M
O
WAY
Title
: mOway Beginner Manual
Rev
: v2.1.3 – March 2011
Page
13
of
65
www.moway-robot.com
Image 8. Location of line sensors
3.3.2.
Obstacle detection sensors
Similar to line tracking sensors, obstacle detection sensors also use infrared light
to detect objects located in front of the mOway. The sensor includes two infrared light-
emitting source (Kingbright KPA3010-F3C) and four receivers placed on both sides of
mOway.
The output of the Sharp PT100F0MP receivers are connected to the
microcontroller’s analog inputs so it can detect the presence of any object (digital mode)
and also measure how far away it is (analog mode)
2
.
The sensor functions similarly to the line tracking sensor. The light emitter
generates a 70us pulse which allows the receiver to capture any obstacle using a
filtering and amplifying stage. Once the signal is processed electronically, the PIC can
measure it by means of the ADC or as a digital input. The digital distance range is close
to 3cm and a bright environment is recommended to enhance infrared light reflection.
Image 9. Obstacle detection sensor
2
Due to tolerance two different sensors can differ from each other.
