Changes between Initial Version and Version 1 of robocupLogisticsLeague/JapanOpen2020/rulebook

Timestamp:

02/19/20 13:51:33 (5 years ago)

Author:

Wataru UEMURA

Comment:

--

robocupLogisticsLeague/JapanOpen2020/rulebook

@@ +1 @@
+This rule of this page is the draft version.
+
+= Welcome to RC Logistics League Technical Challenge “!StartUp”=
+Concept-Proposal for a technical challenge teams to entry into logistic league
+Idea of RC Logistics League “StartUp” technical challenge
+The RC Logistics League faces different main problems:
+-       The league needs a lot of material to be able to hold a competition.
+-       The basic costs for a new team are relatively high.
+-       The requirements for a new team are very complex.
+These basic problems lead to a shortage of new teams interested in RCLL. Furthermore, new teams are facing a lot of problems to find their way into the many requirements of the RCLL. This leads with interested teams to an excessive demand and a mostly sobering, thereby not motivating, first participation in the cup.
+With the new technical challenge, teams on the lowest level (standard platform) are to be picked up and led step by step to the requirements of the RCLL. In different stages it should be possible to get points and learn the skills that are necessary for the RCLL. In addition, teams with advanced skills have the opportunity to successively prepare for the RCLL challenge.
+Also important for the new technical challenge
+The following points are important for the new technical challenge:
+-       New Teams should be able to get points with the standard-platform and standard software 
+-       Teams should have the opportunity to expand their knowledge and skills until they have mastered all the basic skills to switch to the RCLL.
+-       The playing field should be as free as possible from complex structures and, as far as possible, without the stations (use of simple dummies, if necessary).
+-       With the format “Technical challenge” there is no need to build a new league and the teams are challenged to switch to RCLL, after they get the most important skills.
+Time Schedule for the technical challenge “!StartUP”
+Like RCLL, the TC “StartUp” should last over 3 days. Additionally, 2 setup days are available. A skill sequence should not last longer than 15 minutes including preparation time of playing field and setup of the team. This should allow 4 sequences in one hour. If the first two days are from 9.00 to 19.00, 80 skills-slots would result (If needed). If we assume that 10 teams participate, then over 8 timeslots would result per team.
+In the first two days the goal is to score as many points as possible.
+The best 4 Teams are playing in the final on the third day, each team 3 skills.
+ 
+Skillsmatrix
+The basic idea is that the teams can select their skills from a matrix. The skills are divided into 5 focus topics (still to be defined). Focus means that the focus is on this topic. However, complementary skills may also be required. The focus topics correspond to a requirement in the RCLL. In the individual focus topics there are 3 levels of difficulty which give different points when reaching them. 4 crossover challenges with 100 - 200 points are also available.
+Concept of matrix with 5 focus topics
+||Level ||Points||Topic ||Topic ||Topic ||Topic ||Topic||
+||      ||      ||Driving||Positioning||Detecting||Gripping||Communication||
+||3     ||50    ||Nbr 13||Nbr 23||Nbr 33||Nbr 43||Nbr 53||
+||2     ||30    ||Nbr 12||Nbr 22||Nbr 32||Nbr 42||Nbr 52||
+||1     ||10    ||Nbr 11||Nbr 21||Nbr 31||Nbr 41||Nbr 51||
+
+Crossover Challenges: Nbr 61, 62, 63 and 64
+Important:
+-       With the standard platform and the standard software at least 5-6 skills should be reachable
+-       Most skills do not require any functioning stations and in most cases no RefBox (see flexibility for different organizations).
+Possible Rules:
+General
+-       Each team can choose the skill before the start (to define lead time)
+-       The exact rule is defined in the skills rule
+-       Once a skill has been successfully passed, it may no longer be chosen.
+-       If a skill has started, one maintenance per robot is possible (Like RCLL). 
+-       For communication, we assume that OPC UA, the industry standard, will be used in the future.
+-       The tags used to recognize the stations are based on the tags of Roboview (AR tags, the “dll” exist)
+-       Whenever possible, the standard Refbox should be used so that no 2nd Refbox has to be programmed and maintained. For some crossover challenges an adaptation will be needed.
+Area
+-       The skills area is about 5mx5m with 25 square zones 1mx1m, just like RCLL
+-       Ideally, no boarders are used for the TC. If necessary, 2 boards of 1m each are installed in the corner area S11, S15, S55, S51.
+ 
+Points
+-       A successfully completed skill cannot be repeated.
+-       If 2 or more teams have the same number of points, then whoever has reached the highest level in an exercise wins, or if this is the same, whoever has more of higher levels wins.
+-       If the robot leaves the game area (out of the border the skill is not fulfilled) = 0 points
+-       If the robot touches an obstacle, for each obstacle -5 points.
+Flexibility of different organisations
+In order to hold an event, for example a preparation tournament, at least 3 topics with the 3 levels must be selected. It is not necessary to offer all topics as in the RC.
+Skills- Definition (Proposal)
+See Skills definition on separate sheets 
+
+ 
+Skill-Definition-Sheet
+Nbr     11      Topic   Driving
+Points  10      Robots  1
+Setup   5 min.  Game    5 min.
+Skill-Description       Driving the robot in 2 different field-squares with a defined orientation and move back to start position. The robot should hold its position in the square for at least 5 seconds.
+At the start of the setup-phase, the squares and alignments of the positions to be approached are communicated to the team
+Skill-Example    
+Fulfilled       If the Robot positionned (square and orientation) it self on the two position from the startpoint and get back to the endpoint within the 5 minuten. Manual interaction only permitted in setup phase and maintance.
+Additional
+Information     First position in the zone S12 to S53, second position in the zone S14 to S55
+36 szenarios are prepared, they are choosen by throwing two times a dice
+One maintenance permitted
+Used material   Gaming field
+36 scenarios (Nbr 11)
+1 dice
+
+
+ 
+Skill-Definition-Sheet
+Nbr     12      Topic   Driving
+Points  30      Robots  1
+Setup   5 min.  Game    5 min.
+Skill-Description       Driving the robot in 2 different field-squares with a defined orientation and move back to start position. The robot should hold its position in the square for at least 5 seconds. On the field are two station aligned.
+At the start of the setup-phase, the squares and alignments of the positions to be approached are communicated to the team. Also the positions of the two stations (dummy) are communicated at the start of the setup-phase
+Skill-Example    
+Fulfilled       If the Robot positionned (square and orientation) it self on the two position from the startpoint and get back to the endpoint within the 5 minuten. Manual interaction only permitted in setup phase and maintance.
+Additional
+Information     First position in the zone S12 to S53, second position in the zone S14 to S55
+36 scenarios are prepared, they are choosen by throwing two times a dice
+One maintenance permitted
+Used material   Gaming field
+36 scenarios (Nbr 12)
+1 dice
+2 stations (dummy, 70cm x 35cm x 78cm, white painted)
+ 
+Skill-Definition-Sheet
+Nbr     13      Topic   Driving
+Points  50      Robots  1
+Setup   2 min.  Game    5 min.
+Skill-Description       Driving the robot in 2 different field-squares with a defined orientation and move back to start position. The robot should hold its position in the square for at least 5 seconds. On the field are two station aligned.
+At the start of the setup-phase, the squares and alignments of the positions to be approached are communicated to the team. The positions of the stations are not communicated but just put at the end of the setup-phase.
+Skill-Example    
+Fulfilled       If the Robot positionned (square and orientation) it self on the two position from the startpoint and get back to the endpoint within the 5 minuten. Manual interaction only permitted in setup phase and maintance.
+Additional
+Information     First position in the zone S12 to S53, second position in the zone S14 to S55
+36 scenarios are prepared, they are choosen by throwing two times a dice
+One maintenance permitted
+Used material   Gaming field
+36 scenarios (Nbr 13)
+1 dice
+2 stations (dummy, 70cm x 35cm x 78cm, white painted)
+ 
+Nbr     21      Topic   Positioning
+Points  10      Robots  1
+Setup   5 min.  Game    5 min.
+Skill-Description       Positioning the robot in front of a station (input side) with e distance from 5-10cm and centred +/- 5cm and move back to start position. The robot should hold its position in front of the station for at least 10 seconds.
+At the start of the setup-phase, the squares and alignments of the station to be approached is communicated to the team. 
+Skill-Example    
+Fulfilled       If the Robot positionned (in relation to the station) it self from the startpoint and get back to the endpoint within the 5 minuten. Manual interaction only permitted in setup phase and maintance.
+Additional
+Information     Position of station in the zone S13 to S55
+36 szenarios are prepared, they are choosen by throwing two times a dice
+One maintenance permitted
+Used material   Gaming field
+36 scenarios (Nbr 21)
+1 dice
+1 station (dummy, 70cm x 35cm x 78cm, white painted)
+AR-Tags on the station
+
+ 
+Nbr     22      Topic   Positioning
+Points  30      Robots  1
+Setup   5 min.  Game    5 min.
+Skill-Description       Positioning the robot first in front (input side) and then on the back (output side) of a station (direction matters) with e distance from 5-10cm and centred +/- 5cm and move back to start position. The robot should hold its positions in front and in the back of the station for at least 10 seconds.
+At the start of the setup-phase, the squares and alignments of the station to be approached is communicated to the team. 
+Skill-Example    
+Fulfilled       If the Robot positionned (in relation to the station) it self from the startpoint and get back to the endpoint within the 5 minuten. Manual interaction only permitted in setup phase and maintance.
+Additional
+Information     Position of station in the zone S13 to S55
+36 szenarios are prepared, they are choosen by throwing two times a dice
+One maintenance permitted
+Used material   Gaming field
+36 scenarios (Nbr 22)
+1 dice
+1 station (dummy, 70cm x 35cm x 78cm, white painted)
+AR-Tags on the station
+
+ 
+Nbr     23      Topic   Positioning
+Points  50      Robots  1
+Setup   2 min.  Game    5 min.
+Skill-Description       Positioning the robot on one side of each station with e distance from 5-10cm and centred +/- 5cm and move back to start position. The robot should hold its positions in front and in the back of the station for at least 10 seconds.
+At the start of the setup-phase, the squares and alignments of the station to be approached is not communicated to the team. 
+Skill-Example    
+Fulfilled       If the Robot positionned (in relation to the station) it self from the startpoint and get back to the endpoint within the 5 minuten. Manual interaction only permitted in setup phase and maintance.
+Additional
+Information     Position of station in the zone S13 to S55
+36 szenarios are prepared, they are choosen by throwing two times a dice
+One maintenance permitted
+Used material   Gaming field
+36 scenarios (Nbr 23)
+1 dice
+2 stations (dummy, 70cm x 35cm x 78cm, white painted)
+AR-Tags on the station
+
+ 
+Nbr     31      Topic   Detecting
+Points  10      Robots  1
+Setup   5 min.  Game    2 min.
+Skill-Description       The robot can detect a row of 12 tags (station, input output side and colour) in a randomised order. The order is only known by the referee. The teams have no direct view on the tag. The results must be stored in and list (shown in example) so that the referee can control it. The tag change is announced by “change” by the team
+Skill-Example   
+
+Nbr     Name    In/Out  Color
+        1       RS1     Out     Cy
+        2       BS      In      Cy
+        3       RS2     Out     Mg
+        4       BS      Out     Mg
+        5       DS      In      Mg
+        6       DS      Out     Cy
+        7       RS2     In      Mg
+        8       CS1     In      Cy
+        9       CS2     Out     Cy
+        10      SS      In      Cy
+        11      CS1     Out     Cy
+        12      SS      Out     Cy
+
+Fulfilled       If the list is complet with the right 3 indications per tag in the max 2 minutes.
+Additional
+Information     Distance robot to 2m right-angled
+36 szenarios are prepared, they are choosen by throwing two times a dice
+No maintenance permitted
+Used material   (Gaming field)
+36 scenarios (Nbr 31)
+1 dice
+(1 station (dummy, 70cm x 35cm x 78cm, white painted))
+AR-Tags (on the station)
+
+ 
+Nbr     32      Topic   Detecting
+Points  30      Robots  1
+Setup   5 min.  Game    2 min.
+Skill-Description       The robot can detect a row of 6 tags (station, input output side, colour, field and angle) in a randomised order. The order is only known by the referee. The teams have no direct view on the tag. The results must be stored in and list (shown in example) so that the referee can control it. The tag change is announced by “change” by the team
+Skill-Example    
+Nbr     Name    In/Out  Color   Field   Angle
+1       RS1     Out     Cy      S32     45°°
+2       BS      In      Cy      S33     135°
+3       RS2     Out     Mg      S35     0°
+4       BS      Out     Mg      S24     0°
+5       DS      In      Mg      S44     0°
+6       DS      Out     Cy      S45     0°
+
+Fulfilled       If the list is complet with the right 5 indications per tag in the max 2 minutes.
+Additional
+Information     The different colors shows different possibilities for positionning
+36 szenarios are prepared, they are choosen by throwing two times a dice
+No maintenance permitted
+Time is stopped between the change of tags
+Used material   Gaming field
+36 scenarios (Nbr 32)
+1 dice
+(1-2 station (dummy, 70cm x 35cm x 78cm, white painted))
+AR-Tags (on the station)
+Nbr     33      Topic   Detecting
+Points  50      Robots  1
+Setup   5 min.  Game    3 min.
+Skill-Description       The robot can detect 4 tags on the hole field (station, input and output side) in a randomised order. The sequence is 2 by 2. First detect 2, then “change” and second detect 2. The order is only known by the referee. The teams have no direct view on the tag. The results must be stored in and list (shown in example) so that the referee can control it. The robot turns itself in the centre of square S33 after starting from Startfield
+Skill-Example    
+Nbr     Name    In/Out  Color   Field   Angle
+1       RS1     Out     Cy      S14     135°°
+2       BS      In      Cy      S43     0°
+3       RS2     Out     Mg      S21     90°
+4       BS      Out     Mg      S35     135°
+
+Fulfilled       If the list is complet with the right 5 indications per tag in the max 3 minutes.
+Additional
+Information     36 szenarios are prepared, they are choosen by throwing two times a dice
+No maintenance permitted
+Time is stopped between the change of tags
+Used material   Gaming field
+36 scenarios (Nbr 33)
+1 dice
+2 station (dummy, 70cm x 35cm x 78cm, white painted))
+AR-Tags (on the station)
+
+Nbr     41      Topic   Gripping
+Points  10      Robots  1
+Setup   5 min.  Game    2 min.
+Skill-Description       Grab a C0 and C3 part from a conveyor (alternative shelf) and hold it secure and aligned in the gripper.
+In the setup-phase, the robot can be put manually in front of the robot 
+Skill-Example    
+ 
+
+Fulfilled       If the Robot grad a C0 and a C3 part from a conveyor (alternative shelf) and hold it secure and aligned in the gripper. Manual interaction only permitted in setup phase, restart allowed for second gripping and maintenance
+Additional
+Information     One maintenance permitted
+Restart gripping process for second gripping allowed
+Used material   1 station (dummy, 70cm x 35cm x 78cm, white painted)
+1 conveyor (dummy)
+alternative shelf (has to be announced at the announcement of a competition
+1 C0 product
+1 C3 product
+
+ 
+Nbr     42      Topic   Gripping
+Points  30      Robots  1
+Setup   5 min.  Game    2 min.
+Skill-Description       Grab a C3 part from a shelf hold it secure and aligned in the gripper and put it back to another position (one slot distance) in the shelf
+In the setup-phase, the robot can be put manually in front of the robot (one time) 
+Skill-Example    
+ 
+
+Fulfilled       If the Robot grad a C3  part from a shelf, hold it secure and aligned in the gripper and put it back on another place (one slot distance) in the shelf. Manual interaction only permitted in setup phase and maintenance
+Additional
+Information     One maintenance permitted
+Restart gripping process for second gripping allowed
+Used material   1 station (dummy, 70cm x 35cm x 78cm, white painted)
+1 shelf 
+1 C3 product
+
+ 
+Nbr     43      Topic   Gripping
+Points  50      Robots  1
+Setup   5 min.  Game    2 min.
+Skill-Description       Grab a C3 part from a shelf (position random) hold it secure and aligned in the gripper and put it onto the conveyor
+In the setup-phase, the robot can be put manually in front of the robot (one time). The position of the product in the shelf is defined by throwing a dice and known by the team at beginning of setup-phase.
+Skill-Example    
+ 
+
+Fulfilled       If the Robot grad a C3  part from a shelf, hold it secure and aligned in the gripper and put it onto the conveyor. Manual interaction only permitted in setup phase and maintenance
+Additional
+Information     One maintenance permitted
+Restart gripping process for second gripping allowed
+1-2 position near conveyor
+3-4 middle-position
+5-6 position far conveyor
+Used material   1 station (dummy, 70cm x 35cm x 78cm, white painted)
+1 conveyor (dummy)
+1 shelf 
+1 C3 product
+1 dice
+ 
+Nbr     51      Topic   Communication
+Points  10      Robots  1
+Setup   2 min.  Game    5 min.
+Skill-Description       Receive a simple Message OrderInfo from the Refbox over the public channel and display the Standing Order (Order)
+Skill-Example    
+
+
+Text Description or similar: red base with a black cap on D2
+Fulfilled       if the content of the description corresponds to the order on the refbox
+Additional
+Information     No maintenance
+Used material   RefBox
+
+ 
+Nbr     52      Topic   Communication
+Points  30      Robots  1
+Setup   2 min.  Game    5 min.
+Skill-Description       Establish an encrypted connection to the Refbox and send the Message  BeaconSignal accurately, so that you appear correctly on the refbox-Display
+Skill-Example    
+Fulfilled       If the robot appeared on the refbox display with the correct team name, team color, jersey number and ip-adress.
+Additional
+Information     No maintenance
+Used material   RefBox
+ 
+Nbr     53      Topic   Communication
+Points  50      Robots  1
+Setup   2 min.  Game    5 min.
+Skill-Description       Establish an encrypted connection to the Refbox, receive the Message MachineInfo i.e. position data of the plants and display them in a list  (shown in example) so that the referee can control and compare it to the Refbox.
+Skill-Example    
+
+Station Cyan    Square  Angle   Station Magenta Square  Angle
+BS      Z9      0°      BS      Z21     180°
+DS      Z4      45°     DS      Z16     225°
+RS1     Z17     0°      RS1     Z5      180°
+RS2     Z8      90°     RS2     Z20     270°
+CS1     Z23     90°     CS1     Z11     270°
+SS      Z6      225°    SS      Z18     45°
+
+Fulfilled       If the list is complet with the right 2 indications per station in the max 5 minutes.
+Additional
+Information     No maintenance
+Used material   RefBox
+
+ 
+
+Nbr     61      Topic   Driving/ Positioning / Detection
+Points  100     Robots  1
+Setup   2 min.  Game    5 min.
+Skill-Description       Positioning the robot in front (Input-Side) of two stations with e distance from 5-10cm and centred +/- 5cm and move back to start position. The robot should hold its positions in front of the stations for at least 10 seconds. The order doesn’t matter.
+At the start of the setup-phase, the squares and alignments of the station to be approached is not communicated to the team. 
+Skill-Example    
+Fulfilled       If the Robot positionned (in relation to the station) it self from the startpoint and get back to the endpoint within the 5 minuten. Manual interaction only permitted in setup phase and maintance.
+Additional
+Information     Position of station in the zone S13 to S55
+36 szenarios are prepared, they are choosen by throwing two times a dice
+One maintenance permitted
+Used material   Gaming field
+36 scenarios (Nbr 61)
+1 dice
+2 stations (dummy, 70cm x 35cm x 78cm, white painted)
+AR-Tags on the station
+
+ 
+Nbr     62      Topic   
+Points  130     Robots  1
+Setup   5 min.  Game    5 min.
+Skill-Description       Exploration Phase.
+After connection to the RefBox , the robot gets the signal to start exploration. There are three stations on the field with unknown positions.
+They have to communicate  type, position and orientation.
+Skill-Example    
+Fulfilled       
+Additional
+Information     One maintenance permitted.
+Used material   Gaming field
+3 stations (dummy, 70cm x 35cm x 78cm, white painted)
+AR-Tags on the station
+RefBox small (adapted)
+
+ 
+Nbr     63      Topic   All over
+Points  160     Robots  1
+Setup   5 min.  Game    5 min.
+Skill-Description       Get a product and deliver it to another station
+After connect to Refbox, the team gets the information to produce. They have to communicate just like LL. On the first station (positioning information from Refbox) they have to pickup a product C3 and bring it to delivery-station (positioning information from Refbox).
+Skill-Example    
+Fulfilled       If the C3 Product has been picked up at one station and taken to the other station within the 5 minutes.
+Additional
+Information     First position in the zone S12 to S53, second position in the zone S14 to S55
+One maintenance permitted
+Used material   Gaming field
+2 stations (dummy, 70cm x 35cm x 78cm, white painted)
+2 conveyor (dummy)
+1 C3 product
+AR-Tags on the station
+RefBox small (adapted)
+        
+
+
+
+Nbr     64      Topic   
+Points  200     Robots  1
+Setup   5 min.  Game    10 min.
+Skill-Description       Production of C0 product.
+After connection to the RefBox , the robot gets the signal to start production of C0 product. The Robot gets the information ( type, position and orientation) for three stations (BS, CS,DS) where BS and DS are dummy stations. Robot must communicate with CS station. 
+
+Skill-Example    
+Fulfilled       
+Additional
+Information     One maintenance permitted.
+Used material   One CAP-station, two dummy stations, 2 dummy conveyors,
+AR-tags on stations, small REfBox.
+
+