CN101149766A - Method for judging robot control system and the software of the system - Google Patents
Method for judging robot control system and the software of the system Download PDFInfo
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- CN101149766A CN101149766A CNA2006101478497A CN200610147849A CN101149766A CN 101149766 A CN101149766 A CN 101149766A CN A2006101478497 A CNA2006101478497 A CN A2006101478497A CN 200610147849 A CN200610147849 A CN 200610147849A CN 101149766 A CN101149766 A CN 101149766A
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Abstract
A referee robot control system with 360-degree perspective devices, send the information to the computer devices of robot through the perspective device, the computer manage the information of perspective devices and signals of sensor system cooperate with sensor system, and compile software according to the game rules, achieve the judge purpose through computing and judgment of software. The judgment results will be displayed on the screen through a dedicated display, and be sent to other place through a wired or wireless remote control as NET format at the same time, so that the judgment of game with referee robot will have more impartiality, objectivity.
Description
Technical field
The present invention relates to the software approach of a kind of judging robot control system and this system, specifically is exactly judging robot by meeting the software approach of sports rule, makes the judge have more quantification, more rigorous.Be particularly suitable for being applied to the judging robot of fencing.
Technical background
Along with the continuous development of sports, more and more higher to judge's technical requirement, and the commercialization match is more and more by the negative effect that the people brings.Therefore replace people's law enforcement demand degree increasing by intelligent robot, according to the physical culture rule, be preset at the program in the judging robot brain, the judging robot that transmits through calculating, mensuration, demonstration, record data is proposed and is developed by the present patent application person.Such robot just as same judge, has all functions of general judge, has judge's attribute at a high speed simultaneously.
Generally judge-be that the people obtains to judge the information approach, mainly be vision sound.The present invention is by high-precision ccd video camera, audio sensor.By the BYOC high speed processing, produce judge's data, realize that machine replaces judge's function of people.And function sensor acquired information, and its correctness and speed are correctness and speed greater than the people.Further function by reverse programming, makes it have the amusement characteristic, and has more marketing character.
Summary of the invention
The present invention In view of the foregoing.Its objective is the robot control method that a kind of perform physical exercises judge and public leisure amusement are provided, and the software approach of this system.
The present invention has obtained the robot control method of a kind of judge and public leisure amusement, and the software approach of this system, and wherein, the brain of this robot is by many micro computer CPU, internal memory ROM, RAM, and I/O circuit and peripheral circuit are formed.For a concrete example, the fencing nothing drags line judge instrument data to transmit in the example, the wireless transmission of data, and old-fashioned cable data transmits and adds that its key point of judge is that lead is linked to be an integral body to sportsman both sides, and both sides connect altogether.And equipment of the present invention makes sportsman both sides not have the lead connection, does not connect electricity altogether, and does not connect electricity altogether, under the situation of rule predetermining, does not connect electricity differentiation same substance altogether and hits active component and invalid target differentiation.It is impossible to become theoretically.The present invention is by independently developed coding, decoding circuit chip, and the fencing of cooperative mechanical mode identification maneuver, sword head lead have been finished not have and dragged line fencing judging robot device.
The software approach that the purpose of this invention is to provide a kind of reliable, practical judging robot simultaneously, this method is used software program, and the hardware unit of free referee robot is formed complete judging robot system.
In view of above-mentioned purpose, its use the software program relevant with hardware and with the software program of hardware independent, it comprises, organizes watchdog routine more.Program number is the 0-A watchdog routine, and various different monitoring program is being born different software tasks.With regard to concrete fencing monitor task.
1, distinguishes three kinds of different sword kinds; Foil, Foil, epee and sabre.
2, distinguish the differentiation and the judgement of fencing target and invalid target.
3, distinguish the differentiation and the judgement of duelling sword active component and invalid target.
4, distinguish the differentiation and the judgement of side arm active component and invalid target.
5, judge that the effective 350MS of foil mutually.
6, judge that the effective 40MS of duelling sword mutually.
7, judge that the effective 120MS of side arm mutually.
8, judge that the invalid 350MS of foil mutually.
9, judge that the invalid 40MS of duelling sword mutually.
10, judge that the invalid 120MS of side arm mutually.
11, wireless data transmission and the non-electricity that connects are altogether differentiated.
The software approach of judging robot on the other hand is the interface operation system.Its method is that the BIOS watchdog routine of bottom connects by the interface operation system and the person of manipulating, and makes judging robot obtain the function of more hommizations, by the NET function of judging robot, makes it have network attribute simultaneously.
To describe the embodiment of the invention in detail by accompanying drawing below, and make other purpose feature of the present invention and attribute more clear.
Description of drawings
Fig. 1: judging robot device synoptic diagram according to the present invention.
Fig. 2: the brain circuit block diagram of judging robot.
Fig. 3: the comprehensive visual angle of the 360 degree device synoptic diagram of judging robot.
Fig. 4: do not have and drag line and drag relatively synoptic diagram of line fencing.
Fig. 5: dual surface LED plane displayed map.
Fig. 6: judging robot watchdog routine process flow diagram.
Fig. 7: judging robot interface operation system concept figure.
Fig. 8: judging robot network program process flow diagram.
Embodiment
The specific embodiment of the present invention below is described with reference to the accompanying drawings:
Referring to Fig. 1, the main body of agent structure reference number 11 expression judging robots of the present invention, it forms in the following manner.Reference number 13 is all brain structures of judging robot, the formation of all brain structures is finished rule treatments to judging robot by many cpu central processing units circuit, and bus data is handled, the bus program code is handled, and CPU carries out program code and the data of execution in RAM at ROM.Further, comprise that digital signal, light signal, mechanical action signal become electric signal just with the signal of all.Entering CPU by mould/number circuit and digital/analog circuitry handles, finish the important ingredient of the effect reference number 12 of brain as judging robot, the device of eye is the video sensor device, ccd video camera, the source of its vision signal is CCD (charge coupled device) video camera, the competition status of will making a video recording becomes the DVD form, and form forms the video file of 3200*3200 pixel, subsequently video file is passed through bus, video file is entered reference number 13, form the eye device of judging robot.
Ear's device reference number 16, mouth device reference number 17, constituted the audio-frequency unit of judging robot, Audio Processing is divided into audio frequency input-be ear's device reference number 16 and mouth device reference number 17, reference number 16 is according to the audio frequency acquiring signal that provides from microphone microphone reference number 18, become the audio file that reference number 13 can be discerned by outside mould/number circuit, simultaneously sound signal is entered reference number 13 brain hardware systems by bus B us and handle, form judging robot ear device.Reference number 17 is the signals after reference number 13 brain hardware systems are handled, pass the die change piece by D/A, convert digital signal to simulating signal, simulating signal is sent by boombox, formed the mouth function of judging robot by reference number 19.
Reference number 14-machine mechanical transmission mechanism, reference number 1D has the systematicness sensor-based system, constituted the simulation four limbs system of judging robot, reference number 1A is by surperficial two-way curvature sensor, reference number 1B circular sensor is formed, the two-way curvature sensor in reference number 1A surface is the mechanical surface contactor of forming according to the human body curvature, its two-dimensional freedom is according to rules of Fencing and special design, and rules of Fencing has effectively to hit with invalid and hits, effectively hit the position and invalid to hit its surperficial curvature of position different, designed reference number 1A especially and have the two-way curvature sensor of systematicness in order to adapt to rule request.And reference number 1B is the pressure transducer of circular sensor unit.Being designed to circle is in order to reduce athletic Body contact dynamics.
With reference to shown in Figure 2, as the computer feature of judging robot, its circuit hardware device is the IC circuit, and mimic channel is formed, in order to reach the rule request of match, must remember laws of the game, specifically, the rule of internal memory memory record match, match is become machine energy memory style, be recorded in the internal memory in binary mode, by central processing unit circuit and internal memory composition data bus and address bus, the rule of foil note is at memory address reference number 25﹠amp specifically; 1001AOOH, the rule of duelling sword is placed on memory address reference number 25﹠amp; 2001AOOH.The rule of side arm is placed on memory address reference number 25﹠amp; 3001AOOH, reference number 26 receives the signal of input/output circuitry, through numerical operation electric signal is returned to reference number 26 and goes to carry out.Say that further reference number 21 receives from the signal of reference number 22 from the central processing unit circuit.
With reference to shown in Figure 3, as the core in judging robot signal source, the many sighting devices of its core-reference number 31CCD controller use reference number 3D time-division multiplex received signal, have formed a complete omnibearing vision device.
At first ccd video camera is input to reference number 31 controllers with vision signal.By by the corresponding reference number 32 software distribution programs of reference number 31 controllers.By reference number 27 moulds/number circuit, reference number 29 digital/analog circuitry are sent to reference number 22 from the central processing unit circuit with signal data.After the form pre-service, send into reference number 21 host CPU circuit.While is sent into reference number 26 by the direct signal of the sensor circuit acquisition of reference number 26 primary inputs/output circuit, and reference number 21 host CPU processing of circuit are shown by reference number 31 controllers, reference number 26 primary inputs/output circuit, data, signal.Draw concrete, a real result of the match.
Specifically, the foil processing procedure of fencing is as follows: the both sides swordsman wears a metallic plastron, and the swordsman in order to distinguish metallic plastron and metal sword, is exactly by CCD shooting, imaging technique by fencing metallic plastron active component score.
At first reference number 21 host CPU appliance circuits obtain a signal that hits, and handle simultaneously by reference number 31 controller video data signals, through the painting canvas analysis, judge and hit active component or invalid target.
Two road or three road ccd video camera functions are visuals field of expansion judging robot, make judging robot have the wider visual field, more accurate judgement.The effect of reference number 3D time-division multiplex data reception signal divider is 35 120 ° of ccd video cameras of reference number, 34 120 ° of ccd video cameras of reference number, and 33 120 ° of ccd video cameras of reference number were set by the time-division.Reference number 32 software distribution programs so just can be expanded the visual field of judging robot according to laws of the game time requirement setup parameter, make judging robot have comprehensive viewing function.Tool this locality says that fencing has a rule, hits simultaneously in official hour effectively, hit simultaneously greater than the stipulated time, after the person of hitting is invalid hits.And this regulation judges to be exactly by the multichannel ccd video camera, data-signal is passed through most received signal dividers of reference number 3D time-division, by reference number 31 software distribution programs, signal data is sent to 21 host CPU circuit, cooperation is by the signal of reference number 26 primary inputs/output circuit, through reference number 21 host CPU processing of circuit, draw a concrete real result of the match.
As shown in Figure 4, reference number 44 judging robot signals come origin system, comprise reference number 43 foil parts, reference number 42 duelling sword parts, and reference number 41 side arm parts, the above part is formed as wireless judgment system.A kind of radio switch-in method by the digital coding chip, is coded in each athletic information in the chip, and information comprises sportsman's name, age, height, sex, and these essential informations are confirmed its true identity by judging robot.E side shown in Figure 5 cabinet, F side's cabinet show to come the athletic basic information to the judging robot decoding chip respectively, are judging on the machine by large screen display.
Shown in Figure 4ly have wired judgment system, comprise reference number 45 foil parts, reference number 46 duelling sword parts, reference number 47 side arm parts, its system is made up of reference number 45, reference number 46, reference number 47, and its effect is to read in for the data that cooperate simulation, cooperate existing wireline equipment, make judging robot have more versatility,, satisfy user's requirement to adapt to different users's needs.
The described A face of Fig. 5, B face, be to design by Fig. 4 judging robot device circuit, make judging robot have the function of double-sided display, because the use occasion of judging robot is the gymnasium, in order effectively to be shown to spectators, adopted two-sided large screen display, wherein: EF, EE, FF square frame show the athletic basic personal information of both sides.A, AA, B, BB, the athletic score information of demonstration both sides, C, CC, D, DD show the athletic maps and census records of the border regions of both sides, athletic rank.
Fig. 6 illustrates the software flow pattern of judging robot to comprise key-course, contact bed and application layer.
Said key-course S6 configuration is the control of the hardware and software of judging robot as Fig. 6, and the reception of key-course such as view data, other data of raw data such as language data and sensor, and handle these data paragraphs, some passage of information according to input, carry out speech recognition, image canvas identification, attitude detection, hit mensuration etc., whether thereby obtaining recognition result (hits as detecting, whether effectively hit, whether both sides hit mutually, whether a side is effective, one side is invalid to be hit), by the control program interface, recognition result is reported in application program, is used to judge purpose.Application layer S3 comprises that a main application layer one is the access interface system, three sub-application layers, S6 side arm application layer, S4 duelling sword application layer, S5 foil application layer.S6 side arm application layer is to handle interlude code from reference number 26 primary inputs/output circuit module by signal and fixed storage apparatus EPROM by the CPU that carries.Whether judge score, ROM is identical with the fixed storage apparatus, changeable storage device E
2But PROM is the mnemonic that electricity is installed to robot with dismantling, and this device is a boxlike storage medium, as storer bar (stick), and in use, installs in the predetermined accumulator groove, so use changeable storage E
2PROM supplies with the software program that upgrades, and the softwares relevant with hardware configuration such as centre are stored in removable storage arrangement E
2On the PROM, so that make its version set the hardware configuration (default settings) of delivering goods, or the standard hardware configuration is compatible with robot.Ideal is that the middleware and the application combination of operating environment are provided to the used hardware configuration of application program, and stores changeable storage device E subsequently into
2On the PROM.Application layer S5 foil module, S4 duelling sword module are to handle from reference number 26 primary inputs/output circuit module by signal by the CPU that carries, and reference number 27 moulds/number circuit, reference number 29 digital/analog circuitry signals, microprocessor (MCU), storer (ROM, E
2PROM).And application layer S5 foil module, S4 duelling sword code modules processing signals source is current amplification circuit (AMP), voltage signal comparator circuit (VCP), mould/number circuit (27), digital/analog circuitry (29).
Fig. 7 is described as judging robot and extraneous tie of getting in touch, and 11A application layer program is the rule according to sports, writes the application layer program code, makes robot have judge's attribute.11B monitors BIOS, makes robot have function storage, signal 23 modules, 25 modules of brain.Determination information-21 module, 22 modules.Make robot have function-36 module of mouth, the function of ear-38 module.Function-12 module of eye.The 11D interactive program(me), it has and the extraneous attribute that exchanges, and a kind of close friend's interface is the key that judging robot is understood, is familiar with by the people.The present invention adopts sports items the Show Button, has simplified operation steps.The end user is easily understood.
The network attribute of judging robot improves the function of judging robot of the present invention greatly.Sports tournament is held all over the world, and make sports management mechanism can understand result of the match in real time by Net, the various places spectators are understood by network and the participation heat in real time, as shown in Figure 8, A2 formatting, setting IP address are by A3 network master routine, make information for the game, be sent to server, the A4 of interface operation system, the A3 that is sent to judging robot reaches network function.Make judging robot become the IP robot.
Usability on the industry of the present invention is for may be used on leisure, entertainment industry.
Being applied as that the present invention is industrial may be used on the TIG all-position welding machine.
The reference number explanation
The two-way curvature sensor in 1A-surface, the 1B-circular sensor, 1D-is according to regular sensor-based system, 11-The robot body, 12-360 degree time-division multiplex, 13-brain hardware system, 14-machine machine driving Mechanism, the 15-software systems, 16-ear device, 17-mouth device, the 18-microphone, 19-raises The sound device, 21-host CPU circuit, 22-is from the central processing unit circuit, and 23-is from MEMORY Circuit, 24-lattice network, 25-master MEMORY circuit, 26-primary input/output circuit, 27-Mo/number circuit, 28-ray machine electric transducer, the 29-digital/analog circuitry, 2A-is from input/output circuitry, and 31-CCD controller, 32-software distribution program, 33,34,35-120 degree visual angle device, 36-raises The sound device, the 37-audio process, the 38-microphone, the 3D time-division multiplex receives signal distributor, 41, The 47-side arm. 42,46-duelling sword, 43, the 45-foil, the 44-judging robot, S1-begins, S2 Initialize S7-key-course, S3-access interface system, S5-foil, S6-side arm, S4-are set Duelling sword, the 11A-application program, the 11C-hardware configuration, 11B monitors BIOS, 11D-human-computer dialogue journey Order, the A1-initial setting up, the A2-formatting, A3-network main program, A4-interface operation system, A5-selects network system, and A6-waits for.
Claims (10)
1. the software approach of judging robot control system and this system comprises: the robot body: brain-and by CPU, main memory circuit, the I/O circuit, D/A and mould/number circuit, the ray machine electric transducer is formed.Eye-form by three group of 120 degree visual angle CCD.Skin-surperficial two-way curvature sensor, circular sensor is formed.The stereo Micro Phone of ear-binary channels forms.The digital emulation people of mouth-hyperchannel loudspeaker are formed.
2. software systems-judging robot control system software.The interface operation system software.
3. as the software approach of claim 1, described judging robot control system and this system, its midbrain is characterised in that: the hardware by brain is formed, and cooperates writing of software, according to the rule of each sports, and the composition rule robot brain.Core CPU-central processing unit of robot brain.Memory internal storage Memory.Use core CPU, Memory with the regular record of various sports in internal memory ROM.This method makes judging robot have versatility.
4. judging robot brain spare as claimed in claim 3, wherein said I/O device, its device are brain and extraneous handing-over information, and method is the 8bit-32bit data line.Wherein said D/A device.Its device is brain and extraneous exchange message, is used to distinguish the different objects of same substance, and its method is that different objects is set at different electricity district threshold values.
5. as the software approach of claim 1, described judging robot control system and this system, wherein said eye feature is that many ccd video cameras discern by software operation.
6. as claim 5, described judging robot eye feature.Wherein said single camera system is used to discern the method that the sports both sides move, reach 120 degree.Wherein said twin camera device is used to discern the method that the sports both sides move, reach 240 degree.Wherein said three camera systems are used for the method for identification maneuver, reach 360 degree.
7. go into ear's feature according to claim 5, described judge's machine, wherein by the Microphone sensor device, the sound that the sports both sides send becomes electric signal, sends into the judging robot brain and handles.
8. as claim 1, described judging robot mouth feature.Wherein this installation method will carry out the result that brain handles and send by loudspeaker.
9. as claim 1, described judging robot skin device, be characterized as by inductor and make judging robot and sports both sides directly contact the method for acquired information.The two-way curvature sensor in wherein said surface.Its method makes the judging robot acquired information with the surface contact of the two-way curvature in surface.It is in order to be fit to the laws of the game needs, to avoid hurting the other side again that circular sensor is introduced this method.
10. according to claim 2, described judging robot software systems, judging robot control system software approach wherein, this method relates to watchdog routine method, method for connecting network.Judging robot interface operation system software method wherein, this method relates to man-machine conversation, interface formats.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2006101478497A CN101149766A (en) | 2006-12-25 | 2006-12-25 | Method for judging robot control system and the software of the system |
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| CNA2006101478497A CN101149766A (en) | 2006-12-25 | 2006-12-25 | Method for judging robot control system and the software of the system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826823A (en) * | 2017-02-04 | 2017-06-13 | 周斌 | A kind of software control system of judging robot |
| CN108161953A (en) * | 2018-02-24 | 2018-06-15 | 上海理工大学 | A kind of intelligent robot head system |
| CN109449184A (en) * | 2018-10-31 | 2019-03-08 | 武汉天马微电子有限公司 | A kind of display panel and display device |
| CN112380758A (en) * | 2020-11-02 | 2021-02-19 | 中煤科工集团重庆研究院有限公司 | Method for constructing electric field charge mathematical model of dust particle group |
-
2006
- 2006-12-25 CN CNA2006101478497A patent/CN101149766A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826823A (en) * | 2017-02-04 | 2017-06-13 | 周斌 | A kind of software control system of judging robot |
| CN108161953A (en) * | 2018-02-24 | 2018-06-15 | 上海理工大学 | A kind of intelligent robot head system |
| CN109449184A (en) * | 2018-10-31 | 2019-03-08 | 武汉天马微电子有限公司 | A kind of display panel and display device |
| CN109449184B (en) * | 2018-10-31 | 2021-02-23 | 武汉天马微电子有限公司 | Display panel and display device |
| CN112380758A (en) * | 2020-11-02 | 2021-02-19 | 中煤科工集团重庆研究院有限公司 | Method for constructing electric field charge mathematical model of dust particle group |
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