Béda 6 – a robot for the Ketchup House competition

 

Béda 6 is a home-made robot, which we designed with my two brothers in the HaHaHa Robotics team for the Ketchup House competition at the Robotic Day 2016 in Prague. Everything worked better than expected and we won it over 10 other robots. The robot is a refurbished version of an older robot Béda 5 made for the RoboRAVE 2016 competition – Junior category (…which it won as well…). It uses mechanical parts, power system, geared motors, control board and sensors of original Béda 5, we just exchanged a top ball-collector for a front steel ploughshare and IR distance sensor with push-buttons for ultrasonic sensor (rotating on a servo for an opponent detection).

Function:

In the Ketchup House competition, two autonomous robots try to gather up to 12 ketchup cans on a  playing field composed of a 7x7 black line grid and place them on their home lines. The robot cannot push the opponent out of the playing field but it can seize the cans from the opponent´s home line. The robot collecting more cans than the opponent in a 3-minute time limit is a winner. 


 

Description: 

Béda 6 uses DC motors salvaged from HP Photosmart 1215 printer, mechanical parts incl. gears and wheels printed on a 3D printer, control system based on own PCB with PIC16F1789, bidirectional motor driver L298N (2x 2A), alphanumeric LCD display 16x2, RGB LED with WS2811 driver, 6 reflective sensors QRD1114 for following the black lines on the 7 x 7 playfield. Ultrasonic distance sensor HC-SR04 rotating on a servo-motor SG9z serves for the opponent detection on the field. The robot is equipped with 9D position sensor MinIMU-9 (3D accelerometer, 3D magnetometer and 3D gyroscope) from Pololu company, but the sensor was not finally used in the program. The robot is powered by a battery pack with 4 Li-ion 18650 accumulators 2.2 Ah charged with a chip MCP73831.

 


 

Mechanical parts: 

-       main wheels: Ø156 mm 3D printed at PRUSA i3, material PLA, a modified parametric model from http://www.thingiverse.com/thing:21486

-       stabilizing ball wheel: ping – pong ball in a holder, 3D printed at PRUSA i3, material PLA, a model taken from http://www.thingiverse.com/thing:636967  

-       tires of the main wheels: a rubber sheet cut from an old washing machine 

-       chassis: polycarbonate sheet 120 × 250 mm from a HP DeskJet printer  

-       2×gearbox 25:1, 3D printed at PRUSA i3, material PLA, a modified parametric model from http://www.thingiverse.com/thing:3575  

-       holder of reflective sensors:  3D printed at PRUSA i3, material PLA, own design (see the SketchUp model in the attachment) 

-       the control board case with a lid: 3D printed at PRUSA i3, material PLA, own design (see the SketchUp model in the attachment)

-       the battery pack box with lid: 3D printed at PRUSA i3, material PLA,  own design (see the SketchUp model in the attachment)

-       holder of ultrasonic distance sensor: 3D printed at PRUSA i3, material PLA,  own design (see the SketchUp model in the attachment)


Electrical parts:

-       MCU: PIC16F1789

-       MCU inputs:

·         5×reflective sensor QRD1114 for the black line following and crossroad detection

·         1×back reflective sensor QRD1114 for home line detection

·         1×reflective sensor QRD1114 for a wheel encoder

·         9-axis IMU sensor MinIMU-9 for robot orientation on the field

·         ultrasonic distance sensor HC-SR04 for opponent detection

-       MCU outputs:

·         alphanumeric LCD display 16x2 

·         bidirectional motor driver L298N (2×2 A)

·         RGB LED with a driver WS2811 for signalization

·         servomotor 9g SG90 for ultrasonic distance sensor rotation

·         speaker 8 Ω/0,5 W for playing the winning songs 

-       Motors: 2 DC motors C6003 salvaged from HP Photosmart 1215 printer

-       Battery pack: 4×Li-ion acumulators 3.6 V/2.2 Ah, separately charged via MCP73831 chips

-       PCB: universal line PCB e=0.1“

 


 

Control board – functional scheme (higher quality scheme is in the attachment):

Control board soldering scheme on 0.1´´ line universal PCB:

Table of components – Control board: 

Code 

Type 

Parameters 

Function 

C1 

capacitor 

ceramic 100 nF SMD 0805 

MCU power filter 

C2 

capacitor 

electrolytic 100 µF/50 V  

7805 input filter 

C3 

capacitor

ceramic 100 nF SMD 0805

7805 input filter

C4

capacitor

ceramic

10 µF /X7R/25 V SMD 0805

7805 output filter

C5

capacitor

ceramic 100 nF

7805 output filtration

C6

capacitor

ceramic 100 nF

L298N power filtration

C7

capacitor

ceramic 100 nF

L298N power filtration

C8

capacitor

ceramic 220 nF

speaker input RC filter

C9

capacitor

ceramic 100 nF SMD 0805

MCU power filter

C10

capacitor

electrolytic 100 µF /50 V

servo motor power filter

C11

capacitor

ceramic 100 nF SMD 0805

encoder input filtration

C12

capacitor

ceramic 10 µF SMD 0805

encoder input filtration

D1

diode

1N5822

polarity protection

D2 -D9

diode

UF4007

L298N output protection

DS1

LCD display

alphanumeric 16x2

setting and displaying program parameters

FU1

polymer fuse

2.5 A

overcurrent and polarity protection

IC1

stabilizer

7805

5V power source

IC2

MCU

PIC16F1789

microcontroller

IC3

motor driver

L298N

bidirectional motor driver 2x2 A

 

programming pins

ICSP

programming pins to MCU

 

 

 

 

IMU

positional sensor

MinIMU-9

robot orientation on the field

K1

terminal

ARK500/2

main power connector

K2

terminal

ARK500/2

motor connector

K3

terminal

ARK500/2

motor connector

K4

terminal

ARK550/3

reserve output connector

K5

terminal

ARK550/3

back RX connector

K6

terminal

ARK550/3

servomotor connector

K7

terminal

ARK500/2

speaker connector

K8

connector

IDC10

ultrasonic distance sensor connector

K9

connector

IDC10

front reflective sensors connector

MOTOR-MOTOR2

motors

DC motors C6003 salvaged from a printer HP Photosmart 1215

robot wheel drive

PAD1 – PAD10

soldering pins

 

auxiliary connectors for external inputs and outputs

Q1

transistor

IRLB8743

switching speaker for sound generation

R1

resistor

1 kΩ

LCD display contrast setting

R2

resistor

68 Ω

LCD display background light

R3

resistor

1 kΩ

L298N input protection

R4

resistor

1 kΩ

L298N driver protection

R5

resistor

1 kΩ

L298N driver protection

R6

trimmer

5 kΩ

LCD display contrast setting

R7

resistor

1 kΩ

L298N input protection

R8

resistor

1 kΩ

L298N input protection

R9

resistor

1 kΩ

L298N input protection

R10

resistor

3.9 kΩ

voltage divider for battery control

R11

resistor

10 kΩ

voltage divider for battery control

R12

resistor

1 kΩ

sound RC filter

R13

resistor

1 kΩ

MCU analog input protection

RGB

RGB LED

HC-F5V-F20-WS2811, SMART RGB with WS2811 driver

program status signalization

SERVO MOTOR

servo motor

9 g SG9z

ultrasonic sensor rotation

Speaker

speaker

8 Ω/0,5 W

acoustic signalization

SW1

button

button to PCB

auxiliary button (reserve)

US1

ultrasonic distance sensor

HC-SR04

opponent detection

X1

4x header

 

I2C communication connector

 


 

Scheme – reflective sensors:


PCB with reflective sensors:   

Table of components – Reflective sensors: 

Code 

Type 

Parameters 

Function 

C13 – C17 

capacitor 

ceramic 10 nF SMD 0805 

filtration of phototransistor output 

R14 – R18 

resistor 

10 kΩ 

phototransistor output resistors  

R19 

resistor

47 Ω

current limitations for LED diodes of reflective sensors

RX1 – RX5

reflective sensors

QRD1114

track detection

 


 

Scheme – back reflective sensor and encoder:

Table of components – back reflective sensor and encoder:

Code

Type

Parameters

Function

C18

capacitor

ceramic 10 nF SMD 0805

phototransistor output filter

R20

resistor

10 kΩ

phototransistor output resistor

R21

resistor

330 Ω

current limitation for LED diode of the reflective sensor

RX_BACK

reflective sensor

QRD1114

home line detection or wheel encoder

 

Wheel encoder:

 


 

Scheme -  Battery pack:

Battery pack – scheme of the switches connection:

Table of components – Battery pack:

Code

Type

Parameters

Function

C21

capacitor

4x ceramic 10 µF/25V SMD 1210

charging chip output filtration

C22

capacitor

4x ceramic 10 µF/25V SMD 1210

charging chip filtration

D16

LED diode

green indication LED

3 mm/ 2 mA

indication of charging status

D17

LED diode

red indication  LED

3 mm/ 2 mA

indication of charging status

IC4

integrated circuit

4x MCP73831

charging of a single-cell Li-ion battery

K10

terminal

4x ARK500/2

Li-ion accumulator connectors

K11

terminal

ARK500/2

power source connector

R22

resistor

2 kΩ

LED current limiting

R23

resistor

2 kΩ

LED current limiting

R24

resistor

2 kΩ

charging current selection

 

Battery pack photos:

 


 

3D models in SketchUp: 

Photos of the robot:

Motors:



 

A winning home-made robot for the Ketchup House competition at the Robotic Day 2016 in Prague.

  • Actuators / output devices: speaker, 2x DC motors salvaged from HP Photosmart printer
  • Control method: autonomous
  • CPU: PIC16F1789
  • Power source: battery pack 4x Li-ion 18650 2.2 Ah
  • Programming language: C
  • Sensors / input devices: HC-SR04 ultrasonic sensor
  • Target environment: indoor

This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/beda-6-a-robot-for-the-ketchup-house-competition

nice robot you made there

nice robot you made there Martina.

https://www.robotshop.com/letsmakerobots/files/userpics/u23459/12_b_battery_pack.jpg

nice through hole pcb, why don’t you do etching, I think the circuit will be more efficient.

 

Really nice writeup and robot

You’re definitely putting your 3D printer to good use. Wiring and setup looks clean. I agree with sw0rdm4n that you might want to bump your skills to the next level and experiment with custom PCBs.