RRR Kabelmüsli Our Team ial fic .of RoboCup Junior Rescue Maze up oc ob SFZ Tuttlingen, Germany @r @kabelmuesli 1 TEAM OVERVIEW 2 ROBOT HARDWARE 3 SOFTWARE ARCHITECTURE 4 Electronics Gravity-Fed Tower: Stores Team Captain kits vertically 1. PERCEPTION (A) ToF Sensor System (B) Other Sensors 1. PERCEPTION (A) Dual Camera CUSTOM PCB LAYER LAYER System Software Servo Escapement: Uses (Sensors) Data Polling Distance Calibration Output: (Vision) Orientation servo and two-armed I2C Communication Color Designed to improve reliability and reduce wiring Debugging Output: Reflectance Output: catch Distance Values Distances Encoder Values Video Stream complexity Single-Kit Release: Drops Teensy 4.1 Raspberry Pi 5 Integrated 12 V, 5 V, and 3.3 V power supplies Software the bottom kit while Onboard sensor integration 2. COGNITION Modular connectors for additional sensors Electronics catching the rest (A) Navigation (B) Mapping (C) Image Processing LAYER Integrated motor drivers Path planning Robot localization Image acquisition Marketing Sensors: Obstacle avoidance: Black Tiles/Ramps/... Maze mapping Neural Network- Compact, lightweight design Route optimization: accounts Tile/Turn Environment Victim Detection 8x VL53L1X duration tracking Victim localization Simplified assembly and troubleshooting Output: Output: Output: 3x VL53L8CX Where to go next + Route Instruction: Step/Turn Victim Detected Hardware 1x QTRXL-HD-01A Raspberry Pi 5 Electronics 1x APDS 9960 3. EXECUTION Assembly 1x WT901 (A) Motor Control System (B) PID Control Loops (C) Dropoff LAYER Communication with Ensures accurate 90° turns and stable Controls Servo Motors driving Orientation Motors: Controls Motor Speeds Compensates for inconsistent speeds Receives sensor data from the Drops off Rescue Hardware Perception Layer Kit to the victim 4x Pololu Metal Output: Assembly Gearmotor 20Dx55L Motoron M2T256 Motor Speeds Design 5 VICTIM DETECTION 6 MAPPING & NAVIGATION 7 INNOVATION Localization & Mapping DETECTION PIPELINE Distance sensors, wall measurements, and the gyro are used to Capturing 640x480 images estimate the robot's position and orientation. Innovation: coupled axle suspension system with Image Acquisition Lens distortion corrected using custom dewarping algorithm & Preprocessing Exposure & Color correction → compensation for lighting ball joints conditions Path Planning Shortest-path algorithm determines optimal route to next Each two wheels are rigidly mounted on one axle Region of Interest The front and rear axles are connected to each Predefined Regions of Interest Filtering Avoid locking to the next Tile unknown cell. Turn Costs are included so smoother paths are Raspberry Pi 5 preferred other via rods (processing of ArduCam Color Thresholding the data) Victim Candidate Black-mask pipeline Motion Control The connection uses ball joints IMX219 Extraction Adaptive thresholding CLAHE contrast enhancement PID-Controller regulates movement and turning. Wall distances This enables the axles to adapt to uneven and heading errors are used for correction Neural Network Candidates are passed to a neural network ground and tilt Model classifies victim symbols (Φ, Ψ, Ω) Classification Second model classifies targets and decodes ring patterns Obstacle Handling Result: All four wheels remain in contact with Black tiles, ramps, and unexpected obstacles are detected. the ground at the same time Detection Detections are tracked over several frames Recovery behaviors allow the robot to continue operating after Stabilization Victim only recognized after being confirmed over multiple frames disturbances. Advantage: high stability and consistent traction even on uneven terrain Localization horizontal position of victim within the image is converted into relative position value Navigation Information is used by navigation system to align robot with victim The robot builds a grid map of the maze while exploring. A Images are saved in a gallery for debugging purposes Dijkstra-based path planner uses this map to find the most Documentation Victim data is saved in the map efficient routes to the next unknown tile or back to the starting tile. 8 ACCOMPLISHMENTS 9 Our Partners 10 CONTACT 2024 (Maze Entry) 2025 (Maze) 2026 (Maze) rrrkabelmuesli@gmail.com 1st German Open 4th German Open 1st German Open 3rd European Championship 5th European Championship @kabelmuesli Thank you for making this possible!