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Line Robot Overview Assembly Arduino Sketch Lidars and motors Program design Actions Start-end Basic programming Worst RCJ line RCJ Line improved Markers Evacuation area RCJ Rescue Line Flow Future

Line Robot - Evacuation area

Entering the area

There are 2 ways to detect the evacuation area.

  • The robot can recognize a pattern: no line for a certain time, a wall, and the rest a big space.
  • The robot can read reflective stripe at the entrance. This is a better solution. Fortunately, MRMS reflectance sensors 9x, CAN, analog, I2C (mrm-ref-can) is based on a sensor developed specifically to recognize reflective surface in RoboCup Rescue Maze, where it is much more important to do so. Therefore, if positioned at a right distance from the surface, it will be able to read its value as a distinct one from black and white. You should use a distance that gives You roughly equal difference in readings between reflective surface and white as between white and black.

Finding balls

This time 3 possibilities.

  • A random walk. Just drive the robot around with the jaws in catch-ready position and catch whatever enters jaws (hopefully, balls).
  • Ball's recognition before collection with distance sensors (lidars). When balls are in the middle of the area, it is possible to find them by using side distance sensors. However, the ones close to walls, especially in corners are more difficult, some of them most probably impossible. A little random walk can help in this case. Another problem is that black balls have a very small reflectance footprint and MRMS LIDAR 2m VL53L0X, CAN Bus (mrm-lid-can-b) will mostly not recognize them. You can try with MRMS LIDAR 4m VL53L1X, CAN Bus (mrm-lid-can-b2). They are more sensitive and can be configured.
  • Ball's recognition before collection with a camera. This model doesn't have one but there may be another one in the future that will have it. The camera will have no problems with black balls, but will struggle to recognize reflective ones. It is difficult to make a difference between white and silver.

Collecting balls

The mechanism in this robot can carry one ball at a time. There is a more complex one which can load 4 balls.