wiki:robocupLogisticsLeague/JapanOpen2020/rulebook

Version 3 (modified by Wataru UEMURA, 4 years ago) (diff)

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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 PointsTopic Topic Topic Topic Topic
DrivingPositioningDetectingGrippingCommunication
3 50 Nbr 13Nbr 23Nbr 33Nbr 43Nbr 53
2 30 Nbr 12Nbr 22Nbr 32Nbr 42Nbr 52
1 10 Nbr 11Nbr 21Nbr 31Nbr 41Nbr 51

Crossover Challenges: Nbr 61, Nbr 62, Nbr 63 and Nbr 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
Points10 Robots1
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
Points30 Robots1
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.