Transcript Mini Sumo Robot Competition Explained - t4

Technology
Robotics
1
Irish Mini Sumo Robot
Competition Explained
2
Educational Aims
To develop student interest and expertise in the area of Applied
Control through building autonomous Mini Sumo Robots and
subsequently competing them against each other in both school
based and national Mini Sumo Robot Tournaments.
Students will develop skills in the following areas:
•Design
•Material Processing
•Mechanisms
•Robotics
•PIC Control
•Mathematics
•GENIE PIC Programming Software
3
1.Competition Overview
4
What is Robot Sumo?
Robot-Sumo is a sport in which two robots attempt to push
each other out of a circle (in a similar fashion to the sport of
Sumo). The robots used in this competition are often called
Sumobots.
The engineering challenges are for the robot to find its
opponent (usually accomplished with infrared or ultra-sonic
sensors) and to push it out of the flat arena. A robot should
also avoid leaving the arena, usually by means of a sensor
that detects the edge.
The most common "weapon" used in a Sumobot competition
is an angled blade at the front of the robot, usually tilted at
about a 45 degree angle towards the back of the robot. This
blade may have an adjustable height for different tactics.
5
Sumo Robot Classes
There are four main classes of Sumo Robot.
Class
Max Length
(cm)
Max Width
(cm)
Max Weight
(grams)
Max Height
(cm)
Mega
20
20
3000
Unlimited
Mini
10
10
500
Unlimited
Micro
5
5
100
5
Nano
2.5
2.5
25
2.5
The Irish Schools Competition is currently only for the Mini Sumo Robot.
6
Mini Sumo Robot Competition Ring
Ring
Name
Ring
Diameter
Ring
Height
White Border
Width
Start Line
Width
Start Line
Length
Start Line
From Center
Mini
Sumo
77 cm
2.5 cm
2.5 cm
1 cm
10 cm
5cm
Schools should make a similar ring from sprayed MDF etc to
test their Mini Sumo Robots.
7
Irish Mini Sumo Robot Competition
A mini-sumo robot must be able to do the following:
• Stay in the ring: Survive
• Look for the opponent: Hunt
• Aim at the opponent: Target
• Push the opponent: Attack
8
State
SURVIVE
Description
The robot enters this state
when it detects the table
edge using its LDR sensor(s)
Its goal is to survive by not
going off the table
The robot rotates away from
the sensor that sensed the
edge to face back toward the
centre of the table
Actions
Rotate away from the
line sensor that
sensed the edge.
Switch back to HUNT
state when rotation is
complete.
9
State
HUNT
Description
Actions
The robot is not at the edge of Switch to SURVIVE
the table but hasn’t sensed
state if table edge is
the opponent
detected
The robot moves around in a
set pattern so its infra red
range sensor(s) will sweep
across the ring in the hope of
sensing the opponent
Switch to TARGET
state if range sensors
indicate an object
ahead
Otherwise, drive in the
set pattern
10
State
Description
TARGET
The opponent has
been sensed
ahead using the
infra red sensor(s)
Aim the robot to
face the opponent
directly
Actions
Switch to SURVIVE
state if ring edge detected
If still sensing opponent, but
opponent is not directly ahead,
turn slightly to aim at opponent
If opponent is directly ahead
and close switch to ATTACK
state
If opponent is ahead but not
close, move straight forward
Otherwise, switch to HUNT state
11
State
Description
ATTACK The opponent has been
found and aiming is
complete.
Drive straight ahead at full
power to push the
opponent off the table.
Actions
1. Switch to SURVIVE
state if table edge
detected.
2. Otherwise, drive
straight forward at full
power.
12
Mini Sumo Robot
Examples
13
14
15
16
17
18
19
20
21
22
This is a SolidWorks render of a sample Mini Sumo Robot.
Instructions for the manufacture of this robot are available in folder
3.Sample Mini Sumo Robot Manufacture
23
Rear view of the SolidWorks render.
24
Required Components for
Irish Mini Sumo Robot
Competition
25
In order to minimise costs for and ensure fairness
and equality during competition, specifications for
the following main components have been created:
•Motors
•PIC Control Board
•Edge Sensing LDR
•Infra Red Distance Sensor
26
Specified Motors
This economy motorised gearbox is
fitted with a 3 to 12V DC motor.
The output shaft is 5.5mm diameter
and 9mm long with 2 flats.
It is available from Rapid Electronics.
Click on the link below for details.
http://www.rapidonline.com/Electrical-Power/Fans-Motors/Gearboxes/120:1-Inlinemotor-and-gearbox/81728/kw/motor
27
Specified Motors
A robust worm-drive gearbox powered by
an MM28 motor (included).
Most suitable for applications where an
easy to fit, high torque output is required.
Ideal for student based projects including
robots and buggies
Click on the link below for details.
http://www.rapidonline.com/Electrical-Power/Fans-Motors/Gearboxes/Worm-drivegearbox-with-motor/64483/kw/Motor+and+gearbox+1%3a220
28
PIC Control Board
The GENIE E18 Motor Board must be used to control the Mini Sumo
Robot.
A kit containing all necessary components to build this board can be
purchased at:
http://www.rapidonline.com/sku/Electronic-Components/IntegratedCircuits/Genie/GENIE-18-pin-microcontroller-system-kits/124896/13-6016
The required GENIE Design studio software can be downloaded free
from the GENIE website at:
http://www.genieonline.com/
The folder labelled 4. Using GENIE Design Studio to Program a Mini
Sumo Robot contains information on using the software along with
example videos of student Mini Sumo Robots in action.
29
GENIE E18 Motor Board
30
Edge Sensing LDRs
A compact low cost cadmium sulphide light
dependent resistor (LDR) housed in a small
package.
Click on the link below for details of this or
similar LDRs:
http://www.rapidonline.com/ElectronicComponents/Optoelectronics/Photodetectors/Miniature-light-dependentresistor/34796/kw/ldr
31
Infra Red Distance Sensor
The GP2Y0A21 Sharp distance sensor
is a great way to add obstacle
avoidance or motion sensing to your
robot or any other project.
With built in emitter and receivers, a
detection range of 10 to 80cm and an
analogue voltage indicating the
distance, this sensor is very easy to
use.
Click on the link below for details.
http://www.pololu.com/catalog/product/136/pictures
32
If any school is interested in entering the 2012 Inaugural Irish Mini
Sumo Robot Tournament which will be held in January 2012 please
contact:
Declan Askin
St. Gerald’s College
Castlebar
Co. Mayo
087 4181690
[email protected]
www.geralds.ie
33