Zumo Robot for Arduino (조립완제품 with 75:1 HP Motors)
The Pololu Zumo robot is an Arduino-controllable tracked robot platform that is less than 10 cm × 10 cm?small enough to qualify for Mini Sumo. It includes two micro metal gearmotors coupled to a pair of silicone tracks, a stainless steel bulldozer-style blade, an array of six infrared reflectance sensors for line following or edge detection, a 3-axis accelerometer and magnetometer, and a buzzer for simple sounds and music. Just add 4 AA batteries and an Arduino (or compatible controller) and you are ready to push! No soldering or assembly is required.
The Zumo robot is a low-profile tracked robot platform intended for use with an Arduino (or compatible device) as its main controller. It measures less than 10 cm on each side and weighs approximately 300 g with an Arduino Uno and batteries (165 g without, as shipped), so it is both small enough and light enough to qualify for Mini-Sumo competitions. It uses two75:1 HP micro metal gearmotorsto drive the treads, providing plenty of torque and a top speed of approximately 2 feet per second (60 cm/s), which makes it much more agile than competing robots like theSolarbotics SumovoreandParallax SumoBotwhile still offering plenty of control. The Zumo robot includes a 0.036"-thick laser-cut stainless steelsumo blademounted to the front of the chassis for pushing around objects like other robots, and areflectance sensor arraymounted along the front edge of the Zumo (behind the sumo blade) allows the Zumo to detect features on the ground in front of it, such as lines for following or edges for avoiding.
The Zumocontrol boardis essentially a shield for theArduino UnoorLeonardo, both of which can be plugged directly into the shield’s male header pins, face down. (It is not compatible with the Arduino Mega or Due, but it can be used with older Arduinos that have the same form factor as the Uno, such as the Duemilanove.) The shield includes dual motor drivers, a buzzer for playing simple sounds and music, a user pushbutton, and a 3-axis accelerometer, compass, and gyroscope for sensing impacts and tracking orientation. It also boosts the battery voltage to power the Arduino and breaks out the Arduino I/O lines, reset button, and user LED for convenient access and to accommodate additional sensors. The only difference between this and theprevious Zumo Robot versionis the use of av1.2 Zumo shieldin place of theprevious shield version. This newer control board has a newer accelerometer/magnetometer module and adds a 3-axis gyroscope, but it is otherwise identical to the previous shield.
Mounted array of sixIR reflectance sensorsthat allows the Zumo to detect contrasts in reflectivity directly beneath its blade, which can be used for following lines or detecting edges (e.g. the white outer area of a sumo ring or the edge of a table).
IntegratedDRV8835dual motor drivers capable of delivering enough current for the Zumo’s two high-power gearmotors.
Piezo buzzer for playing simple sounds and music. The buzzer is controlled by one of the Arduino’s PWM outputs, so tones can be generated in the background without taking up a lot of processing power.
IntegratedLSM303D3-axis accelerometer and 3-axis magnetometer that can be used to detect impacts. The compass gets a lot of interference from the motors, batteries, PCB, and its surroundings, so it is not generally useful for precision navigation, but we have found that with proper calibration, it can be used for rough orientation measuring in many environments. This part is an upgrade over theLSM303DLHCaccelerometer/magnetometer IC included on previous versions of the Zumo shield for Arduino.
IntegratedL3GD20H3-axis gyroscope that can be used to track rotation. This is new on the v1.2 version of the Zumo shield; previous versions did not include a gyro. With this sensor and the LSM303D mentioned above, the shield effectively has a built-inMinIMU-9 v3IMU module that can optionally be used to make a attitude and heading reference system (AHRS) so that your robot can its orientation.
Optional user pushbutton on pin 12.
7.5 V boost regulator for powering the Arduino from the Zumo’s 4 AA batteries.
Convenient access to Arduino I/O lines, the pin 13 user LED, and the Arduino reset line via the shield.
General-purpose prototyping areas and an expansion area at the front for connecting additional sensors.
Compatible with the Arduino Uno R3 and Arduino Leonardo. Can also be used with older Arduinos that have the same form factor, like the Duemilanove.
Required Accessories (not included) • An Arduino. The Zumo Shield works with both the Uno and the Leonardo.
It is not compatible with the Arduino Mega or Due, but it can be used with older Arduinos
that have the same form factor as the Uno, such as the Duemilanove.
(Other Arduino-compatible controllers might work with the Zumo robot, but support
for them will be limited and they might require modification; for example,
one customer got his Zumo robot working with the Freescale FRDM-KL25Z board.)
• Four AA batteries. The Zumo chassis works with both alkaline and NiMH batteries,
though we recommend rechargeable NiMH cells.