RoboCup Logistics League (RCLL)

Transcription

1 RoboCup Logistics League (RCLL) TC ( Technical Committee) Tim Niemueller ( RWTH Aachen, Germany) Sören Jentzsch ( TU Munich, Germany) Alain Rohr ( HFT Mittelland, Switzerland) Wataru Uemura ( Ryukoku University, Japan) Christian Deppe ( Festo, Germany) robocup-logictics-tc@lists.kbsg.rwth-aachen.de OC ( Organizing Committee) Ulrich Karras ( Festo, Germany) Alexander Ferrein ( University of Applied Sciences, Aachen) Sebastian Reuter ( RWTH Aachen, Germany) robocup-logictics-oc@lists.kbsg.rwth-aachen.de RoboCup German1 Open 2015

2 Logistics League New Competition Environment SmartFactory Scenario realized by MPS of Festo

3 Logistics League New Competition Environment SmartFactory Scenario realized by MPS of Festo Ref-Box works as Game Control and Manufacturing Executing System for the SmartFactory 3

4 Logistics League New Competition Environment SmartFactory Scenario realized by MPS of Festo The machines have their own power and air supply on board. They communicate to the control system and the robots via W-LAN. 4

5 Production Stations - Base Station (BS). acts as dispenser of base elements. The application modules are three magazines of base elements. There is a single BS per team. 5

6 Production Stations - Ring Station (RS) mounts one colored ring out of two available colors on an intermediate product. Each RS has two vacuum pick & place units as application modules with separate unique colors which are determined new for each game. There is an additionally slide which is used for some colors (specified for each game) to add one or two base elements to simulate the adjustment of machines. There are two RS per team. 6

7 Production Stations - Cap Station (CS) mounts a cap as the final step in production on an intermediate product. The application module is a vacuum pick & place module. Arbitrary base elements with a cap will be made available on the pallet. One of them must be taken by the robot to the machine and is then disassembled and the cap is buffered in the machine. The cap is then mounted on the next intermediate product taken to the machine. There are two CS stations per team. 7

8 Production Stations - Delivery Station (DS) accepts only completed products. The stations contains three delivery slides. The robot has to choose the proper one ( specified by the Ref-Box) for a specific order. The delivered products are verified by either the referees or an automated external vision system. There is one DS per team. 8

9 Products and Work Pieces Work Pieces Product Specification color of base element, number of rings, sequence of colors of rings, color of cap Four types of Products 510 different products!! 9

10 Layout of the Competition Field Insertion AreaInsertion Area The competition field is divided into 24 zones. The right hand side is assigned to team 1 and the left hand side to team 2. For each game the machines are randomly placed into zones such that the machines are symmetric to the y-axis. The DS stations are always in zone Z16 resp. Z4 and the Base stations are in Z21 resp. Z9. One CS and one RS station will be randomly swapped to the other side. 10

11 Game Phases Setup ( 5 Minutes) Final preparation time for the teams. Game Start with Exploration Phase ( max. 4 minutes) All robots must be in the insertion area at start of this phase The machines have markers at the input side and the output side Robots have to explore their machines zone ID, machine ID (marker), light pattern Each properly reported machine type scores 8 points Wrongly reported machine types will cause -6 points Minimum will be 0 points after the exploration phase After exploration phase robots receive above info about their machines Note that this information describes neither the exact position of the machines nor the location of the input resp. output side! 11

12 Game Phases Production Phase Production Phase ( 15 minutes) The Ref-Box will announce orders throughout this game phase in an incremental fashion. Each order will consist of the products to produce, the amount thereof, and delivery time slots. For delivery the Ref-Box will announce the delivery gate which has to be used. The robots have to tell the BS station what color and on which side it should be delivered. Note that a RS station can only provide two colors of rings. Thus the robot has to select the correct station and has to give the right order to the machine. Further it might be necessary to deliver one or two base elements to the machine to initiate the correct adjustment.

13 MPS Stations during Production Phase 13

14 Scoring Specifications

15 Robot Maintenance During a game a robot may taken out for maintenance. Maximum time = 2 minutes Referee must confirm. Otherwise the team gets a minor penalty. Setup time after replacing the robot <= 15 seconds Referee may taken out a robot if it is not moving at all for more than 2 minutes If a robot must be taken out a second time then the robot is disqualified for the current game 15

16 Pushing Robots When a pushing foul is detected the responsible team has to use up their restart for the stuck robot to start at the insertion zone again. The other team can decide within 10 seconds to restart their involved robot in the insertion zone without it counting as a penalty restart. Pushing occurs only between robots of different teams. Robots must drive such that they try to avoid physical contact with robots from the opposing team. However, physical contact per se does not represent an offense. If physical contact with other robots cannot be avoided, it must be soft, in order to avoid damage to itself and other robots. Robots moving at high speed must significantly decelerate before a collision occurs. Whenever a robot produces direct physical contact with another robot while moving, it must stop movement immediately in that direction (and choose a new direction for movement).otherwise a pushing foul will be called. All robots are allowed to enter the input- and output area of any MPS station, but robots must not obstruct opposing robots which intend to approach their assigned station. Concretely, that robot must give way and release an approachable path to the station within a time window of 10 seconds. If a robot cannot follow this rule, a pushing foul will be called. 16

17 Tournament German Open 2015 Round-Robin ( Friday ) All teams play again each other but only the scored points will be evaluated. Ranking of a team is determined by the accumulated scored points. All teams qualify for the Play-Offs. Playoffs ( Saturday) All qualified teams play against each other. The winner will be awarded by 3 points. A loss will be awarded by 0 points. In case of a draw (and both teams scored more than 0 points) playing time will be extended by 5 minutes. If this leads to a draw too then the winner will be decided by a coin toss. Final (Sunday)

18 Team Carologistics

19 Team PVRO ( France) 19

20 Team Leuphana 20

21 Results of Games RoboCup Mayor Logistics Liga Zeit Fr Fr Fr Fr Fr Fr Ort Punkte Carologistics Carologistics Leuphana Leuphana Carologistics PVRO Leuphana PVRO PVRO Carologistics PVRO Leuphana Runde/Liga Round Robin Round Robin Round Robin Round Robin Round Robin Round Robin Alle Teams qualifizieren sich Für die Playoff - Runde 21

22 Results of Games RoboCup Mayor Logistics Liga Playoff Zeit Sa Sa Sa Sa Sa Sa Ort So 1030 Punkte PVRO Carologistics Leuphana Leuphana PVRO Carologistics Leuphana PVRO Carologistics PVRO Carologistics Leuphana Carologistics Leuphana PVRO Losentscheid PVRO im Finale Carologistics PVRO Evaluation Pts 0 Pts 0 Pts Finale 22