{"id":8182,"date":"2025-06-16T15:18:06","date_gmt":"2025-06-16T15:18:06","guid":{"rendered":"https:\/\/dyor.webs.upv.es\/?p=8182"},"modified":"2025-06-16T15:18:06","modified_gmt":"2025-06-16T15:18:06","slug":"dyor-tractorobot","status":"publish","type":"post","link":"https:\/\/dyor.webs.upv.es\/en\/dyor-tractorobot\/","title":{"rendered":"DYOR -Tractorobot"},"content":{"rendered":"<p><\/p>\n<h2><strong>Overview<\/strong><\/h2>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-8183\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/WhatsApp-Bild-2025-06-07-um-14.31.45_e889aa05-225x300.jpg\" alt=\"\" width=\"272\" height=\"363\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/WhatsApp-Bild-2025-06-07-um-14.31.45_e889aa05-225x300.jpg 225w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/WhatsApp-Bild-2025-06-07-um-14.31.45_e889aa05-768x1024.jpg 768w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/WhatsApp-Bild-2025-06-07-um-14.31.45_e889aa05-1152x1536.jpg 1152w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/WhatsApp-Bild-2025-06-07-um-14.31.45_e889aa05.jpg 1536w\" sizes=\"auto, (max-width: 272px) 100vw, 272px\" \/><\/p>\n<p><strong>Tractorobot<\/strong> 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.<\/p>\n<p><!--more--><\/p>\n<p>Traktorobot is controlled via a <strong>Python-based Windows GUI<\/strong> and powered by an <strong>Arduino Nano<\/strong>, fully programmed in the <strong>Arduino IDE<\/strong>.<\/p>\n<h2><strong>Project Goals<\/strong><\/h2>\n<p>The goal of this project was to build a robot that:<\/p>\n<ul>\n<li>Moves forward, backward, left, and right<\/li>\n<li>Swings its side-mounted fork arms<\/li>\n<li>Detects obstacles and alerts the user<\/li>\n<li>Follows black lines autonomously<\/li>\n<li>Displays live status using an LED matrix<\/li>\n<li>Can be remotely controlled from a PC<\/li>\n<\/ul>\n<h2><strong>Key Features<\/strong><\/h2>\n<ul>\n<li><strong>3D-Printed Tractor Body<\/strong>: Fully self-designed and printed for custom fit and functionality<\/li>\n<li><strong>Plastic Fork Arms<\/strong>: Lightweight and durable side arms, controlled by micro servos<\/li>\n<li><strong>Obstacle Detection<\/strong>: Uses an ultrasonic sensor to detect objects and stop automatically<\/li>\n<li><strong>Horn Alerts<\/strong>: A buzzer produces a horn sound when obstacles are detected<\/li>\n<li><strong>LED Matrix Status Display<\/strong>: Shows whether line following is active or blocked<\/li>\n<li><strong>Line Following Mode<\/strong>: Uses a sensor to autonomously follow black lines<\/li>\n<li><strong>Bluetooth Control via Python GUI<\/strong>: Full control from a custom-built desktop interface<\/li>\n<\/ul>\n<h2><strong>Components<\/strong><\/h2>\n<h3><strong>Chassis and Structure<\/strong><\/h3>\n<ul>\n<li>Fully 3D-printed tractor body (custom design)<\/li>\n<\/ul>\n<p>3D-printed tractor parts for download:<\/p>\n<ul>\n<li>Groundplate: <a href=\"https:\/\/autode.sk\/45QUYye\">https:\/\/autode.sk\/45QUYye<\/a><\/li>\n<li>Frontplate: <a href=\"https:\/\/autode.sk\/3FEiZ14\">https:\/\/autode.sk\/3FEiZ14<\/a><\/li>\n<li>Engine-case: <a href=\"https:\/\/autode.sk\/3SCz4ar\">https:\/\/autode.sk\/3SCz4ar<\/a><\/li>\n<li>Sonar-holder: <a href=\"https:\/\/autode.sk\/3FDXM7q\">https:\/\/autode.sk\/3FDXM7q<\/a><\/li>\n<li>Case: <a href=\"https:\/\/autode.sk\/45ehwci\">https:\/\/autode.sk\/45ehwci<\/a><\/li>\n<li>2x plastic forks as movable side arms<\/li>\n<li>2x wheels + 1x caster wheel (rear)<\/li>\n<\/ul>\n<h3><strong>Power<\/strong><\/h3>\n<ul>\n<li>USB powerbank<\/li>\n<li>Battery connector<\/li>\n<\/ul>\n<h3><strong>Electronics<\/strong><\/h3>\n<ul>\n<li>Arduino Nano v3.0<\/li>\n<li>I\/O Expansion Shield<\/li>\n<li>SPP-C Bluetooth module<\/li>\n<li>USB-A to Mini-USB cable<\/li>\n<li>Jumper wires<\/li>\n<\/ul>\n<h3><strong>Sensors<\/strong><\/h3>\n<ul>\n<li>HC-SR04 Ultrasonic sensor<\/li>\n<li>TCRT5000 Line tracking sensor<\/li>\n<\/ul>\n<h3><strong>Motors and Actuators<\/strong><\/h3>\n<ul>\n<li>2x FS90R continuous rotation servos (movement)<\/li>\n<li>2x SG90 micro servos (side arm control)<\/li>\n<\/ul>\n<h3><strong>Output Devices<\/strong><\/h3>\n<ul>\n<li>8\u00d78 LED Matrix (MAX7219)<\/li>\n<li>KY-006 Buzzer<\/li>\n<\/ul>\n<p>Wiring Diagram<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-8185 aligncenter\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/Bild1-300x250.png\" alt=\"\" width=\"300\" height=\"250\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/Bild1-300x250.png 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/Bild1.png 344w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<p>&nbsp;<\/p>\n<h2><strong>Control Interface \u2013 Python GUI<\/strong><\/h2>\n<p>&nbsp;<\/p>\n<p>A custom-made <strong>Python GUI for Windows<\/strong> allows full control of Traktorobot via Bluetooth.<\/p>\n<h3><strong>GUI Controls<\/strong><\/h3>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-8184 aligncenter\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/Bild2-292x300.png\" alt=\"\" width=\"292\" height=\"300\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/Bild2-292x300.png 292w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/Bild2.png 303w\" sizes=\"auto, (max-width: 292px) 100vw, 292px\" \/><\/p>\n<p>Video: <a href=\"https:\/\/drive.google.com\/file\/d\/1VNorC1TIQBT-dbreIjCI0L80VFm9_pJ5\/view?usp=sharing\">https:\/\/drive.google.com\/file\/d\/1VNorC1TIQBT-dbreIjCI0L80VFm9_pJ5\/view?usp=sharing<\/a><\/p>\n<ul>\n<li><strong>Arrow Buttons<\/strong> \u2013 Move the robot in any direction<\/li>\n<li><strong>Arm Controls<\/strong> \u2013 Swing left and right plastic fork arms<\/li>\n<li><strong>Obstacle Feedback<\/strong> \u2013 Automatically stops and triggers horn + LED display<\/li>\n<li><strong><strong>Bluetooth Connect\/Disconnect<\/strong><\/strong><\/li>\n<\/ul>\n<h2><strong>Autonomous Behavior<\/strong><\/h2>\n<p>Video: <a href=\"https:\/\/drive.google.com\/file\/d\/1tB-bRde8hP_u9fSmnpnPmlo9SjlEhYw3\/view?usp=sharing\">https:\/\/drive.google.com\/file\/d\/1tB-bRde8hP_u9fSmnpnPmlo9SjlEhYw3\/view?usp=sharing<\/a><\/p>\n<h3><strong>Obstacle Detection with Horn Warning<\/strong><\/h3>\n<ul>\n<li>The <strong>ultrasonic sensor<\/strong> detects objects in front of the robot<\/li>\n<li>If an obstacle is too close:\n<ul>\n<li>The robot stops immediately<\/li>\n<li>The <strong><strong>buzzer sounds a horn<\/strong><\/strong><\/li>\n<li>The <strong><strong>LED matrix displays a red warning symbol<\/strong><\/strong><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3><strong>Black Line Following with Visual Feedback<\/strong><\/h3>\n<ul>\n<li>The <strong>line tracking sensor<\/strong> keeps the robot aligned on a black path<\/li>\n<li>While following the line:\n<ul>\n<li>The LED matrix shows a <strong>Arrow<\/strong> if the path is clear<\/li>\n<li>A <strong>red stop symbol<\/strong> appears if something blocks the way<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h2><strong>Conclusion<\/strong><\/h2>\n<p><strong>Traktorobot<\/strong> is a functional and educational tractor-style robot, bringing together 3D printing, Arduino, and Python GUI development. While it doesn&#8217;t include emotional expression or dancing features, it offers practical interaction through clear visual and audio signals.<\/p>\n<p>&nbsp;<\/p>","protected":false},"excerpt":{"rendered":"<p>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.<\/p>\n","protected":false},"author":1030,"featured_media":8183,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":true,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[81],"tags":[],"class_list":["post-8182","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-blog"],"aioseo_notices":[],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/WhatsApp-Bild-2025-06-07-um-14.31.45_e889aa05.jpg","jetpack_sharing_enabled":true,"jetpack-related-posts":[{"id":7882,"url":"https:\/\/dyor.webs.upv.es\/en\/english-dyor-tobias\/","url_meta":{"origin":8182,"position":0},"title":"DYOR: Tobias","author":"DasAas","date":"Wednesday June 26th, 2024","format":false,"excerpt":"The objective of this post is to provide an overview of the assignment to build a robot in the Mobile Robotics course during the spring semester of 2024. The robot is built with lowcost components and should have some functionalities like line tracking, obstacle avoidance, moving its arms, and making\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/profil.jpg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/profil.jpg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/profil.jpg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/profil.jpg?resize=700%2C400&ssl=1 2x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/profil.jpg?resize=1050%2C600&ssl=1 3x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/profil.jpg?resize=1400%2C800&ssl=1 4x"},"classes":[]},{"id":7869,"url":"https:\/\/dyor.webs.upv.es\/en\/english-goleador9000\/","url_meta":{"origin":8182,"position":1},"title":"Goleador9000","author":"P592630506","date":"Wednesday June 26th, 2024","format":false,"excerpt":"The goal is to develop the Goleador9000, a mobile robot capable of moving in any direction, raising and lowering its arms, displaying various emotions, following a black line, detecting obstacles, and performing a dance routine \u00a0 DYOR \u2013 Goleador9000 Goleador adjective \u00a0\/\u0261o\u2019lea\u00f0o\u027e\/\u00a0(also\u00a0goleadora\u00a0\/\u0261o\u2019lea\u00f0o\u027ea\/) SPORT (ES) \u2013 de un equipo que consigue\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/Goleador-Front-scaled.jpeg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/Goleador-Front-scaled.jpeg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/Goleador-Front-scaled.jpeg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/Goleador-Front-scaled.jpeg?resize=700%2C400&ssl=1 2x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/Goleador-Front-scaled.jpeg?resize=1050%2C600&ssl=1 3x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/Goleador-Front-scaled.jpeg?resize=1400%2C800&ssl=1 4x"},"classes":[]},{"id":5952,"url":"https:\/\/dyor.webs.upv.es\/en\/english-dyor-sponge-rob\/","url_meta":{"origin":8182,"position":2},"title":"DYOR Sponge Rob","author":"Andres","date":"Wednesday June 26th, 2024","format":false,"excerpt":"In this entry I will present my robot from the Mobile Robotics class at UPV based on the DYOR Robot Concept. Design For this project, I used the design of DYOR robot base and I redesigned in solidworks robot hands and face. After, I assembled a 3D model as shown\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Imagen1-300x212.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":7349,"url":"https:\/\/dyor.webs.upv.es\/en\/english-frogbot3000\/","url_meta":{"origin":8182,"position":3},"title":"FrogBot3000","author":"leoharling","date":"Friday June 30th, 2023","format":false,"excerpt":"This post presents FrogBot 3000 a low-cost Arduino-based mobile robot DYOR: FrogBot3000 mobile robot build GOAL The goal is to build a mobile robot based on a frog. It will be able to raise and lower its arms, move in any direction, display a plethora of emotions, follow a black\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=700%2C400&ssl=1 2x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=1050%2C600&ssl=1 3x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=1400%2C800&ssl=1 4x"},"classes":[]},{"id":5915,"url":"https:\/\/dyor.webs.upv.es\/en\/english-bearbot-dyor\/","url_meta":{"origin":8182,"position":4},"title":"BearBot DYOR","author":"Daniel Garcia del Buey","date":"Wednesday June 26th, 2024","format":false,"excerpt":"Bearbot is a simple and very easy to build robot that can do more things than it seems at first glance. In this post you'll see what bearBot can do and how it was build and programmed and also some useful tips that could help you do your own robot\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/IMG_20210620_154206-scaled.jpg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/IMG_20210620_154206-scaled.jpg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/IMG_20210620_154206-scaled.jpg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/IMG_20210620_154206-scaled.jpg?resize=700%2C400&ssl=1 2x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/IMG_20210620_154206-scaled.jpg?resize=1050%2C600&ssl=1 3x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/IMG_20210620_154206-scaled.jpg?resize=1400%2C800&ssl=1 4x"},"classes":[]},{"id":7626,"url":"https:\/\/dyor.webs.upv.es\/en\/english-imperialbot-assembly-and-arduino-coding\/","url_meta":{"origin":8182,"position":5},"title":"ImperialBOT Assembly and Arduino Coding","author":"defne","date":"Wednesday June 26th, 2024","format":false,"excerpt":"In this blog post, the assembly and design of the ImperialBot will be explained. Design and Components: Wheels and Motors: Two steerable wheels,\u00a0 two Micro servo SG90, two Micro servo FS90R and a caster wheel. Sensors: Ultrasonic Sensor HC-SR04 and an IR line following module (TCRT5000). Base and Power: Aluminium\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/Ekran-Alintisi-300x167.jpg?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]}],"jetpack_likes_enabled":true,"_links":{"self":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/8182","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/users\/1030"}],"replies":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/comments?post=8182"}],"version-history":[{"count":3,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/8182\/revisions"}],"predecessor-version":[{"id":8256,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/8182\/revisions\/8256"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/media\/8183"}],"wp:attachment":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/media?parent=8182"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/categories?post=8182"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/tags?post=8182"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}