Soccer A robot - overview
Features
This kit enables the user to build a soccer robot, which can be used for RoboCup Junior Soccer (RCJ) Lightweight competition. This kit is designed for future enhancements. Robot's features:
- Arduino compatible.
- 4 omni-wheel drive. It can move in any planar direction, rotation around Z axis at the same time.
- 3 composite line sensors.
- 4 lidars (lasers).
- CAN Bus architecture.
- A parformant IMU Bosch BNO055 (accelerometer, compass and gyroscope).
- eFuse, protecting microcontroller's voltage input.
- 3 powerful switching regulators, for future enhancements.
- Digital voltmeter.
- 6 switches.
- Bluetooth Classic, Bluetooth LE, and WiFi.
- 2 user definable LEDs.
- Motor controller for 4 motors ,stronger than the ones in this kit, for future enhancements.
- 8x8 3-color display.
- Sensor for RCJ active IR ball.
Building elements
| Element | Quantity |
|---|
| ML-R barrier holder L | 1 |
| ML-R barrier holder R | 1 |
| ML-R brick 1x1 L4 | 2 |
| ML-R brick 1x1 L5 | 2 |
| ML-R brick 1x1 L5 L5 parallel | 4 |
| ML-R brick to M2 short coupler | 11 |
| ML-R chassis for mrm-rob-soc-a | 1 |
| ML-R omni wheel M | 4 |
| ML-R PCB join short | 8 |
| ML-R plate 1x3x2 | 4 |
| ML-R plate 1x3x2 cross | 2 |
| ML-R 8x8 bicolor display, CAN Bus,UART, 4 switches | 1 |
| ML-R Light Barrier 2 Emitter | 1 |
| ML-R Light Barrier 2 Receiver | 1 |
| ML-R BDC Motor 12 V, 24 mm, 1:9.3, 640 RPM | 4 |
| Nylon bolt M2 5 mm, 1 pc. | 37 |
| Steel bolt M3 5 mm, 1 pc. | 8 |
| Steel grub bolt M3 6 mm | 4 |
| Steel bolt M3 8 mm, 1 pc. | 8 |
| MRMS ESP32: Arduino, IMU, eFuse, BT, WiFi, CAN Bus | 1 |
| ML-R wheel hub for 4 mm shaft | 4 |
| MRMS IR ball finder 3, CAN Bus, I2C, analog | 1 |
| MRMS CAN Bus cable 10 cm | 1 |
| MRMS CAN Bus cable 15 cm | 5 |
| MRMS CAN Bus cable 20 cm | 1 |
| MRMS CAN Bus cable 5 cm | 2 |
| MRMS CAN Bus cable 7.5 cm | 2 |
| ML-R Cable KK254-KK254 10 cm | 6 |
| ML-R Cable KK254-KK254 15 cm | 1 |
| ML-R Cable KK254-KK254 5 cm | 3 |
| ML-R Cable KK254-KK254 7.5 cm | 1 |
| ML-R Cable KK396-KK254 20 cm | 4 |
| ML-R Cable KK396-KK396 7.5 cm | 1 |
| MRMS LIDAR 4m VL53L1X, CAN Bus | 4 |
| LiPo battery 3S 11.1V 1.3 Ah, XT60 | 1 |
| MRMS Motor Driver 4x3.6A CAN Bus | 1 |
| Nylon nut M2 | 38 |
| ML-R Power Supply 3x C, voltmeter | 1 |
| MRMS reflectance sensors 6x, CAN, analog, I2C | 1 |
| MRMS reflectance sensors 8x, CAN, analog, I2C | 3 |
| Nylon spacer M2 18 mm | 8 |
| Nylon spacer M2 20 mm | 6 |
| Nylon spacer M2 5 mm | 20 |
| ML-R Cable XT60-KK3.96 10 cm | 1 |
Target usage
2 robots per each of 2 teams are needed for RCJ Soccer Lightweight. A RCJ compatible arena and a RCJ active IR ball are also needed. Each team tries to score as many points as possible, pushing (or kicking) the ball into opponent's goal. The robots mustn't cross white border lines. They have to have idea where the ball is, where the goals are and, if possible, where they are. According to these data, they develop a strategy how to approach the ball from behind and then push it towards the goal. On the other hand, they have to defend their goal. The robots are fast. It is challenging to perform all the operation when they travel fast.
You will have to develop the program and later adjust robot's construction in order to achieve better results. This construction's intention is not to make a perfect robot, but to enable students to start building robots for RCJ competition.
This kit will be redesigned.