RCJ 2024 - Futbal - KickTronZ

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KickTronZ

School/Club: Hrvatsko Društvo za Robotiku

Contact: borut.patcev@gmail.com

Category: Soccer Open

Introduction

KickTronZ is a RoboCup Junior Soccer Open team from Zagreb, Croatia. It was established in 2022. and all members of the team came from different RoboCup Junior categories and have a lot of experience with robotics. Our team consists of:

• Borut Patčev - team captain, hardware, software
• Gregor Klarić - team member, software
• Luka Kolarić - team member, hardware

Hardware

Robot parts

• Battery - TATTU 2300 mAh 75C 3S1P LiPo
• Camera x2 - OpenMV H7 Plus
• Driving motors x4 - Joinmax JMP-BE-3561
• IMU - BNO055
• Lidars x8 - Pololu VL53L0X
• Line sensors x32 - ALS-PT19-315C/L177
• Microcontroller - Teensy 4.1
• Voltage regulator 5V / 3.3V - Pololu D36V50F5 / D36V50F3

3D Model

The robots were designed in Fusion 360 software. The robot is divided into 4 layers that are connected to each other using M3 aluminium spacers.

PCB Design

The PCB was designed in KiCAD.

Software

Computer Vision

The two OpenMV cameras are programmed in the OpenMV IDE using MicroPython. They communicate with the main controller using UART. It is an unidirectional communication because they only need to send information and do not need to receive anything from the controller. We use a simple blob detection algorithm to find the ball and the goals. The camera just looks for blobs that are in a certain colour range and return the centre X and Y coordinates of the ball and goals.

Main Program Structure

Súbor:DijagramKod

Program