The name R'OST for our robot consists of the two parts "East" like the name of our school and the letter R. This should stand for the word robot. The word rust is also derived from this, which implies transience and optimization potential.
The chassis is used for locomotion on the field. With the two driven wheels and the ball casters, we were able to achieve an optimal turning circle.
The arm was designed so that we can optimally pick up the stored tubes on the field. The gripping arm can be swiveled 17° and extended 120mm.
With the gripper, the pipes are first scanned and then drawn in with the rollers. In addition, the position of the pipe can be precisely determined on the gripper with the help of the infrared sensor.
Coupling with partner robot
The two robots are coupled on the tubes by means of a cone and permanent magnets and then lowered onto the slide rails.
Similar to the partner robots, the tubes are also coupled with a cone and permanent magnet. Similar to an arrowhead hitting a cone.
With the 16 infrared sensors we can determine various locations and forward the values to the microcontroller. For example, we can determine the location on the table via black lines on the floor or see whether the tube on the gripper is already in position.
The battery supplies us with a voltage of 11.1 V, we also have to convert this voltage into 3.3 and 5V.
The motors are controlled via H-bridges so that they can rotate in both directions. The encoders on the motors determine the position of the motor and bring this to the microcontroller.
The microcontroller is the intelligence of the control. It receives the data from the sensors and encoders. The computer science then programs it to control the motors and solenoids at the right moment.
The robot module is responsible for the overall process and controls the various sensing, movement and communication packages.
In the movement module the motors are controlled and the encoder is read out.
Sensing evaluates the 16 infrared sensors and the camera.
The Communication establishes the W-LAN connection and communicates with the partner robot.