Changes between Version 4 and Version 5 of robocupLogisticsLeague/JapanOpen2020/rulebook


Ignore:
Timestamp:
Feb 19, 2020, 5:36:51 PM (5 months ago)
Author:
Wataru UEMURA (IP: 133.83.90.98)
Comment:

--

Legend:

Unmodified
Added
Removed
Modified
  • robocupLogisticsLeague/JapanOpen2020/rulebook

    v4 v5  
    6565== Skills- Definition (Proposal) ==
    6666See Skills definition on separate sheets
    67 
    68 
    69 == Skill-Definition-Sheet ==
    70 ||Nbr   ||12    ||Topic ||Driving||
    71 ||Points||30    ||Robots||1||
    72 ||Setup ||5 min.||Game  ||5 min.||
    73  * Skill-Description
    74    * 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.[[br]]
    75      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
    76 Skill-Example   
    77 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.
    78 Additional
    79 Information     First position in the zone S12 to S53, second position in the zone S14 to S55
    80 36 scenarios are prepared, they are choosen by throwing two times a dice
    81 One maintenance permitted
    82 Used material   Gaming field
    83 36 scenarios (Nbr 12)
    84 1 dice
    85 2 stations (dummy, 70cm x 35cm x 78cm, white painted)
    86 
    87 Skill-Definition-Sheet
    88 Nbr     13      Topic   Driving
    89 Points  50      Robots  1
    90 Setup   2 min.  Game    5 min.
    91 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.
    92 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.
    93 Skill-Example   
    94 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.
    95 Additional
    96 Information     First position in the zone S12 to S53, second position in the zone S14 to S55
    97 36 scenarios are prepared, they are choosen by throwing two times a dice
    98 One maintenance permitted
    99 Used material   Gaming field
    100 36 scenarios (Nbr 13)
    101 1 dice
    102 2 stations (dummy, 70cm x 35cm x 78cm, white painted)
    103 
    104 Nbr     21      Topic   Positioning
    105 Points  10      Robots  1
    106 Setup   5 min.  Game    5 min.
    107 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.
    108 At the start of the setup-phase, the squares and alignments of the station to be approached is communicated to the team.
    109 Skill-Example   
    110 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.
    111 Additional
    112 Information     Position of station in the zone S13 to S55
    113 36 szenarios are prepared, they are choosen by throwing two times a dice
    114 One maintenance permitted
    115 Used material   Gaming field
    116 36 scenarios (Nbr 21)
    117 1 dice
    118 1 station (dummy, 70cm x 35cm x 78cm, white painted)
    119 AR-Tags on the station
    120 
    121 
    122 Nbr     22      Topic   Positioning
    123 Points  30      Robots  1
    124 Setup   5 min.  Game    5 min.
    125 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.
    126 At the start of the setup-phase, the squares and alignments of the station to be approached is communicated to the team.
    127 Skill-Example   
    128 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.
    129 Additional
    130 Information     Position of station in the zone S13 to S55
    131 36 szenarios are prepared, they are choosen by throwing two times a dice
    132 One maintenance permitted
    133 Used material   Gaming field
    134 36 scenarios (Nbr 22)
    135 1 dice
    136 1 station (dummy, 70cm x 35cm x 78cm, white painted)
    137 AR-Tags on the station
    138 
    139 
    140 Nbr     23      Topic   Positioning
    141 Points  50      Robots  1
    142 Setup   2 min.  Game    5 min.
    143 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.
    144 At the start of the setup-phase, the squares and alignments of the station to be approached is not communicated to the team.
    145 Skill-Example   
    146 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.
    147 Additional
    148 Information     Position of station in the zone S13 to S55
    149 36 szenarios are prepared, they are choosen by throwing two times a dice
    150 One maintenance permitted
    151 Used material   Gaming field
    152 36 scenarios (Nbr 23)
    153 1 dice
    154 2 stations (dummy, 70cm x 35cm x 78cm, white painted)
    155 AR-Tags on the station
    156 
    157 
    158 Nbr     31      Topic   Detecting
    159 Points  10      Robots  1
    160 Setup   5 min.  Game    2 min.
    161 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
    162 Skill-Example   
    163 
    164 Nbr     Name    In/Out  Color
    165         1       RS1     Out     Cy
    166         2       BS      In      Cy
    167         3       RS2     Out     Mg
    168         4       BS      Out     Mg
    169         5       DS      In      Mg
    170         6       DS      Out     Cy
    171         7       RS2     In      Mg
    172         8       CS1     In      Cy
    173         9       CS2     Out     Cy
    174         10      SS      In      Cy
    175         11      CS1     Out     Cy
    176         12      SS      Out     Cy
    177 
    178 Fulfilled       If the list is complet with the right 3 indications per tag in the max 2 minutes.
    179 Additional
    180 Information     Distance robot to 2m right-angled
    181 36 szenarios are prepared, they are choosen by throwing two times a dice
    182 No maintenance permitted
    183 Used material   (Gaming field)
    184 36 scenarios (Nbr 31)
    185 1 dice
    186 (1 station (dummy, 70cm x 35cm x 78cm, white painted))
    187 AR-Tags (on the station)
    188 
    189 
    190 Nbr     32      Topic   Detecting
    191 Points  30      Robots  1
    192 Setup   5 min.  Game    2 min.
    193 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
    194 Skill-Example   
    195 Nbr     Name    In/Out  Color   Field   Angle
    196 1       RS1     Out     Cy      S32     45°°
    197 2       BS      In      Cy      S33     135°
    198 3       RS2     Out     Mg      S35     0°
    199 4       BS      Out     Mg      S24     0°
    200 5       DS      In      Mg      S44     0°
    201 6       DS      Out     Cy      S45     0°
    202 
    203 Fulfilled       If the list is complet with the right 5 indications per tag in the max 2 minutes.
    204 Additional
    205 Information     The different colors shows different possibilities for positionning
    206 36 szenarios are prepared, they are choosen by throwing two times a dice
    207 No maintenance permitted
    208 Time is stopped between the change of tags
    209 Used material   Gaming field
    210 36 scenarios (Nbr 32)
    211 1 dice
    212 (1-2 station (dummy, 70cm x 35cm x 78cm, white painted))
    213 AR-Tags (on the station)
    214 Nbr     33      Topic   Detecting
    215 Points  50      Robots  1
    216 Setup   5 min.  Game    3 min.
    217 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
    218 Skill-Example   
    219 Nbr     Name    In/Out  Color   Field   Angle
    220 1       RS1     Out     Cy      S14     135°°
    221 2       BS      In      Cy      S43     0°
    222 3       RS2     Out     Mg      S21     90°
    223 4       BS      Out     Mg      S35     135°
    224 
    225 Fulfilled       If the list is complet with the right 5 indications per tag in the max 3 minutes.
    226 Additional
    227 Information     36 szenarios are prepared, they are choosen by throwing two times a dice
    228 No maintenance permitted
    229 Time is stopped between the change of tags
    230 Used material   Gaming field
    231 36 scenarios (Nbr 33)
    232 1 dice
    233 2 station (dummy, 70cm x 35cm x 78cm, white painted))
    234 AR-Tags (on the station)
    235 
    236 Nbr     41      Topic   Gripping
    237 Points  10      Robots  1
    238 Setup   5 min.  Game    2 min.
    239 Skill-Description       Grab a C0 and C3 part from a conveyor (alternative shelf) and hold it secure and aligned in the gripper.
    240 In the setup-phase, the robot can be put manually in front of the robot
    241 Skill-Example   
    242  
    243 
    244 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
    245 Additional
    246 Information     One maintenance permitted
    247 Restart gripping process for second gripping allowed
    248 Used material   1 station (dummy, 70cm x 35cm x 78cm, white painted)
    249 1 conveyor (dummy)
    250 alternative shelf (has to be announced at the announcement of a competition
    251 1 C0 product
    252 1 C3 product
    253 
    254 
    255 Nbr     42      Topic   Gripping
    256 Points  30      Robots  1
    257 Setup   5 min.  Game    2 min.
    258 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
    259 In the setup-phase, the robot can be put manually in front of the robot (one time)
    260 Skill-Example   
    261  
    262 
    263 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
    264 Additional
    265 Information     One maintenance permitted
    266 Restart gripping process for second gripping allowed
    267 Used material   1 station (dummy, 70cm x 35cm x 78cm, white painted)
    268 1 shelf
    269 1 C3 product
    270 
    271 
    272 Nbr     43      Topic   Gripping
    273 Points  50      Robots  1
    274 Setup   5 min.  Game    2 min.
    275 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
    276 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.
    277 Skill-Example   
    278  
    279 
    280 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
    281 Additional
    282 Information     One maintenance permitted
    283 Restart gripping process for second gripping allowed
    284 1-2 position near conveyor
    285 3-4 middle-position
    286 5-6 position far conveyor
    287 Used material   1 station (dummy, 70cm x 35cm x 78cm, white painted)
    288 1 conveyor (dummy)
    289 1 shelf
    290 1 C3 product
    291 1 dice
    292 
    293 Nbr     51      Topic   Communication
    294 Points  10      Robots  1
    295 Setup   2 min.  Game    5 min.
    296 Skill-Description       Receive a simple Message OrderInfo from the Refbox over the public channel and display the Standing Order (Order)
    297 Skill-Example   
    298 
    299 
    300 Text Description or similar: red base with a black cap on D2
    301 Fulfilled       if the content of the description corresponds to the order on the refbox
    302 Additional
    303 Information     No maintenance
    304 Used material   RefBox
    305 
    306 
    307 Nbr     52      Topic   Communication
    308 Points  30      Robots  1
    309 Setup   2 min.  Game    5 min.
    310 Skill-Description       Establish an encrypted connection to the Refbox and send the Message  BeaconSignal accurately, so that you appear correctly on the refbox-Display
    311 Skill-Example   
    312 Fulfilled       If the robot appeared on the refbox display with the correct team name, team color, jersey number and ip-adress.
    313 Additional
    314 Information     No maintenance
    315 Used material   RefBox
    316 
    317 Nbr     53      Topic   Communication
    318 Points  50      Robots  1
    319 Setup   2 min.  Game    5 min.
    320 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.
    321 Skill-Example   
    322 
    323 Station Cyan    Square  Angle   Station Magenta Square  Angle
    324 BS      Z9      0°      BS      Z21     180°
    325 DS      Z4      45°     DS      Z16     225°
    326 RS1     Z17     0°      RS1     Z5      180°
    327 RS2     Z8      90°     RS2     Z20     270°
    328 CS1     Z23     90°     CS1     Z11     270°
    329 SS      Z6      225°    SS      Z18     45°
    330 
    331 Fulfilled       If the list is complet with the right 2 indications per station in the max 5 minutes.
    332 Additional
    333 Information     No maintenance
    334 Used material   RefBox
    335 
    336 
    337 
    338 Nbr     61      Topic   Driving/ Positioning / Detection
    339 Points  100     Robots  1
    340 Setup   2 min.  Game    5 min.
    341 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.
    342 At the start of the setup-phase, the squares and alignments of the station to be approached is not communicated to the team.
    343 Skill-Example   
    344 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.
    345 Additional
    346 Information     Position of station in the zone S13 to S55
    347 36 szenarios are prepared, they are choosen by throwing two times a dice
    348 One maintenance permitted
    349 Used material   Gaming field
    350 36 scenarios (Nbr 61)
    351 1 dice
    352 2 stations (dummy, 70cm x 35cm x 78cm, white painted)
    353 AR-Tags on the station
    354 
    355 
    356 Nbr     62      Topic   
    357 Points  130     Robots  1
    358 Setup   5 min.  Game    5 min.
    359 Skill-Description       Exploration Phase.
    360 After connection to the RefBox , the robot gets the signal to start exploration. There are three stations on the field with unknown positions.
    361 They have to communicate  type, position and orientation.
    362 Skill-Example   
    363 Fulfilled       
    364 Additional
    365 Information     One maintenance permitted.
    366 Used material   Gaming field
    367 3 stations (dummy, 70cm x 35cm x 78cm, white painted)
    368 AR-Tags on the station
    369 RefBox small (adapted)
    370 
    371 
    372 Nbr     63      Topic   All over
    373 Points  160     Robots  1
    374 Setup   5 min.  Game    5 min.
    375 Skill-Description       Get a product and deliver it to another station
    376 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).
    377 Skill-Example   
    378 Fulfilled       If the C3 Product has been picked up at one station and taken to the other station within the 5 minutes.
    379 Additional
    380 Information     First position in the zone S12 to S53, second position in the zone S14 to S55
    381 One maintenance permitted
    382 Used material   Gaming field
    383 2 stations (dummy, 70cm x 35cm x 78cm, white painted)
    384 2 conveyor (dummy)
    385 1 C3 product
    386 AR-Tags on the station
    387 RefBox small (adapted)
    388        
    389 
    390 
    391 
    392 Nbr     64      Topic   
    393 Points  200     Robots  1
    394 Setup   5 min.  Game    10 min.
    395 Skill-Description       Production of C0 product.
    396 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.
    397 
    398 Skill-Example   
    399 Fulfilled       
    400 Additional
    401 Information     One maintenance permitted.
    402 Used material   One CAP-station, two dummy stations, 2 dummy conveyors,
    403 AR-tags on stations, small REfBox.
    404 
    405