robocup logistics league (rcll) · alain rohr ( hft mittelland, switzerland) wataru uemura (...

RoboCup German Open 2015 Dr. Ulrich Karras1

RoboCup Logistics League (RCLL)

TC ( Technical Committee)Tim Niemueller ( RWTH Aachen, Germany)Sören Jentzsch ( TU Munich, Germany)Alain Rohr ( HFT Mittelland, Switzerland)Wataru Uemura ( Ryukoku University, Japan)Christian Deppe ( Festo , Germany)

email: [email protected]

OC ( Organizing Committee)Ulrich Karras ( Festo, Germany)Alexander Ferrein ( University of Applied Sciences, Aachen)Sebastian Reuter ( RWTH Aachen, Germany)

email: [email protected]

www.RoboCup-Logistics.org

RoboCup German Open 2015 Dr. Ulrich Karras

Logistics League – New Competition Environment

SmartFactory Scenario realized by MPS® of Festo

RoboCup German Open 2015 Dr. Ulrich Karras 33



Ref-Box works as Game Control andManufacturing Executing Systemfor the SmartFactory




The machines have their own power andair supply on board.They communicate to the control systemand the robots via W-LAN.


Production Stations - Base Station (BS) …

…. acts as dispenser of base elements.

The application modules are three magazinesof base elements. There is a single BS per team.


Production Stations - Ring Station (RS) …

… mounts one colored ring out of two available colorson an intermediate product.

Each RS has two vacuum pick & place units asapplication modules with separate unique colorswhich are determined new for each game.

There is an additionally slide which is usedfor some colors (specified for each game) toadd one or two base elements to simulate theadjustment of machines.

There are two RS per team.


Production Stations - Cap Station (CS) …

… mounts a cap as the final step in production on anintermediate product.

The application module is a vacuum pick & placemodule.

Arbitrary base elements with a cap will be madeavailable on the pallet. One of them must be takenby the robot to the machine and is thendisassembled and the cap is buffered in themachine.

The cap is then mounted on the next intermediateproduct taken to the machine. There are two CSstations per team.


Production Stations - Delivery Station (DS) …

… accepts only completed products.

The stations contains three delivery slides.

The robot has to choose the proper one ( specifiedby the Ref-Box) for a specific order.

The delivered products are verified by either thereferees or an automated external vision system.

There is one DS per team.


99

Products and Work Pieces

Four types of Products

Product Specification: color of base element, number of rings, sequence of colors of rings,color of cap

Work Pieces

510 differentproducts !!


Layout of the Competition Field

The competition field is divided into24 zones. The right hand side isassigned to team 1 and the left handside to team 2.

For each game the machines arerandomly placed into zones such thatthe machines are symmetric to they-axis.

The DS stations are always in zoneZ16 resp. Z4 and the Base stationsare in Z21 resp. Z9.

One CS and one RS station will berandomly swapped to the other side.

Insertion AreaInsertion Area


Game Phases

Setup ( 5 Minutes)

Final preparation time for the teams.

Game Start with Exploration Phase ( max. 4 minutes)

All robots must be in the insertion area at start of this phase

The machines have markers at the input side and the output side

Robots have to explore their machines : zone ID, machine ID (marker), light pattern

Each properly reported machine type scores: 8 points

Wrongly reported machine types will cause : -6 points

Minimum will be 0 points after the exploration phase

After exploration phase robots receive above info about their machines

Note that this information describes neither the exact positionof the machines nor the location of the input resp. output side!


Game Phases – Production Phase

Production Phase ( 15 minutes)

The Ref-Box will announce orders throughout this game phase in anincremental fashion.

Each order will consist of the products to produce, the amount thereof, anddelivery time slots.

For delivery the Ref-Box will announce the delivery gate which has to be used.

The robots have to tell the BS station what color and on which side it shouldbe delivered.

Note that a RS station can only provide two colors of rings. Thus the robot hasto select the correct station and has to give the right order to the machine.Further it might be necessary to deliver one or two base elements to themachine to initiate the correct adjustment.


MPS Stations during Production Phase


Scoring Specifications


Robot Maintenance

During a game a robot may taken out for maintenance. Maximum time = 2 minutesReferee must confirm. Otherwise the team gets a minor penalty.

Setup time after replacing the robot


Pushing Robots

Pushing occurs only between robots of different teams.

Robots must drive such that they try to avoid physical contact with robots from theopposing team. However, physical contact per se does not represent an offense.

If physical contact with other robots cannot be avoided, it must be soft, in order to avoid damageto itself and other robots. Robots moving at high speed must significantly decelerate before a collision occurs.

Whenever a robot produces direct physical contact with another robot while moving,it must stop movement immediately in that direction (and choose a new directionfor movement).Otherwise a pushing foul will be called.

All robots are allowed to enter the input- and output area of any MPS station , but robots mustnot obstruct opposing robots which intend to approach their assigned station. Concretely, that robotmust give way and release an approachable path to the station within a time window of 10 seconds.If a robot cannot follow this rule, a pushing foul will be called.

When a pushing foul is detected the responsible team has to use up their restart for the stuckrobot to start at the insertion zone again.The other team can decide within 10 seconds to restart their involved robot in the insertionzone without it counting as a penalty restart.


Tournament German Open 2015

Round-Robin: ( Friday )• All teams play again each other but only the scored points will be evaluated.• Ranking of a team is determined by the accumulated scored points .• All teams qualify for the Play-Offs.

Playoffs: ( Saturday)• All qualified teams play against each other. The winner will be awarded by

3 points. A loss will be awarded by 0 points.• In case of a draw (and both teams scored more than 0 points) playing time will be

extended by 5 minutes. If this leads to a draw too then the winner will bedecided by a coin toss.

Final: (Sunday) 10:30


Team Carologistics


Team PVRO ( France)


Team Leuphana


RoboCup Mayor Logistics Liga

Zeit Ort Punkte Runde/Liga

Fr 12:00 Halle 1 Carologistics : Leuphana 12 : 10 Round Robin

Fr 13:00 Halle 1 Carologistics : PVRO 34 : 10 Round Robin

Fr 14:00 Halle 1 Leuphana : PVRO 0 : 0 Round Robin

Fr 15:00 Halle 1 Leuphana : Carologistics 10 : 34 Round Robin

Fr 16:00 Halle 1 Carologistics : PVRO 0 : 0 Round Robin

Fr 17:00 Halle 1 PVRO : Leuphana 0 : 0 Round Robin

Alle Teams qualifizieren sich

Für die Playoff - Runde

Results of Games


Results of Games

RoboCup Mayor Logistics Liga Playoff

Zeit Ort Punkte Evaluation

Sa 11:00 Halle 1 PVRO : Leuphana 10 : 10 0 : 0Sa 12:00 Halle 1 Carologistics : PVRO 26 : 10 3 : 0

Sa 14:00 Halle 1 Leuphana : Carologistics 10 : 10 0 : 0Sa 15:00 Halle 1 Leuphana : PVRO 10 : 10 0 : 0Sa 16:00 Halle 1 PVRO : Carologistics 10 : 20 0 : 3Sa 17:00 Halle 1 Carologistics : Leuphana 18 : 10 3 : 0

1. Carologistics 9 Pts2. Leuphana 0 Pts

2. PVRO 0 PtsLosentscheid: PVRO im Finale

So 10:30 Halle 1 Carologistics : PVRO 40 : 10 Finale

robocup logistics league (rcll) · alain rohr ( hft mittelland, switzerland) wataru uemura (...

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