The structure of the software is explained using MATLAB Simulink flow charts, which can be found by clicking on the links below (opening in Internet Explorer requires a seperate plugin):

Scheme | Motion | Vision | World Model

Figure 1: TURTLE

3D Viewer

Overview

TURTLE is an acronym for Tech United Robocup Team: Limited Edition.

The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections.
In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately:

1. The base
2. The upper body
3. The ball handling and kicking mechanism

Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism

Specifications

Construction

• Dimensions (HxWxD): 782.5 x 485 x 520 mm
• Weight: +/- 30 kg

Electrical

2 times Makita Ni-MH (BH2433) batteries
• Type: Ni-MH
• Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)
• Weight: 1,473 kg (one battery)
• Capacity: 3.3 Ah
• Voltage: 24 V

Motor Specifications

Drive motors

• 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use)
• 3x Maxon Planetary gearhead GP 42 C 12:1
• 3x Maxon Encoder: HEDS 5540

Ball handling motors

Ball receivers
• 2x Maxon RE 25 24 V 20 W
• 2x Gysin GSR012-1-05-1 5:1 wormbox
• 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V

Ball kicking hinge
• 1x Maxon RE 25 24 V 18 W
• 1x Maxon GP 32 C Planetary gearhead
• 1x Maxon Encoder: HEDS 5540

Amplifiers

Drive amplifiers
3x Elmec Violin 25/60 Amplifiers

Ball handling and kicking mechanism
3x Elmec Violin 5/60 Amplifiers

Computer

Industrial Beckhoff PC C6920-0010

Intel® Core2™ Duo 2.0 GHz (TC3: 70)
3½-inch motherboard
1 Mini PCI slot free for cards installed ex factory
2 GB DDR2RAM, expandable ex factory to 3 GB
on-board graphic adapter, Intel® GMA950, DVI-I connector
on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector
8 GB Flash drive
disk, 2½-inch, 40 GB
1 serial port RS232 and 4 USB 2.0 ports
24 V DC power supply
weight of 1.9 kg (4.2 lbs)

Communication

Beckhoff EtherCAT Module

EK1100 Ethercat coupler
EL1008 8* digital in
EL2008 8* digital out
EL3102 2* analog in 10V 16 bit
EL4038 8* analog out 10V 12 bit
EL5101 Incremental encoder interface
EL9011 E bushing

WLAN
Intel PRO/Wireless 2915ABG Mini-PCI Adapter

Vision

Omnivision

Prosilica GC750C
Interface: IEEE 802.3 1000baseT
Resolution: 752 x 480
Sensor: Micron/Aptina MT9V022
Sensor type: CMOS Progressive
Sensor size: Type 1/3
Cell size: 6 µm
Lens mount: CS
Max frame rate at full resolution: 60 fps
A/D: 10 bit
On-board FIFO: 16 MB
Power requirements (DC): 5-16 V
Power consumption (12 V): 2.2 W
Mass: 85 g
Body Dimensions (L x W x H in mm): 45x46x33

Lens
Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens
2.8 mm focal length; 1:1.2 CS (iris range)

Front camera (currently not used)

Model VC-4458
Resolution 640 x 480
Sensor: 1/3" CCD
Frame rate: 242 fps
Shutter: 5µs - 2.2s
Processor: TI 1 GHz
Computational Power 8000 MIPS
Digital I/Os 4 inputs, 4 outputs
Video output: RS232 and 100Mbit Ethernet
Dimensions: Approx. 110 x 80 x 35 mm,
Weight: approx. 500 g

Laser Range Finder (Currently not used on the field players)

Hokuyo UTM-30LX
• Power: source 12V +/- 10%
• Current: consumption 0.7A (max. 1.0 A)
• Detection range: 0.1 to approx. 60m (<30m guaranteed)
• Laser wavelength: 870 nm, Class 1
• Scan angle: 270 degrees
• Scan time: 0.025 s/scan (40.0 Hz)
• Angular resolution: 0.25 degrees
• Interface: USB 2.0 with trigger port
• Weight: 0.233 kg
• Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm)

Capacitor for Kicker Solenoid

450 V; 4700 µF

Software

• Linux (Ubuntu 8.10)

Degrees of Freedom

Omni Directional Base
• Omniwheels: 3 driven
• Speed: 3.6 m/s in each direction

Video

License

Copyright Eindhoven University of Technology 2012.

This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1.
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl).
This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions.

Navigation

Toolbox

TURTLE

Contents

Robot Summary