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日本語 | English

Carry My Luggage（CML）

Reference video: https://youtu.be/dzyJ1dHTulc

Note The reference video is not perfect. The task may differ depending on the rules of each year RoboCup, so please use it as a reference only. If you have any concerns or points you would like to discuss, please write them in the Issues section of GitHub.

Main Goal

In this task, the robot is expected to assist the operator in transporting the luggage to a car parked outside (imaginary). After the robot grabs the luggage (which is a paper bag), it will follow the operator from a known environment to an unknown environment to support the luggage transport. Then, it will autonomously return to the starting point (inside the known environment).

Note Although the same competition and rules are adopted from the Education League, a different scoring method is used for differentiation.

Focus

This task focuses on finger-pointing recognition, manipulation, mapping and navigation in known and unknown environments, human-following, voice dialogue, task planning, etc.

Settings

  • Location: An arena environment based on a home environment will be used. The competition will take place both inside and outside the arena. The inside of the arena can be mapped in advance (known environment), but mapping of the outside of the arena is prohibited (unknown environment).
  • Starting location: The robot will start in the center of the Room 2: Dining Room facing towards the middle point between the chairs position.
  • Luggage (paper bags): Two paper bags will be placed near the operator (within 2[m] of the robot and visible to it).
    • Size: 260 x 10 x 310[mm] Amazon Link．
    • Placement: The team will place the luggage (paper bags) on chairs. The bags will be placed on chairs in the same configuration as the Tidy Up for OPL task, so they don't overlap with the robot's path.
  • Operator: The operator will point to the paper bag to be used during the competition while standing in front of the robot. Please select an operator from your team.

Scenario

Starting Phase

  1. Competition time: The competition will last for 7 minutes.
  2. Setup: The referee instructs the team to move the robot to the starting position.
  3. Start: The referee gives the start signal and starts the timer. At the same time, the team completes the final simple setup (pressing the starting button, etc.) and leaves the area. Complex setup procedures such as pressing more than two buttons are not allowed.
  4. Pointing: The operator points to the paper bag that was specified in advance at the same time as the start signal.
  5. Grasping: The robot recognizes the bag pointed to by the operator and grasps it.

Follow-Me Phase

  1. Delivery: When the robot is able to grasp the paper bag and be in a state where it can follow the human, it informs the operator of its intention.
  2. Walking: After that, the operator starts walking from a known environment towards an unknown environment. At this time, the goal outside the arena is fixed.
  3. Follow-Me: The robot starts to follow the walking operator and moves with him/her. If the operator reaches the goal, he/she will inform to the robot of his/her intention.

Warning When the operator is walking, he/she cannot look back to the robot or stop during the walk.

Navigation Phase

  1. Handover：オペレータとロボットがゴールに着いた後，オペレーターはロボットからバッグを受け取り，ロボットにお礼をします．
  2. Navigation: The robot autonomously moves from the unknown environment to the Starting Point in the known environment. At this time, the robot performs autonomous driving while avoiding various obstacles. However, each team can decide whether to challenge these obstacles (points are added for each obstacle avoided). There are four types of obstacles:
    • A crowd of people (3-4 people) that obstructs in a static state
    • Small objects on the ground (such as building blocks)
    • Hard-to-see 3D objects (such as chairs or glasses)
    • Opening and closing barriers (such as guide poles)
  3. Goal: When the robot returns to the Starting Point, the task is complete.

Deus ex Machina

The following Deus ex Machina will be adopted in this task. With Deus ex Machina, although no points are awarded for the corresponding action, it is possible to skip partial tasks with simpler methods and continue with the overall task.

Action Bypassing
Selection of paper bag
  • Limit selection to one of the two paper bags placed
  • Only one paper bag is placed
Gripping paper bag
  • The robot makes the operator to hold the selected bag
  • At this time, the robot informs the operator of the position of the paper bag
Person-following movement using markers
  • Perform person-following movement with a marker attached to or held by the operator

Score Sheet

Action Score
Main Task
Transport the paper bag to the goal outside the arena
  • Detection of the operator-selected paper bag
  • Grasping the selected bag
  • Following the operator out of the arena
  • Arriving at the goal outside the arena while following the operator
50
100
50
50
Bonus Tasks
Re-enter the arena
  • Autonomously enter the arena
  • Autonomously return to the `starting point`
25
25
Avoid static crowds of people (3-4 people)
50
Avoid small objects on the ground (such as blocks)
50
Avoid visually confusing 3D objects (such as chairs or glasses)
50
Avoid opening and closing barriers (such as guide posts)
50
Penalty
Non-participation (without previous instance) -500
Total (including bonus tasks) 500

Note Although the same competition and rules are adopted from the Education League, a different scoring method is used for differentiation.

Note Three triangular open-close barriers (such as guide poles) will be used. They will be available for use from the Setup Day (planned)．

Instructions from the Executive Committee(EC)

  • Preparation
    • Select 3-4 people to act as obstacles for the robot on the outdoor path.
    • Choose the position of the paper bag and assign the bag to the operator.
    • Select obstacles that the robot will face when it is outside.
    • Choose the position of the goal (car).
    • Be careful with the robot when it exits the arena.
  • Announcement (Setup day)
    • Select the robot's starting point and announce it.
    • Select which bag to be grasped and announce it.

Role of the Referees (TC)

  • Gather 30 minutes before the competition, receive instructions, and receive the score sheet.
  • Act as the referee as described during the task.
  • Score the competition.
  • Verify scoring content with other TCs.
  • Submit the score sheet.

Note Members of each teams are selected to be TCs and score the tasks of other teams' competitions. For details, please refer to the Scoring System.