Line Sensor 8-channel (Zelo Module)

  • AMP-B118
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Racers, on your marks. Get set. Go! Install this line sensor on your robot's chassis and help your bot get to the finish line first and not get lost on the way.

What's the trick

Onboard the sensor assembly you can find eight line sensors built with the TCRT5000 optocoupler. Each sensor is able to distinguish all shades of gray - from pure white to pure black. The robot can use this to better keep its trajectory and zoom along the black line, without losing any speed.

How does it work

The sensor consists of two elements - an LED (emitter) and a phototransistor (receiver). When the LED emits infrared light, the luminous flux reflects from the surface and enters the phototransistor, where it is converted into an electrical signal.

Darker colors reflect less light. Therefore, using several such sensors, the robot determines that it is seeing a dark line and follows it.

What's inside

Line sensors are connected the STMicroelectronics' own 32-bit microcontroller, STM32F030F4P6, which has an ARM Cortex® M processor core. The controller collects data from eight line sensors and transmits it to the control platform via I²C. The intensity and sensitivity of the photodetectors can be adjusted.


The module has a standard Troyka connection:

  • Power (V) - connect to the operating voltage on the microcontroller.
  • Ground (G) - Connect to the GND pin on the microcontroller.
  • Data (D) - I²C bus data pin. Connect to the SDA pin on the microcontroller.
  • Clock (C) - I²C bus clock pin. Connect to the SCL pin of the microcontroller.

When connecting to Arduino or Iskra platforms, why not try a Troyka Shield?

Package Contents


  • Power Supply: 3.3–5 V
  • Microcontroller: STM32F030F4P6
  • Interface: I²C
  • Sensor Type: line sensor on an optocoupler, TCRT5000
  • Number of Channels: 8