Technology Robotics Irish Mini Sumo Robot Competition Explained

Technology Robotics

Irish Mini Sumo Robot Competition Explained

Educational Aims To develop student interest and expertise in the area of Applied Control through building autonomous Mini Sumo Robots and subsequently competing them against each other in both school based and national Mini Sumo Robot Tournaments. Students will develop skills in the following areas: • Design • Material Processing • Mechanisms • Robotics • PIC Control • Mathematics • GENIE PIC Programming Software 3

1. Competition Overview

What is Robot Sumo? Robot-Sumo is a sport in which two robots attempt to push each other out of a circle (in a similar fashion to the sport of Sumo). The robots used in this competition are often called Sumobots. The engineering challenges are for the robot to find its opponent (usually accomplished with infrared or ultra-sonic sensors) and to push it out of the flat arena. A robot should also avoid leaving the arena, usually by means of a sensor that detects the edge. The most common "weapon" used in a Sumobot competition is an angled blade at the front of the robot, usually tilted at about a 45 degree angle towards the back of the robot. This blade may have an adjustable height for different tactics.

Sumo Robot Classes There are four main classes of Sumo Robot. Class Max Length (cm) Max Width (cm) Max Weight (grams) Max Height (cm) Mega 20 20 3000 Unlimited Mini 10 10 500 Unlimited Micro 5 5 100 5 Nano 2. 5 25 2. 5 The Irish Schools Competition is currently only for the Mini Sumo Robot. 6

Mini Sumo Robot Competition Ring Name Ring Diameter Ring Height White Border Width Start Line Length Start Line From Center Mini Sumo 77 cm 2. 5 cm 10 cm 5 cm Schools should make a similar ring from sprayed MDF etc to test their Mini Sumo Robots. 7

Irish Mini Sumo Robot Competition A mini-sumo robot must be able to do the following: • Stay in the ring: Survive • Look for the opponent: Hunt • Aim at the opponent: Target • Push the opponent: Attack 8

State Description SURVIVE The robot enters this state when it detects the table edge using its LDR sensor(s) Its goal is to survive by not going off the table The robot rotates away from the sensor that sensed the edge to face back toward the centre of the table Actions Rotate away from the line sensor that sensed the edge. Switch back to HUNT state when rotation is complete. 9

State HUNT Description Actions The robot is not at the edge of Switch to SURVIVE the table but hasn’t sensed state if table edge is the opponent detected The robot moves around in a set pattern so its infra red range sensor(s) will sweep across the ring in the hope of sensing the opponent Switch to TARGET state if range sensors indicate an object ahead Otherwise, drive in the set pattern 10

State TARGET Description Actions The opponent has Switch to SURVIVE been sensed ahead state if ring edge detected using the infra red sensor(s) If still sensing opponent, but opponent is not directly ahead, Aim the robot to turn slightly to aim at opponent face the opponent directly If opponent is directly ahead and close switch to ATTACK state If opponent is ahead but not close, move straight forward Otherwise, switch to HUNT state 11

State Description ATTACK The opponent has been found aiming is complete. Actions 1. Switch to SURVIVE state if table edge detected. Drive straight ahead at full 2. Otherwise, drive power to push the opponent straight forward at full off the table. power. 12

Mini Sumo Robot Examples 13

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This is a Solid. Works render of a sample Mini Sumo Robot. Instructions for the manufacture of this robot are available in folder 3. Sample Mini Sumo Robot Manufacture 23

Rear view of the Solid. Works render. 24

Required Components for Irish Mini Sumo Robot Competition 25

In order to minimise costs for and ensure fairness and equality during competition, specifications for the following main components have been created: • Motors • PIC Control Board • Edge Sensing LDR • Infra Red Distance Sensor 26

Specified Motors This economy motorised gearbox is fitted with a 3 to 12 V DC motor. The output shaft is 5. 5 mm diameter and 9 mm long with 2 flats. It is available from Rapid Electronics. Click on the link below for details. http: //www. rapidonline. com/Electrical-Power/Fans-Motors/Gearboxes/120: 1 -Inlinemotor-and-gearbox/81728/kw/motor 27

Specified Motors A robust worm-drive gearbox powered by an MM 28 motor (included). Most suitable for applications where an easy to fit, high torque output is required. Ideal for student based projects including robots and buggies Click on the link below for details. http: //www. rapidonline. com/Electrical-Power/Fans-Motors/Gearboxes/Worm-drivegearbox-with-motor/64483/kw/Motor+and+gearbox+1%3 a 220 28

PIC Control Board The GENIE E 18 Motor Board must be used to control the Mini Sumo Robot. A kit containing all necessary components to build this board can be purchased at: http: //www. rapidonline. com/sku/Electronic-Components/Integrated. Circuits/Genie/GENIE-18 -pin-microcontroller-system-kits/124896/13 -6016 The required GENIE Design studio software can be downloaded free from the GENIE website at: http: //www. genieonline. com/ The folder labelled 4. Using GENIE Design Studio to Program a Mini Sumo Robot contains information on using the software along with example videos of student Mini Sumo Robots in action. 29

GENIE E 18 Motor Board 30

Edge Sensing LDRs A compact low cost cadmium sulphide light dependent resistor (LDR) housed in a small package. Click on the link below for details of this or similar LDRs: http: //www. rapidonline. com/Electronic. Components/Optoelectronics/Photodetectors/Miniature-light-dependentresistor/34796/kw/ldr 31

Infra Red Distance Sensor The GP 2 Y 0 A 21 Sharp distance sensor is a great way to add obstacle avoidance or motion sensing to your robot or any other project. With built in emitter and receivers, a detection range of 10 to 80 cm and an analogue voltage indicating the distance, this sensor is very easy to use. Click on the link below for details. http: //www. pololu. com/catalog/product/136/pictures 32

If any school is interested in entering the 2012 Inaugural Irish Mini Sumo Robot Tournament which will be held in January 2012 please contact: Declan Askin St. Gerald’s College Castlebar Co. Mayo 087 4181690 declan. askin@stgeraldscollege. com www. geralds. ie 33