1. Introduction 2. Robots Specifications 3. The route 4. The match

Transcription

1 IWCA

2 1. Introduction 2. Robots Specifications 3. The route 4. The match

3 1. Introduction Modality name: Line Follower Number of robots in each match: One Match duration: 3 minutes Available class: Pro Maximum dimensions of the robots: 250x250x200mm Route specifications: Check item 3: "The route" Specifications of control: Autonomous ATTENTION: Each robot can only participate in one category during the event, for example: a robot registered in category of Sumo can not participate in the category of Line Follower. 2. Robots Specifications 2.1 The robots must be fully autonomous and with all the components embedded. Can not be controlled externally by wires and radio, with an exception to be initialized. 2.2 No software or hardware addition, removal or alterations can be made during the competition. However small repairs are allowed. 2.3 The robot can not exceed 250mm in length, 250mm wide and 200mm height. Will not be allowed to change the dimensions during the match. 2.4 The robot can not have any kind of suction mechanism to increase its normal force in relation to the ground.

4 3. The route 3.1 The track surface will be black, made by one or more MDF boards coated with black rubber mat, therefore any splice plates are required for composing the whole area of the route. For these possible gaps, the organization will try to minimize them, putting black tape in every amendments. Anyway, the robots must be able to overcome such gaps. 3.2 The route will be indicated by a white line with 19 ± 1mm wide. The total length of the line will be a maximum of 60m. 3.3 The line will consist of combinations of arcs and straights. The line can cross over itself. 3.4 When there is a cross, the angle of intersection of lines will be 90 ± 5 (figure 1). The line, 250mm before and 250mm after a cross, will be straight.

5 3.5 The area which extends between the starting point and the end point, considering 200 mm to the right of the line and 200 mm to the left of the line is called "area of startingending". 3.6 The starting line and the ending line will be located in a straight of the route. The ending line will be located at one meter before to the starting line. There will be markings at the right side of the line (in relation to the direction of the route), indicating the start point and the end point. (Figures 2 and 3) 3.7 The line, 250 mm before and 250 mm after of the "area of staring- ending", will be straight.

6 3.8 The radius of the arches will be at least of 100 mm. (Figure 4) 3.9 There will be a marking at the left side of the line (in relation to the direction of the route) at the point that there is a change of curvature. (Figure 4) 3.10 The circuit will be completely flat. However, there may be included inclinations up to a maximum of The color of the line and the track are subject to possible variations, depending on the provider of the materials used in the confection. However, there will be a big contrast between the white of the line and the black of the track. 4. The match 4.1 Definition Line Follower is a competition which autonomous robots have to follow the route determined by the line. The winner is the robot that finishes the route with the shorter time. 4.2 The robot have to course the circuit taking as reference the white line. The robot body must always stay over the white line. If the robot get completely off the white line, will be considered that the robot got off the route and the lap will be invalidated.

7 4.3 For each robot, will be given 3 attempts, consecutive, 3 minutes each, per day of competition. 4.4 The robot must start at the starting marking and course the circuit at the right direction within 3 minutes. 4.5 The robot must stop automatically, inside the "area of starting- ending" and stay stopped for at least 10 seconds after complete one lap. 4.6 Will be considered the shorter time in all attempts. 4.7 The lap time will be measured between the moment that the sensor located at the starting line of the circuit detect the robot and the moment that the sensor located at the ending line detect the same robot. However the time will not be considered while the robot do not pass completely over the ending line. 4.8 A lap will be considered valid, when the robot finishes the route and stay for at least 10 seconds stopped at the "area of starting- ending" and will be considered invalid when the robot get off the route. 4.9 After finishing one lap, the operator will not be allowed to give information about the route to the robot and not be able to include, review or change informations of this type during the competition After beginning the match, will not be allowed to touch the robot without the permission of the referee The ambient light will be normal to light commonly used indoors. No applications will be accepted for changing the ambient light The referee can request some informations about the robot if deemed necessary. The referee has the power to disqualify a robot and/or make any decisions that find relevant during the competition.