Perception system of soccer robot

Abstract

The invention discloses a perception system of a soccer robot. The perception system comprises a forward vision camera and a panoramic vision photographic device and is characterized by further comprising an infrared sensor device and a perception processing system, wherein the perception processing system combines forward information acquired by the forward vision camera, panoramic information acquired by the panoramic vision photographic device and near vision information acquired by the infrared sensor device and transmits environmental information subjected to the information combination to a robot decision system. Due to the infrared sensor device, whether a soccer ball holding mechanism of the robot holds a soccer ball can be detected at a near distance; furthermore, an effective perception range of the infrared sensor device can be adjusted by an adjustable resistor on a peripheral circuit, so that the near vision information can be acquired; due to the change of an angle formed between a mirror surface vertical line of the forward vision camera and a horizon, the perception range of the forward vision camera can be changed at a middle distance, and a forward object can be positioned precisely through a forward vision math model, so that the forward information can be acquired; and the whole information can be sensed by using the panoramic vision at a far distance, so that the panoramic information can be acquired. The perception system can perceive an environment accurately, efficiently and stably by combining the near vision information, the forward information and the panoramic information, so that the robot decision system can make a more accurate decision; furthermore, the cost is reduced and the cost performance is improved.

Description

technical field [0001] The invention relates to a robot perception system, in particular to a perception system applied to a medium-sized soccer robot. Background technique [0002] The idea of ​​a robot soccer game was first proposed by Alan Mackworth, a professor at the University of British Columbia in Canada in his paper "On Seeing Robot" in 1992. His goal was to propose a landmark and challenging topic for the discipline of artificial intelligence and intelligent robotics . In 1993, this article was included in the book "Computer Vision: System, Theory, and Applications". Discussed the significance of developing robot soccer games to the development of science and technology, and considered that making robots play soccer is the most challenging research topic in the field of robotics and artificial intelligence among many challenging topics. After the robot soccer game was proposed, it was supported by many universities and scientific research institutions in develope...

AI Technical Summary

Problems solved by technology

The present invention solves the problem that the existing football robot cannot effectively fuse forward, panoramic and near sense information, and there is a visual dead zone at the proximal end of the forward vision under the premise of effective perception

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