Team МК

Kalviyainen Jaroslav, captain, programmer ▼ 
Education 6 years of study: Sports Robotics, Autonomous Aircraft, Computer Vision and Navigation Fundamentals, ROS Fundamentals
Hands-on experience in robotics 3 years of RoboСup Junior Rescue Maze
Achievements and awards in robotics Victories and prizes at various stages of RoboCup, creating my own course Programming a mobile robot based on an STM32 microcontroller
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Markov Ivan, constructor, mechanic ▼
Education 6 years of study: Fundamentals of Robotics (NXT, EV3), Electrical Engineering, Beam Robots, 3D Modeling, C ++ Programming for Robots
Hands-on experience in robotics Creative Projects, Robot for Rescue Maze
Achievements and awards in robotics

1st place RoboCup Junior Asia-Pacific, Rescue Maze, Team MK

9th place RoboCup2019 Rescue Maze, Team MK. And the award for the best rescue kit dispensing system.

3rd place RoboCup Junior Euro, Hannover, June 2019, Rescue Maze, Team MK

1st place RoboCup Russia Open 2019, Rescue Maze category, MK team.

1st place Open competition of St. Petersburg in robotics 2019. category RoboCup Junior Rescue Maze, MK team.

1st place Robofinist (precision farming WRO2018 middle category), St. Petersburg

1st place City competition of professional skills Step into the profession (prototype design).

1st place in the Creative medium category WRO 2017.

1st place Robofinist. Free creative category.

1st place Open city festival of technical creativity TechnoKakTus (Prototype).

2nd place Spring competition of robots FML239. Football autonomous robots WRO

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Merzlyakova Julia, electronics engineer ▼
Education 6 years of study: Course from the Central Research Institute of RTK in the summer robotics camp, 3D modeling, Sports robotics, Raspberry Pi single board computers, Creative radio electronics (RoboCup)
Hands-on experience in robotics Several robots for classic competitions (kegelring, relay race, controlled football, several projects for the creative category), many robots for the RTK Cup, RoboCup Junior Rescue Maze (4 different robots), a set of control boards for a mobile robotic system for your own course Programming the STM32 microcontroller (co-authored)
Achievements and awards in robotics

Victories and prizes at various Open Robotics Competitions in St. Petersburg (categories: Relay, RTK Cup, RTK Mini Cup, Creative category projects)
2nd place in the final of the RTK Cup 2016
Winner of the Practical Robotics Olympiad (Robofinist 2017)
Winner of the Regional Stage of the Higher School of Economics in Technology (nomination robotics) 2019
Prize-winner at the Regional Stage of the Higher School of Education in Technology (nomination robotics) 2020
Winner of the regional and all-Russian stage of RoboCup Junior Rescue Maze
3rd place at RoboCup Junior Euro Rescue Maze 2019
1st place at RoboCup Junior Asia-Pacific Rescue Maze 2019

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Dmitry Mikhailovich, head
Kitaev Nikolay, head
Olga Kazantseva, head

League RoboCup Junior Rescue Maze

Development 2020

Video
Robot design
Robot software
Strategy and log
Poster

Video

Brief description of the element base, electronics and design features

   

Construction: a distinctive feature of the construction is the dependent suspension.

Electronics: To accommodate all the electronics and ensure a reliable connection, a board kit has been designed, consisting of: motherboard, power distribution board, four motor driver breakout boards, user interface board, board indication of victims, battery adapter board, two sensor module boards.

Description of the robot's software (programming language and environment, list of implemented algorithms, description of the program structure)

The concept of non-discrete movement in a maze is fundamentally different from movement in cells, respectively, the following algorithms are used:

1. Mapping Algorithm

2. Localization Algorithm

3. Algorithm for building a route

4. Algorithm of the robot's passage along the constructed route

5. Maze exploration algorithm

6. Algorithm for recognizing temperature victims on TV

7. Algorithm for recognizing visual victims

8. Algorithm for approaching the victims and issuing rescue kits to them

The main idea of ​​the robot's software is to reject the binding of movement to the length of the cells. Therefore, a lidar was chosen as the main sensor of orientation in space, and an NVIDIA Jetson nano single-board computer was chosen to provide the necessary computing power. To create the program, it was decided to use the ROS package. The robot uses ROS Melodic, and all programs are written in C ++. Debugging the robot had to start before the robot physically appeared, so it was decided to use the Gazebo simulator built into ROS.

Strategy (how the task set by the league regulations is solved)

 

General strategy.
Based on the analysis of previous experience, this year we decided to change the concept of the robot, choosing the lidar as the main sensor of orientation in space in order to abandon the discrete movement through the cells of the maze. To allow the robot to overcome obstacles and, at the same time, keep the lidar parallel to the floor, an original suspension design has been implemented. A special set of eight printed circuit boards has also been developed that allows rationally with a minimum number of wires to connect all the necessary electronics, including the Jetson nano microcomputer, and place everything in the reduced dimensions of the new robot.

    Log

Poster

 

Development 2019

Main

Img 1
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Video
Robot design
Robot software
Strategy and log
Poster

Video

Brief description of the element base, electronics and design features

The structure is divided into 2 modules. Undercarriage with wheel position and light sensors; Peripheral module containing laser distance sensors (VL53L0X), non-contact temperature sensors (MLX90614), cameras (OpenMV), gyroscope-accelerometer, buttons and a system for issuing rescue kits. The moving part consists of motors, bearing assemblies, external gearboxes, position sensor.

The team designed their own motherboard based on the STM32 microcontroller, which made it possible to flexibly arrange all the necessary electronics. For a more convenient organization of wiring, commutation boards have been developed, thanks to which the modules are connected to each other by solid loops, and not by a large number of separate wires, due to which the reliability has significantly increased.

Description of the robot's software (programming language and environment, list of implemented algorithms, description of the program structure)

The main robot program was developed in C and C ++ in the Keil uVision 5 environment, and is a state machine that polls the sensors every cycle. The program for processing images from cameras was written in micro Python. The camera program uses the OpenMV library (pre-installed in this module), and the STM32 program uses the SPL and CMSIS system libraries.

Strategy (how the task set by the league regulations is solved)

Initially, the robot travels according to the right-hand rule, making a list of cells that it passes by. Parallel to the movement, the robot stands a map consisting of 2 two-dimensional arrays of the bool type, in one of which the visited cells of the maze are stored, and in the other the location of the walls in the maze. When the robot discovers that the cell to which it should go has already been visited, it takes the last added point from the list that it compiled while driving according to the right-hand rule and moves there. This algorithm allows you to explore the entire maze, including points that cannot be driven only by the right or left hand rule.

    Log

Poster