るん太郎の仕組み(2016年知能ロボコン, 先端ものづくりチャレンジ)
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2016年知能ロボコンと先端ものづくりチャレンジに参加したロボット「るん太郎」の紹介です。 ヤフオクで拾ったルンバを改造し，ボールを拾い集めるロボットにしました。 ?フィールド上のボールを自動認識，取得 ?色ごとにわけられたゴールへ運搬 動画 https://www.youtube.com/watch?v=N_cIqADCAbo
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? Gain insight into different AI-based tools
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- 3. なまえ： るん太郎 移動：独立二輪 (エンコーダ，ライントレース) ボール検知：距離センサ ボール色：カラーセンサ ホール取得：ハンド こうなりました ? ルンバのアクチュエータとセンサを活用しつつ，足りない ものを追加。 ? ルンバ本体には加工しておらず，部品交換のみで通常 のルンバとしてお掃除できます。
- 4. 【特徴】ルンバの外周をアームが移動 ボール運搬方法 アームユニット全体が 外周を移動してボールを運搬 ボールを5つ積載可能 1, 掴む 2, 持ち上げる 3, 搭載位置へ移動してコロンッ アーム開閉 アーム上下 4, ボールを捨てるときは逆の手順で。 (写真は2016年知能ロボコン時点) アームユニット 可動範囲
- 5. ? 外周に歯車を形成 ? 機構は無茶してます… アームユニット移動機構 モジュール0.5 減速比 約1:5 モータ： シチズンマイクロ SCR16-3502
- 6. ? エンコーダを自作 ? M系列信号の1と0が穴の有り,無しに対 応 ? アームに設置した8つのフォトインタラプタ で、それぞれ穴が開いているかどうかを 判定 ? 8bitで読む限り同じ穴のパターンは現れ ないため、現在の位置が分かる フォトインタラプタ(GP1A53HCJ00F) x8 アームユニット位置決め
- 8. メインマイコン ? RX63N (R5F563NBDDFP) ? GR-SAKURAを単なるマイコン ボードとして使用 ? 開発環境：CS+ ? 言語：C++ ? 拡張用の基板を作成 ? GPIO 24ch(含A/D8ch) ? 通信 SCI 3ch, I2C 1ch, CAN 1ch ? モータードライバ 1.2A x4 ? Futabaシリアルサーボ ? エンコーダ 2ch ? スピーカ ? IMU (MPU9250)
- 9. ルンバ ? iRobot Roomba770 ? ルンバは台車！ ? 2cmの段差を越えられる走行 性能 ? ルンバはセンサ！ ? タイヤエンコーダ、壁タッチ、壁 との距離、崖、モータ電流 ? ルンバは遊べる！ ? 天板のLEDピカピカ、音ピコピコ、 掃除 シリアル通信用ポート シリアル通信でやり取り (ハード的な改造が不要)
- 10. ルンバ ? ハマりポイント ? 500シリーズ用コマンドしか公開されていない(?) ? 700シリーズでも概ね同じコマンドで動作。 ? 天板の表示LEDや音関係に差異あり ? バッテリの電流制限あり ? →別途リポ搭載 ? 回路スペース ? 掃除ユニットを取り外して制御回路を搭載。 (吸引ファンは回せるので強制空冷出来るっ)
- 11. ToF測距センサ ? ボール検知用 ? VL53L0X モジュール ? 測距距離 max 2m ? I2C接続 ? クロス配置 ? ロボットやセンサを振らず に，フィールド上のボール を発見可能 ? 使用感 ? 検知する角度が30°ほど あるので誤検知に注意 ? エッジ部分の反射により(?) 誤検知あり。真ん中の島の 角部分で見えないものが 見えてしまう。
- 12. カラーセンサ ? S11059-02DT ? I2C接続 ? 基板作成 ? 白色LEDとセットでコンパクト ? 制御 ? LED on時とoff時の値の差 分をセンサ値として使い、 外乱を低減。 ? RGBの値をHSVへ変換し、 彩度で判定 ? ボール取得に成功したか 否かも判定
- 13. ラインセンサ ? LBR-127HLD ? バラして配置(フォトTrを4つ。 間に赤外LED5つ) ? 制御 ? 赤外LED on時とoff時のAD 値の差分を使い、外乱の影 響を低減 ? AD値の比率から、車体がラ インからどれだけずれてい るかを検知 光る方 受ける方 ライン位置を動かしたときの各センサ値
- 14. サーボ ? Futaba RS308MD ? 週間ロビ用 ? シリアルサーボ(コマンド方 式サーボ) ? シリアル通信でやり取り ? 角度、速度、最大トルク 等々を指令できる。 ? サーボの現在角度、速度、 電流とかとかが読める。 ? 1つのラインに127台まで繋 げることが可能 サーボマイコンへ
- 15. Bluetooth基板 ? Bluetoothでシリアル通信 ? PCと無線で通信 ? デバッグメッセージ出力とか ? PS3コントローラも無線、有線 で接続可能 →ルンバをPS3コンで操作 ? PIC24FJでUSBとか制御 ? ランニングエレクトロニクス※さ んにて公開されているソフトを 流用 マイ コン SBDBT互 換基板 PC (Teraterm とか) PS3コント ローラ シリアル Bluetooth(SPP,HID) PCとPS3同時に接続もOK ※www.runele.com/
- 17. 以下补足。
- 19. るんば 0 1 1 0 1 1 0 0 1 1 0 1 1 0 0 1 LED 受光部 遮光板 ??? ??? アームを1bit分右へ移動 LED 受光部 遮光板 M系列板の読み方 0b01101100 = 0x6C 0b11011001 = 0xD9 この値でテーブル参照
- 21. ? メカ ? CAD CubifyDesign(今はDesignって名前に変わってる) ? ボール盤 ? 旋盤 ? レーザー加工機 ? 回路 ? Eagleで設計，Elecrowにプリント基板発注。 ? ソフト ? CS+(RX63N) C++ ? MPLAB(dsPIC，PIC) C 開発環境