100 results about "Soccer robot" patented technology

The invention relates to the technical field of computer vision detection, in particular to a calibrating method for a centralized vision system of a soccer robot; the calibrating method comprises the following steps of: using a system site as a calibrating template, using certain mark points on the site as calibrating reference points, and obtaining pixel coordinates and world coordinates of the calibrating reference points; establishing an imaging model of the camera according to the characteristics of the centralized vision system of the soccer robot, respectively obtaining the internal and external parameters of the camera by using the pixel coordinates and world coordinates of the calibrating reference points and optimizing the related parameters; and by using the internal and external parameters of the camera, establishing pixel coordinates of an original site image to conversion modules of the world coordinates to which planes corresponds, wherein target bodies with different heights are arranged in the planes. The calibrating method belongs to the field of computer vision detection and can be used for calibrating the camera with a vision detection system similar to the centralized vision system of the soccer robot; and the calibrating method is simple, easy to use and higher in accuracy without needing other auxiliary calibrating devices.

The invention provides a method for kicking a ball at all directions by a humanoid soccer robot based on a double-balance control mechanism. The method comprises the following steps of determining a ball kicking point with a minimum cost according to a distance cost value and an angle cost value, and controlling the robot to walk to the ball kicking point; transferring the center of gravity of the robot, and using a cubic spline interpolation method to plan feet space trajectory, namely obtaining the reference gesture of the feet movement of the robot at each moment; calculating the angle of each joint of the robot according to the obtained reference gesture by using inverse kinematics knowledge; and maintaining the stability of the robot in the ball kicking process through the double-balance control mechanism fed back by a centroid and a gyroscope. The invention provides a method for kicking a ball at all directions by a humanoid soccer robot based on a double-balance control mechanism; in the ball kicking process of the humanoid robot, kicking the ball at all directions by the robot can be realized through the double-balance mechanism fed back by the centroid and the gyroscope. Compared with the prior art, the method has the advantages of high stability and high execution efficiency.

The invention discloses a target tracking method and system of a football robot. The target tracking method of the football robot comprises the following steps of (1) building a motion model of the football robot, (2) carrying out discretization on the motion model of the football robot to obtain a state equation of the football robot, (3) building a measurement model of the football robot, (4) building a filtering probability distribution model of a state variable xk-1 of the football robot at the time of k-1, (5) updating measurement, (6) updating prediction, (7) estimating the optimized estimated value of a state variable xk+1 of the football robot at the time of k+1, and (8) tracking a target. The target tracking system of the football robot comprises a data processor, a data storage card, a serial port communication module, a wireless communication module, an omni-directional visual module, an intelligent power module, a motion control card, a motor driving circuit module, a motor, a motor encoder and a football robot training machine. The target tracking method and system of the football robot are reasonable in design, simple and convenient to use and operate, convenient to realize, capable of rapidly and accurately tracking the target of the football robot, high in practicability, good in use effect, and high in popularization and application value.

The invention discloses a centralized control type soccer robot identification system and an identification method for double visual information fusion and belongs to the technical field of machine vision. The centralized control type soccer robot identification system comprises a left visual sensor for shooting a left field target body, a right visual sensor for shooting a right field target body, two PCs (Personal Computers), an Ethernet interface line, a color code for representing the robot pose and the ID (Identification) information, and an image processing system. The centralized control type soccer robot identification system and the identification method have the beneficial effects that the two PCs are respectively connected with the left visual sensor and the right visual sensor; the left field target body and the left field target body are identified according to a color code identification algorithm after image acquisition, image calibration and feature extraction are carried out; the two PCs are used for information transmission, information judgment and information fusion through an Ethernet interface to obtain the information of all target bodies on the complete field; and the validity and the information loss situation of the identification information can be reasonably judged and treated, so that the identification precision and the real time of the system is improved, therefore, the system can be taken as a scientific research and innovative practice education platform.

The invention relates to a pass control method of humanoid soccer robots and a team ball-control method. By the adoption of brand new training model design, control is conducted regarding a pass motion which is determined after a robot holding a ball determines to pass the ball, and the success rate of pass can be effectively increased. On the basis of the pass control method of the humanoid soccer robots, the team ball-control method is further designed, overall-planning and control are conducted regarding the robots in a whole team; the success rate of the pass is increased, the ball-holding duration of the team can be effectively prolonged at the same time, and the winning rate is increased.

The invention discloses a leg mechanism for a serial-parallel hybrid human-simulated soccer robot. The leg mechanism comprises a hip joint, two thigh connecting rods, a knee joint, two shank connecting rods, an ankle joint and a sole which are successively hinged, wherein the hip joint is arranged in a traditional serial form but the short span design of a hip joint U-shaped frame can strengthen the rigidity of the hip joint; a four-connecting-rod mechanism is arranged at the knee joint; the four-connecting-rod mechanism of the knee joint can promote the rigidity of the knee joint and can increase the walking stability; an arranging space for the knee joint tension spring is further supplied by the four-connecting-rod mechanism; the ankle joint has a parallel structure; the parallel structure of the ankle joint can realize the simultaneous power output of two driving units of the ankle joint; the rigidity is promoted while the inertia of shank is greatly reduced and the loads of the driving unit of the knee joint and the driving unit of the hip joint are relieved; the target of being light, quick, powerful and stable is achieved; the tension spring on the rear part of the knee joint has the functions of compensating for gravity and storing energy.

The invention relates to a pneumatic ball kicking system of a football robot, comprising a ball horizontally pushing kicking foot, a cylinder output rod, a cylinder, air pipe interfaces, a stand, a connecting rod, a ball lifting kicking foot, a ball lifting kicking foot board, a rotary pushing head and a motor. A pneumatic control loop comprises a cylinder output rod, a cylinder, a two-position five-way electromagnetic valve, a two-position three-way electromagnetic valve and an air storage bottle. The ball kicking system can realize switching between ground ball and air ball by changing the angle of the rotary pushing head. The force of kicking the ball can be regulated by changing duration of electrifying the two-position five-way electromagnetic valve, namely changing the flux of air flowing into the right cavity of the cylinder. The invention realizes a pneumatic ball kicking system which can regulate force of kicking the ball, and can play ground ball and air ball. The invention has simple structure and easy realization, and can greatly improve the competition ability of the football robot, particularly ball kicking ability.

The invention discloses a wheeled soccer robot. The wheeled soccer robot comprises a chassis; a lower end face of a polygonal frame structure; omnidirectional wheel mechanisms which are connected to the lower end surface of the chassis in an annular array and are used for driving the chassis to move; a translation positioning mechanism which is fixedly arranged in the middle of the upper end faceof the chassis and used for recording coordinates of the chassis driven by the omnidirectional wheel mechanisms to move; a soccer ball kicking mechanism which is arranged on one side of the upper endsurface of the chassis and used for driving a soccer ball to move; and a soccer ball collecting and releasing mechanism which is arranged on the other side of the upper end surface of the chassis andis used for receiving and releasing the soccer ball. The wheeled soccer robot can automatically move, integrates ball shooting and ball receiving, and can not only shoot soccer balls, but also shoot various balls with different sizes.

The quick visual identifying method for football robot includes installing video camera over the football court to obtain shooting range covering the whole court; installing the video acquisition card in the workstation, connecting the input of the video acquisition card to the output of the video camera to output digital image data, and processing the digital image data in computer, so as to determine the goal and sideline position data, provide the real-time positions, directions, speeds and accelerations of the players in the court and the position data of the ball. The VC++MFC program includes the steps of: target characteristic extraction and correction parameter setting; image pre-treatment; target identification; and correction treatment. The identifying method of the present invention has the features of high search speed, high identifying precision, high environment adaptability, etc.

A football playing and ball protection device for football robot, wherein the football playing device mainly comprises a rain scraping motor, an eccentric gear, a push bar and a rubber band, the ball protection device comprises a small motor, a rubber rod and a supporting stand, the football playing device is powered by the rain scraping motor with self-locking function, wherein the rain scraping motor drives the eccentric gear to rotate, thus pushing the push bar with rack bar move backwards in the linear bearing, and the rubber band behind the push bar is tensioned.

The invention discloses a coordination and cooperation control method for football robots and a system thereof. The method comprises the following steps: I, self-positioning of the football robots is performed according to the quantum immune algorithm; and II, coordination and cooperation are performed by the football robots in the antagonistic process of the game according to the algorithmic game theory. The system comprises a data processor, a data memory, a serial port communication module, a wireless network card, a 1394 control card, a compass, a milemeter, an omnidirectional vision module, an intelligent power module, motion control cards and motor drive circuit modules; the output ends of the motor drive circuit modules are connected with motors; the motors are connected with motor encoders; the motor encoders and a football robot kicking mechanism are all connected with the intelligent power module; the wireless network card is connected with a football robot trainer. According to the invention, the design is novel and reasonable, the coordination ability among multiple robots is improved, the collaboration efficiency is improved, the goals are increased, the winning probability for a football robot match is improved, the using effect is good, and the popularization and use are facilitated.

The present invention discloses a small-size human shape-imitated football robot remote monitoring system based on a 3G network, belonging to the computer application technical field, wherein a sensor module converts a sensor signal into an electrical signal to carry out analog-digital conversion processing; the converted signal is used as information of a movement control module to be inputted; a path of the control information of the movement control module is sent to an executing unit actuator, while other path is sent to a 3G airborne wireless communication module; a visual module also simultaneously processes acquired image information and sends the image information to the 3G airborne wireless communication module which sends the image information to a 3G portable wireless communication module; a display output module displays the movement state of each actuator and the acquired images; an input module transmits the inputted information to an image and communication processor and the movement control module through the 3G portable wireless communication module and the 3G airborne wireless communication module so as to realize the control requirements of manually controlling a robot. The system can be convenient for real-time online detection and control, and can avoid losses caused by sudden events.

The invention discloses a soccer robot cooperation method based on reinforcement learning. The soccer robot cooperation method comprises the steps that S1, a reinforcement learning basic model of soccer robots is constructed based on a Sarsa (lambda) algorithm with communication added, and a reward and punishment mechanism r of the reinforcement learning basic model is set; S2, a specified numberof state variables are defined based on the distance and angle between the soccer robots; and S3, operational action sets of the soccer robots are set, and the soccer robots select the next action based on the reward and punishment mechanism r, the state variables and the communication between the soccer robots. According to the soccer robot cooperation method based on the reinforcement learning,the reward and punishment mechanism in set up in the established reinforcement learning basic model, the soccer robots choose the next action according to the current environment and the reward and punishment mechanism, learning and updating are conducted by the soccer robots communicating with one another, and the cooperation efficiency of the soccer robots is effectively improved.

The invention relates to a strategy regulatory module of a global vision soccer robot decision-making subsystem and a method thereof, wherein the module comprises a plurality of resource databases, such as a role library, a formation library, a basis graphics library, a robot action library, and so on. The module and the method of the invention can be used for re-drawing a competition area, assigning roles, modifying a role parameter and adding new role functions, and so on via graphical programming or code programming; especially the decision-making subsystem can be adjusted only on a strategy processing panel without entering into a complex program, which greatly strengthens the operability of the whole system. In addition to this, a strategy parameter can be directly modified in the game and taken effect in time so as to be convenient for an operator to timely modify our tactics according to different strategies of an opponent and a site situation.

The invention discloses a control method for simulating ball control of a soccer robot. According to the method, the dimensionalities of a state space are reduced with a tile coding linear function approximation method; a soccer robot agent module selects a Sarsa (lambda) algorithm in reinforcement learning so as to score strategies online; an optimal strategy can be selected by means of trainingand on the basis of a principle of high score first; and simulation results show that the Sarsa (lambda) algorithm can greatly improve a ball control rate. According to the method of the invention, the reinforcement learning is applied on the basis of the Sarsa (lambda) algorithm. With the method adopted, in a keepaway test, a player can control a ball for a long time and achieves a high ball-holding rate, and therefore, the ball can be transferred cooperatively among a plurality of agents, or the agents can find suitable opportunities to shoot the ball, and therefore, scores can be gained, and a win rate can be improved.

The invention discloses an integrated soccer robot structure, which comprises an omni-directional moving platform, a dribbling device, a kicking device and a top vision device, wherein the omni-directional moving platform, which adopts layered design, is used for moving a robot; omni-directional wheels are arranged on the lower layer of the omni-directional moving platform; the dribbling device and the kicking device are arranged on the middle layer of the omni-directional moving platform; and the top vision device is arranged on the upper layer of the omni-directional moving platform. A motor drives two rolling wheels to enable the dribbling device to rotate from front to back, so that a soccer constantly clings to the two rolling wheels. The kicking device is arranged on the upper part of the dribbling device and an electromagnet is used for controlling a hitting rod to swing forward and backward, so that when the hitting rod swings forward, the soccer is rapidly pushed to move; and the hitting rod, which is driven by the motor, is adjustable in vertical direction, so as to be capable of adjusting various shooting angles. The image information of the top vision device which passes through a reflector yard is acquired by a camera and is transmitted to a control system, so as to determine a target position in next step. The integrated soccer robot structure disclosed by the invention has the advantages that the omni-directional moving platform of the soccer robot is of a modular structure, so that the reasonable utilization of space is realized, and the soccer robot is convenient to assemble and disassemble and is compact in structure.

The invention discloses a humanoid football robot path planning method based on a dynamic window method. The method comprises the steps that 1, a barrier is recognized through a camera of a robot, andthe distance and relative position between the robot and the barrier are quickly obtained by the adoption of monocular vision positioning and ranging of the robot; 2, a motion model of the robot is obtained through calculation; 3, multiple groups of velocity parameters are sampled, and velocity value limiting conditions are obtained considering hardware conditions of the robot itself; 4, a motiontrack of the robot is calculated through the motion model of the robot and the motion velocity of the robot; and 5, an evaluation function is set and used for evaluating multiple groups of sampled velocities and multiple segments of simulated running tracks in the running process of the robot, and the optimal track is selected. Through the method, the distance between the robot and the barrier can be quickly obtained; and by adopting the dynamic window method to derive the optimal track of barrier-avoiding motion of the robot, the processing speed is high, efficiency is high, and the track derivation effect is good.

The invention discloses a football robot bottom control method based on a fuzzy control, comprising steps of (a) given value comparison, (b) fuzzy processing, (c) parameter correction, and (d) real time optimization. The parameter correction comprises the step of taking a corrected controller output as an input of a DC motor so as to adjust the position and the angle of the football robot to achieve controlling. The real time optimization comprises the step of re-measuring a transmission potion and an angle to perform second correction. By combining the fuzzy control and regular PID control, the invention compensates the defects of the fuzzy control and the regular PID, which is high in control accuracy, good in control effect, simple in controlling rule, can perform online real-time PID parameter adjustment, greatly reduces the variance between the position and the angle, effectively improves the reaction speed and the position control precision of the process system, and is easy to realize the control of the computer.

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.

The football-kicking mechanism of football robot mainly comprises three portions of crank slide block mechanism, ball-driving board mechanism and fastening hook mechanism, which are respectively fixed on the base board by respective support, the crank slide block mechanism is connected with ball-driving board mechanism by slide block, the motor is used for driving crank slide block mechanism and driving ball-driving board mechanism to make the spring be compressed, and when the spring is compressed to a certain extent, the cross beam on the ball-driving board mechanism can be fastened by fastening board of fastening hook mechanism, the motor is stopped, the whole mechanism is being in energy-storing state, when it is used to kick ball, the cross beam is separated to make spring quickly release energy to quickly kick football.

The invention discloses a modularized football robot which comprises an all-direction moving underframe, a dribbling device, a ball kicking device and a top-layer visual device. The all-direction moving underframe is used for moving of the robot, the dribbling device, the ball kicking device and the top-layer visual device are mounted on the all-direction moving underframe, the dribbling device drives two rollers to rotate from front to rear through a motor to enable a football to be fitted with the rollers all the time, the ball kicking device is mounted on the upper portion of the dribbling device, and a ball hitting rod is controlled to swing back and forth through an electromagnet to quickly move forwards to push the football to move; up-down position of the ball hitting rod driven by the motor is adjustable, so that adjusting of different shooting angles is realized; the top-layer visual device is positioned on the uppermost portion, and image information on a reflection mirror site is collected and transmitted to a control system through a camera to determine a target position of the next step. The modularized football robot has the advantages that the all-direction moving underframe is of a modularized structure, so that space is utilized reasonably; the modularized football robot is convenient to mount and demount and compact in structure.

The invention relates to a soccer robot dual meet system based on global vision and remote collaborative control. The system comprises a global vision subsystem, an intelligent decision-making subsystem, a USB wireless communication subsystem, and a robot car subsystem. When the system is running, the global vision subsystem converts image information acquired by an image acquisition device into pose information of robots and position information of a ball and transfers the information to the intelligent decision-making subsystem, the intelligent decision-making subsystem judges field attack and defense state through an expert system according to the acquired information, assigns a role to each car automatically and obtains a command value of the speed of the left and right wheels through conversion, and the USB wireless communication subsystem sends the wheel speed command value to the corresponding robots in the field through a transmitting module to control the motion of the robots. Meanwhile, a participant can also wirelessly and remotely control the motion of any car on the side thereof through an offered remote control handle (only one car can be controlled at the same time), and the priority of a remote control command is higher than that of a command issued by the expert system.

The invention relates to a method for remotely controlling rotor to play football based on internet, wherein it comprises the competition site and the operation site connected via internet; the competition site uses camera to collect the competition information, via the video computer and control computer to transmit the on-site video image and the competition information data to the operator, and receive the command of operator, to control the competition; the operation site via video receiver/sender receives the video information, via the network forecast module, to receive the competition information and detect the network condition, while the forecast result via image rebuilt module is displayed to the operator; the operator via the operation command published by the feedback information with operation rod, and the forecast result, uses the command transform module to transform it into the speeds of left and right wheels of robot, to be transmitted to the control computer. The invention can combine the remote operation technique with the robot football game.

The invention discloses a soccer robot GGRRT path planning method, aiming to improve the search efficiency of soccer robots and allow the robots to react quickly and take the initiative in the game. Agoal orientation function is introduced on the basis of an original RRT algorithm, so that a growth function is no longer determined by a stochastic growth function alone, but is determined by the stochastic growth function and the goal orientation function together, which is equivalent to increasing the attractiveness of a target point to a research object, and effectively guiding a random treeto grow toward the target direction. Experimental results show that the route planning carried out with the GGRRT algorithm proposed by the invention consumes only 1/12 to 5/6 of the time cost by theoriginal RRT algorithm, and redundant branches are also greatly reduced, thereby effectively solving the problem of blind search of the soccer robot and greatly improving the efficiency of route planning.

The present invention provides a soccer robot, comprising a base, a through hole, a mounting plate, a first motor, a first driving wheel, a second motor, a second driving wheel, a rotating shaft, a protective cover, a top plate, a push rod, a connecting rod, a spring, The cam, the third motor, the battery, the mounting part, the LED light, the camera and the driven wheel, and a mounting plate is installed on the top surface of the base, the first motor is installed on one end of the mounting plate, the first driving wheel is connected to the first motor, and the mounting plate The other end is equipped with a second motor, a protective cover is installed on the top surface of the base, a push rod is arranged inside the protective cover, a cam is arranged on the side of the push rod, a third motor is arranged on the side of the cam, a battery is arranged inside the protective cover, and a battery is installed on the side of the installation part. There are LED lights, and a camera is installed on the top of the mounting part. The present invention has scientific and reasonable structure, safe and convenient use, simple structure, low cost, and easy operation.

The invention relates to a soccer-kicking mechanism of a soccer robot. The soccer-kicking mechanism has the structure that a push rod moving horizontally links an oscillating soccer hitting rod with a reset spring, the top end of the push rod leans against the profile of a cam, the cam is driven by a motor, a piece of magnetic steel is fixed on the side surface of the cam, and a Hall sensor is fixed on a trolley of the robot, is close to and aligns at the rotation track of the magnetic steel. According to the soccer-kicking mechanism, the cam is adopted for controlling the soccer hitting rod with the reset spring, so that the energy consumption can be reduced, the weight of the whole mechanism can be reduced, and the soccer-kicking mechanism is suitable for various soccer robots.