Intelligent soccer robot control system and control method

Abstract

The invention provides an intelligent soccer robot control system and control method. The intelligent soccer robot control system comprises a visual induction system, a pressing sensing system, a central processor and a travelling mechanism, wherein the central processor drives knees and parts under the knees to move in the direction where pressure signals of the pressure sensing system are provided preferentially according to the pressure signals, and controls a soccer robot to move according to a first signal, a second signal and a third signal provided by the visual induction system according to the distance between a soccer ball and the robot. According to the intelligent soccer robot control system and control method, the structure is simple, production is easy, moving is flexible, the cost is not high, operation is simple, and running with the ball and competitor impact avoiding of the robot are smoothly completed.

Description

technical field [0001] The patent of the present invention relates to a control system and control method of an intelligent soccer robot, especially through intelligent control to realize blind movement, which can imitate the continuous dribbling movement of a human being and intelligently start and shut down to save electricity. Background technique [0002] Now highly specialized and intelligent soccer robots have been released, and have been applied in the World Robot Soccer Competition, and are highly ornamental and interesting in the FIRA International Robot Federation and ROBOTCUP International Robot Soccer World Cup. Participate in the robot of this anti-football match, must have the brain of flexible kinematic joint and directing motion and powerful intelligent control device. At present, robots manufactured by imitating human joints are very clumsy in the specific coordination and cooperation between football control and multiple people. The reason is that the robot...

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Problems solved by technology

[0004] The prior art discloses a humanoid robot lower limb structure with a double-spherical hip joint mechanism and a leg with 7 degrees of freedom, in which the hip joint has 3 degrees of freedom, the ankle joint has 3 degrees of freedom, the knee joint has 1 degree of freedom, and the hip joint has 3 degrees of freedom. The joint adopts a double ball mechanism, that is, the six rotation axes intersect at one point, so that when the knee joint and ankle joint are not moving, the humanoid robot can realize the waist function without adding joints. The flexibility of this robot Compared with the robot in the previous patent document, the flexibility is greatly improved, but the increase in the degree of freedom makes the control of the legs of the humanoid robot require more chips to calculate the operation of parts and more sensors to control the robot and manipulate commands. very complicated

Another robot leg mechanism disclosed in the prior art includes a base and a motion platform, the base is connected with the motion platform through a transmission mechanism; the transmission mechanism includes a motor fixed on the base and a motion unit connected with the motor; The unit includes a first motion unit that can make the robot leg mechanism swing backwards and a second motion unit that can press down or lift the motion platform; the first motion unit includes a support rod whose top end is fixed on the base, and the first motor Connect the first screw mechanism and a first fixed-length rod hinged with the motion platform; the first fixed-length rod includes a straight rod part and an outwardly protruding lug part, the support rod is hinged with the straight rod part, and the first wire The rod mechanism is hinged to the projection part; the second unit includes a second screw mechanism connected to the second motor and a second fixed-length rod hinged to the motion platform, and the second screw mechanism is hinged to the second fixed-length rod; this The advantages of robots used in football games are simple structure, strong bearing capacity, small size, good processing and assembly technology, and have certain advantages in confrontation. Because the legs of this robot have no knee joints, the movement performance is not good Flexible, very clumsy in the control process, not suitable for the existing football match

[0005] In the prior art, Chinese patent 2014102998879 discloses a robot football dynamic decision-making device and its method based on the ant colony algorithm, based on the superiority of the human football tactical concept and the efficiency of the ant colony algorithm in finding the optimal path in a dynamic environment Based on the ant colony algorithm, a robot football dynamic decision-making device and its method are proposed. By analyzing and refining the situation and state of the field, and taking the effect of the robot's tactical task as feedback, the decision-making, evaluation, and re-decision are made. The most suitable strategy for the current situation, but this algorithm is still developed to achieve blind and intelligent football robot

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