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DYOR -Tractorobot

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Overview

Tractorobot is a custom-built mobile robot shaped like a tractor, combining 3D-printed design, real-time sensing, and Bluetooth-based control. It can drive in all directions, swing its arms (made from plastic forks), follow black lines, detect obstacles, and alert the user with sounds and visual feedback.

Traktorobot is controlled via a Python-based Windows GUI and powered by an Arduino Nano, fully programmed in the Arduino IDE.

Project Goals

The goal of this project was to build a robot that:

  • Moves forward, backward, left, and right
  • Swings its side-mounted fork arms
  • Detects obstacles and alerts the user
  • Follows black lines autonomously
  • Displays live status using an LED matrix
  • Can be remotely controlled from a PC

Key Features

  • 3D-Printed Tractor Body: Fully self-designed and printed for custom fit and functionality
  • Plastic Fork Arms: Lightweight and durable side arms, controlled by micro servos
  • Obstacle Detection: Uses an ultrasonic sensor to detect objects and stop automatically
  • Horn Alerts: A buzzer produces a horn sound when obstacles are detected
  • LED Matrix Status Display: Shows whether line following is active or blocked
  • Line Following Mode: Uses a sensor to autonomously follow black lines
  • Bluetooth Control via Python GUI: Full control from a custom-built desktop interface

Components

Chassis and Structure

  • Fully 3D-printed tractor body (custom design)

3D-printed tractor parts for download:

Power

  • USB powerbank
  • Battery connector

Electronics

  • Arduino Nano v3.0
  • I/O Expansion Shield
  • SPP-C Bluetooth module
  • USB-A to Mini-USB cable
  • Jumper wires

Sensors

  • HC-SR04 Ultrasonic sensor
  • TCRT5000 Line tracking sensor

Motors and Actuators

  • 2x FS90R continuous rotation servos (movement)
  • 2x SG90 micro servos (side arm control)

Output Devices

  • 8×8 LED Matrix (MAX7219)
  • KY-006 Buzzer

Wiring Diagram

 

Control Interface – Python GUI

 

A custom-made Python GUI for Windows allows full control of Traktorobot via Bluetooth.

GUI Controls

Video: https://drive.google.com/file/d/1VNorC1TIQBT-dbreIjCI0L80VFm9_pJ5/view?usp=sharing

  • Arrow Buttons – Move the robot in any direction
  • Arm Controls – Swing left and right plastic fork arms
  • Obstacle Feedback – Automatically stops and triggers horn + LED display
  • Bluetooth Connect/Disconnect

Autonomous Behavior

Video: https://drive.google.com/file/d/1tB-bRde8hP_u9fSmnpnPmlo9SjlEhYw3/view?usp=sharing

Obstacle Detection with Horn Warning

  • The ultrasonic sensor detects objects in front of the robot
  • If an obstacle is too close:
    • The robot stops immediately
    • The buzzer sounds a horn
    • The LED matrix displays a red warning symbol

Black Line Following with Visual Feedback

  • The line tracking sensor keeps the robot aligned on a black path
  • While following the line:
    • The LED matrix shows a Arrow if the path is clear
    • A red stop symbol appears if something blocks the way

Conclusion

Traktorobot is a functional and educational tractor-style robot, bringing together 3D printing, Arduino, and Python GUI development. While it doesn’t include emotional expression or dancing features, it offers practical interaction through clear visual and audio signals.