Page 312 - Robot Design Handbook ROBOCON Malaysia 2019

2.2.2 Electronic Design for the MR2

The distribution of sensors and architecture of the processing units within the MR2
robot is shown in Figure 5.

Figure 5: Block diagram of the MR2 robot

In accordance with ROBOCON 2019 rules, the MR2 must be equipped with four

legs and should be fully autonomous upon performing its task. Hence, this the MR2 was
equipped with a vision processing module OpenMV M7 as the vision sensor to provide the

robot with correct information during locomotion. The OpenMV Camera is a small, low
powered, micro-controller board which allows user to easily implement applications using

machine vision in the real-world. The camera is programed in high level Python scripts,
making it easier to deal with the complex outputs of machine vision algorithms and working

with high level data structures.

When OpenMV finishes processing the image, it sends the result to Arduino UNO

as the interface between all sensors with CM530 robot controller [4]. Aside OpenMV, this

robot also equips with three IR sensors and one DMS sensor as assisting equipment to
perform the robot task. All sensors information will be submitted through analog/digital

input of ARDUINO UNO micro-processor and the resultant output will be transmitted to
CM530 controller through UART. The MR2 will move according to movement instructions

received by CM530.

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