QTR-8A Reflectance Sensor Array

The QTR-8A reflectance sensor array is intended as a line sensor, but it can be used as a general-purpose proximity or reflectance sensor. The module is a convenient carrier for eight IR emitter and receiver (phototransistor) pairs evenly spaced at intervals of 0.375" (9.525 mm). Each phototransistor is connected to a pull-up resistor to form a voltage divider that produces an analog voltage output between 0 V and VIN (which is typically 5 V) as a function of the reflected IR. Lower output voltage is an indication of greater reflection.

The outputs are all independent, but the LEDs are arranged in pairs to halve current consumption. The LEDs are controlled by a MOSFET with a gate normally pulled high, allowing the LEDs to be turned off by setting the MOSFET gate to a low voltage. Turning the LEDs off might be advantageous for limiting power consumption when the sensors are not in use or for varying the effective brightness of the LEDs through PWM control.

The LED current-limiting resistors for 5 V operation are arranged in two stages; this allows a simple bypass of one stage to enable operation at 3.3 V. The LED current is approximately 20-25 mA, making the total board consumption just under 100 mA.

Features:

• Dimensions: 75x 13x3 mm
• Operating Voltage: 3.3-5.0 V
• Current Draw: 100 mA
• Otput Type: 8 Analog Voltage
• Output Voltage Range: 0V to Vcc
• Optimal Sensing Distance: 3 mm
• Maximum Sensing Distance: 6 mm
• Weight: 3,09 gr.

There are several ways you can interface with the QTR-8A outputs:

• Use a microcontroller’s analog-to-digital converter (ADC) to measure the voltages.
• Use a comparator with an adjustable threshold to convert each analog voltage into a digital (i.e. black/white) signal that can be read by the digital I/O line of a microcontroller.
• Connect each output directly to a digital I/O line of a microcontroller and rely upon its internal comparator.

If you don’t need or cannot fit all eight sensors, you can break off two sensors and still use all 8 sensors as two separate modules, as shown below. The PCB can be scored from both sides along the perforation and then bent until it snaps apart. Each of the two resulting pieces will function as an independent line sensor.

Documents:

• QTR-8A and QTR 8-RC Manual
• Pololu QTR Sensor Application Note
• Arduino Library for QTR Sensors
• Pololu AVR C/C++ Library Usage Guide
• Detailed Information about Pololu AVR Library
• A Document about Line Following Robots and Labyrinth Solver Robots
• Robot Zero: A Well Prepared Line Following Robot