.54_1X4 2 HDR-M-2.54_1x4
2 220 R1,R3,R5,R7,R9,R11 R_AXIAL-0.4 6 R_AXIAL-0.4_US
3 1k R2,R4,R6,R8,R10,R12 R_AXIAL-0.4 6 R_AXIAL-0.4_US


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