BRASIL HARDWARE HARDWARE TEAM HARDWARE SOFTWARE HARDWARE The Ligeirinho was built entirely from scratch for RoboCup Our software operates based on a deterministic Finite 2026, featuring an innovative double-front architecture. EDGAR ALVES ARRIGONI State Machine (FSM). Instead of adapting commercial kits, the chassis is entirely Hardware Engineering and For line tracking, we developed a high-speed PID 3D printed. We designed the structural core to lower the Manufacturing (3D modeling, control loop based on a virtual pixel array extracted center of gravity and integrated hand-curing silicone tires mechanical structure and from the bottom camera, allowing for precise 90- on repurposed vacuum cleaner wheels, ensuring zero manufacturing of customized tires). degree turns without traditional infrared sensors. slippage on 25-degree ramps. To overcome ambient light restrictions during line following, we developed a fully For the Rescue Area, we run a lightweight Convolutional enclosed, light-sealed dome for the lower camera. Neural Network (CNN). This Artificial Intelligence model GABRIEL DOMINICINI DA FONSECA runs locally at a stable 3 FPS, instantly detecting and Software Engineering and Control classifying victims (alive/dead) based on color to trigger (Computer vision algorithms, PID our automated triage mechanism. For the triangles we tuning and AI model training). use only OpenCV and algorithms, not AI. CONTROLLERS CONTROLADORES MAIN BOARD BERNARDO SCHMIEDEL RAYMUNDO Full-Stack Mechatronics Leader (Custom electronics/PCB fabrication, ALGORITHM CONTROLADORES hardware-software integration, and troubleshooting). RESCUE AREA JULIO CESAR GOLDNER VENDRAMINI Team Mentor. Powered by a Banana Pi M4 Zero, this central unit handles all power and processing requirements. It is responsible for processing images from the dual- camera system, running the PID control loop, and executing AI models in real time. MAIN LOOP SENSORS CONTROLADORES REED SWITCHES DISTANCE SENSOR Quant.: 2 Quant.: 6 Magnetic sensors in the In the front, on the LIGEIRINHO bumper for collision sides, and three in detection. the robot's bucket. HARDWARE OUR HISTORY CONTROLADORES HARDWARE INNOVATIONS SOLUÇÕES DE HARDWARE GYROSCOPE CAMERA We are the oldest Team of Brasil on active and over time we have achieved: LIGHT SILICONE 2022 – 1st place in the State Championship DOME TIRES (ES) and participation in the National Championship. Quant.: 1 Quant.: 2 2023 – 1st place in the State Championship In the middle of the Bottom camera for line (ES) and 1st place in the National A custom-printed 3D- Hand-cured silicone tires robot, it has a PID (inside the sealing Championship (BR). printed fairing for the mounted on vacuum microcontroller to dome); Front camera for 2024 – 5th place in the World Championship lower camera that cleaner wheels for process the x, y, and z tilt AI-powered victim and (RoboCup). completely blocks out maximum traction. planes. OpenCV-powered 2025 – 1st place in the State Championship external light, correcting detections. (ES), 2nd place in the National Championship reflection problems. (BR) and 1st place in the National Superteams Championship (BR). LIGHT DIFFUSER MOUNTING SIDE ACTUATORS CONTROLADORES MG90S Traction 1st PLACE OBR 1st PLACE OBR 1st PLACE OBR MICRO STATE (ES) 2022 STATE (ES) 2023 NATIONAL (BR) 2023 SERVO Motors Features a modular side Quant.: 4 The Light Dome features MOTOR a built-in diffuser for the bracket to quickly attach They control the victim- Quant.: 4 internal LEDs, ensuring a screen and keyboard, grabbing claw and the They provide high torque perfectly uniform allowing for on-the-fly automated internal ramp for climbing ramps and illumination and debugging and code of the split bucket. overcoming obstacles. 1st PLACE OBR 2nd PLACE OBR and eliminating glare for the adjustments. 5th PLACE Have a modified extra ROBOCUP RESCUE LINE WORLD 2024 STATE (ES) 2025 1st PLACE SUPERTEAMS bottom camera's plate for reading. NATIONAL (BR) 2025 computer vision. LIGEIRINHO