The IEEE Region 5 robotics competition was held in Denver. The competition required tunnel mapping. Basically, there would be a 8 feet by 8 feet competition board, the top surface was acrylic, the middle was foams cut in 12 inches by 12 inches and which was used to create the tunnel and the bottom was cardboard. A single wire was placed which was connected to a lamp and this wire signified the main path of the tunnel. There would also be hollow spaces whose detection meant bonus points. Obstacles were also placed on the top. Also, at the end of each path there would cachelids with dice on them and the competitors were supposed to read the dice. The competition rules can be found here:
Competition Rules
A valid path for the robot to follow would be the hollow spaces with wires:
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Tunnels with wires and hollow spaces
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The robot used stepper motors and mecannum wheels for motion. There were two main sensors. The first one was a solenoid. A mouse ball was attached at the end of the solenoid. It was then connected to a mosfet which acted as a switch. As the switch turned on the solenoid would hit the acrylic and sound would be captured by a microphone and then FFT was done to recognize the pitch of the sound. This would tell if there was a hollow space. The other sensor was an improvised tick tracer. The tick tracer could detect a live wire. The detection meant a sinusoidal which again after FFT would tell if there was a live wire. The whole field was mapped on a 8 by 8 RGB LED display. A raspberry pi 2 and pi camera was used to notice the cache lids and a servo motor was used to remove the lid and the pi camera was again used to detect the reading on the dice.
An example of the OpenCV task to detect the wires cache lids would be:
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| Using OpenCV and hough circle algorithm to detect the circular cache lids |
This was the competition which I won and was awarded with a certificate:
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Certificate and Robot
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