[Lightweight] Orion from USA

How many years have you been competing in in RCJ Soccer?

Four and more years

What’s the most interesting thing you’ve prepared for this year’s RoboCupJunior Soccer competition?

Structural Robot Design.

Where can we find your poster?

It should be available at https://drive.google.com/drive/folders/1A-Z0woNigZnN1hk9W7q6_YPyjzgaGT4j?usp=sharing

If you’d like to know more, please feel free to ask @bluskript by replying to this thread !

Thank you for starting more teams, it’s always nice to get more people involved into something you enjoy.

I’d like to know a little bit more about what you do with the camera images. You mentioned tracking the goal, do you do that to get the angle right to go towards the goal or do you also calculate the robots position (or maybe the position of the “obstacles” in your way) using the camera?

Best Regards,

Thanks for sharing with us your progress Team! Nice work!

My only question is about how do you integrate cameras in the way the robot senses the environment. Do you use both IR and vision sensors for detecting the ball and obstacles, or only IR for ball and vision for goal positioning?

Ok, thanks for your questions! I believe I can answer them both. We use our IR sensors to find the ball, and our camera exclusively for goals. Since the lightweight ball is difficult to track (its colors are irregular and not as bright as the orange Open ball), we didn’t see the need to use camera for it. With regards to the utility of our vision system, we have achieved goal tracking for aiming. We have found that with the precision so far, it is not possible to accurately calculate absolute position on the field yet. We are currently working on implementing new algorithms to enhance the precision of goal tracking, which should enable accurate positioning. Additionally, we saw the potential for enemy tracking eventually, for our mechanical specialist’s obsession with “juking,” or the dodging of enemy robots. If we can avoid the opposing team at the last second, it becomes much more difficult to them to block us and eliminates the classic “sumo problem,” in which it is merely the team with stronger motors that can push the others away and score. This solution is also not very elegant. Thus, our attempt to circumvent the use of force with increased software.

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Nice work!

Why do you use a low pass filter to convert the output of the digital IR sensors into analog values?

You mention that some programs freeze when reading data from sensors. Which programs? In which conditions? What is the sampling frequency?

This account is a team account so multiple people may be using this account to reply.
My name is Mark. I am in charge of the electrical aspects of the teams robot.
The reason we use a low pass filter to convert the output of the digital IR sensors into analog values is because we want to interface with the sensors by reading an analog value. If we were to use the digital signals, we would have to time the pulses to determine distance and this would consume more time while running, more resources, and is conceptually more difficult to implement than a simple analog Read.
By implementing a low pass filter, the sensor outputs are made into a more convenient form for our micro controller through hardware outside our micro controller which is always a good thing for speed and organization.
I will message the person in charge of software so he answers your other question.

Thanks for your answer, Mark.