TOKAI Susano
Document register
- Poster1 pagePublished
- Presentation videoYouTubePublished
- Bill of materials79 KBPublished
- Team description paper584 KBPublished
- Engineering journal428 KBPublished
- Source code93 KB · GitHubPublished
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In their words
TOKAI Susano is a team taking on RoboCupJunior Rescue Maze for the first time. Our initial goal was to place highly in the Japan Open, and through three prototypes we gradually developed stable driving, reliable exploration, victim detection, and rescue-kit deployment. The current robot combines a compact, low-center-of-gravity four-wheel-drive structure, self-made silicone tires, multiple ToF sensors, an IMU, a color sensor, and OpenMV cameras. In particular, we emphasized backup systems for dealing with errors and restarts during the competition, including tile-by-tile coordinate management, recording wall information, saving and restoring data with a microSD card, and coordinate matching after leaving the red zone. As a result, the robot has achieved a high return success rate in flat mazes and continues to be improved so that it can handle obstacles and multi-floor courses. This TDP describes TOKAI Susano's mechanical design, electronic design, software architecture, performance evaluation, and the problems encountered during development and how they were solved.
Poster
Read the text of this document — 453 words
M64
TOKAI Susano Divine eyes and feet. Precision rescue. HARDWARE SPECIFICATIONS VICTIM DETECTION
Two OpenMV H7 Plus cameras detect victims on the left and
Dimensions: L210 x W198 x H207mm
right walls.
Weight: 1,550g Letter victims Φ/Ψ/Ω are recognized by an image model trained
Main Controller: Teensy 4.1 (816MHz) x2 with multiple fonts and rotations.
Motor: RB-Dfr-759 x4 (6V DC 6.5kg-cm 100RPM) Recognition targets are detected as
Motor Driver: MDD10A x2 circular candidates, then the upper half is
Vision System: OpenMV H7 Plus x2 scanned vertically. LAB values are
Battery: • LF6.6V [ 2200mAh ] converted into color codes, the color-layer
sum is calculated, and a 5-frame majority
• Anker PowerCore 5V [ 5000mAh ]
vote stabilizes the result. The result is
Sensor: • ToF Distance Sensor (VL53L0X x6) sent to the main board by UART and used
• Color Sensor (TCS34725 x1) for rescue kit deployment.
• IMU(BNO08x x1)
Display: OLED SSD1315 x2
Servo Motor: SG90 x2 LED: x6(for Display)
Button: Tact Switch x3 Touch Sensor: Tact Switch x2
COLOR DETECTION
NAVIGATION ALGORITHM
C, R, G, and B values are treated
Frontier search, Backtracking & BFS
as a vector in color space, and a
weighted Euclidean distance is
★: Current position
calculated. (C weight: 1/2)
※: Unexplored tile
1–4: BFS distance
: Explored
①: Selected path
(left priority)
BACKUP SYSTEM WALL TRACE & GYRO TRACE
Category Function PD-controlled center driving
The robot keeps the center of the corridor using the
Red-zone exit localization
distance difference between the left and right walls.
SD-card map matching on restart Early Detection
Localization
Re-check uncertain wall detection Angled front sensors detect
the presence or absence of
Re-check ramp entrance/exit walls
walls early.
Timeout fallback action Gyro Trace
Periodic gyro correction & centering When no wall is
Action available, the robot
Color tile re-check
follows its heading using
Recovery mode when no route remains the gyro sensor.
XY COORDINATE TRACKING MISSION COMPLETE ARCHITECTURE RESCUE KIT MECHANISM
① Servo-controlled arms securely hold the rescue kits.
② The arms rotate inward and move to the loading
position.
③ As the arms return, one kit is pushed out and
dropped. Steps ①–③ are repeated.
Exploration area: “+” active search “-” unexplored or explored
Return when both become “-”
Other: bump, ramp, stairs ➀ ➁ ➂
Susano(素戔嗚): A hero of Japanese mythology who defeated Yamata-no-Orochi and saved a princess. We inherit that spirit and challenge rescue in the maze.
Yatagarasu (八咫烏): The three-legged crow said to have guided Emperor Jimmu to victory. It symbolizes guidance toward the correct path and our pledge for reliable, rapid rescue.
Kusanagi-no-tsurugi(草薙の剣): A legendary sword found in the tail of Yamata-no-Orochi. Like this sword, our technology cuts through difficulty and opens a path through the maze.
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Presentation video
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Bill of materials
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Team description paper
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Engineering journal
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Source code
The team's own source code, 93 KB. It is a download rather than part of this page, because a zip is something you open on your computer. It comes from GitHub, which some school networks block.