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ミニサイズの自律走行ロボット

https://blog.with2.net/link/?1965529

ミニサイズの自律走行ロボット

https://blog.with2.net/link/?1965529

倒立振子はしばらくお休みとして、出来るだ小さなロボットを作ってみたくなってきました。
きっかけは、以前購入して在庫になっているSG90という重さ僅か9gのサーボモータを連続回転しようという記事をネット上でみつけたことです。その記事はこちらです。
http://d.hatena.ne.jp/licheng/20140822/p1

https://blog.goo.ne.jp/takapon-huneblog/e/90ed22118caff27e9f7fab2cf2ef4ed0

連続回転サーボに改造するポイントは、
1:出力ギアのストッパーを切り取り360度回転できるようにする。
2:出力ギアとポテンショメーターが連動しないようにし、ポテンショメーターをニュートラルで固定する。

そこそこトルクもありそうなので、タミヤのクローラぐらいは駆動できそうです。
であれば出来るだけ小さなクローラタイプの車体を作ってみようかと思い立ちました。

小型化で問題になるのはバッテリーですが、小型のリチウム電池RCR123Aを1個を基板上に載せて3.7Vを秋月電子のAE-XCL101C501BR-GというDCーDCコンバータで5Vに昇圧します。マイコンはAITENDOの「あちゃんでいいの」を使っていますみることに、どうせならば距離センサーで障害物検知とリモコン走行のために赤外線受信器をという構想がまとまりました。

回路図です。

それでは工作にとりかかります。まずはSG90の全回転化の工作です。参考にさせていただいたサイトの案内にしたがって進めていきます。細かな作業になりますが一個目は問題なく完成、二個目で問題発生です。ポテンショメータ軸を固定するために流し込んだ瞬間接着剤が変なところに入ってしまったようで抵抗値がゼロになってしまいました。仕方がないので基板上のポテンショメータ接続点に半固定抵抗を半田付けしてみました。手持ちに2kしかなかったのですが、これでも問題なしです。結果的にはこの方が中立点を外部から調整できるので便利です。このあたりの情報は下記サイトを参照。

http://iot.keicode.com/electronics/sg90-servo-continuous-rotation.php

http://tsumeguruma.blog46.fc2.com/blog-entry-32.html

対策した半固定抵抗です

クローラ部分はタミヤの「楽しい工作シリーズ・トラック&ホイールセット」を利用します。完成した走行部です。

クローラを取り外した状態

クローラをつけてみました

基板後方にAE-XCL101C501BR-Gコンバータとスイッチが見えます。

距離センサの首振りサーボに連動させて機体の後方でPOWERLEDを首振りさせるようにしてみました、ちょうど尻尾のようでなかなか可愛いです。

完成した本体です。重量は125gでした。

さて、試運転です。プログラムは以前に制作した同様の機体のものを流用しています。前方は常に監視、空きがなければ停止し左右の空きのあるほうへ旋回、さらに0.1秒ごとに左右を監視、左右が限度距離以下であれば空いているほうに旋回、どちらも空きがなければ反転というふうにしてありますが、動画を見る限りではまだうまく動いてはいませんが、なんとなく監視と回避運動は出来ているようです。

直進性も調整してやらなければならないようです。半固定抵抗を追加して機械的に左右のクローラの回転数を調整するほうがプログラムで常数変更するよりは簡単かもしれません。

さらに衝突回避のプログラムのブラッシュアップが必要です、赤外線センサーも搭載してあるのでいずれはリモコン操作にも挑戦してみるつもりです。

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