CN101254347A - Apery robot center forward competition real-time emulation system - Google Patents
Apery robot center forward competition real-time emulation system Download PDFInfo
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Abstract
The invention discloses a humanoid robot soccer competition real-time simulation system of the computer simulation technology field, and comprises four modules: a client end, a server, a monitoring module and an information interaction module. Three humanoid robot modules are arranged on the client end, each humanoid robot module obtains the scene information from the server by the information interaction module, reconstructs the scene competition environmental module, analyzes the current environment, generates the decision information and synthesizes the standard instruction to be sent to the server by the information interaction module, so as to carry out the competition between the two teams; the monitoring module carries out the real-time display of the conditions of the competition between the two teams, and the four modules construct the three-to-three humanoid robot soccer competition 3D real-time simulation system. The humanoid robot soccer competition real-time simulation system actually reflects the process of the humanoid robot soccer competition and provides a great test platform for improving various theories, algorithms and the structure of the humanoid robot system.
Description
Technical field
What the present invention relates to is the system in a kind of computer simulation technique field, especially a kind of apery robot center forward competition real-time emulation system.
Background technology
Robotics is an interdisciplinary study that highly intersects, and relates generally to a plurality of fields such as machinery, electronics, computer, control automatically, artificial intelligence, bionics, and is also constantly widening in its corresponding research application field.Wherein anthropomorphic robot is being represented the highest achievement in research in robot research field.Develop and possess human characteristic (as abilities such as walking, sense organ, thinking, judgements), substitute the human mankind that also serve to a great extent, and can with the high-grade intelligent robot of human harmonious coexistence, be scientific research personnel's a objective of the struggle always.For this reason, organize the antagonism race of various robots in the world, promoted the development of robot research effectively.In research process, the robot research personnel will face the problems such as coordination between mechanism, sensor information fusion, motion control and the multirobot, and the robot simulation platform is the hypothesis testing platform of multi-agent system.By this platform, test various theories, algorithm and intelligent body architecture, under asynchronous, noisy antagonism environment in real time, cooperation and antagonism problem between the research multiple agent, and finally apply in the antagonism of real robot.
Existing robot competition analogue system adopts distributed frame, carries out according to client/server approach.On same server emulation platform, team participating in competition writes client-side program separately, simulates actual footballer and plays.The robot competition analogue system has two kinds of 2D and 3D.2D emulation can not make up the actual physics model, can only carry out emulation to the match flow process, and is little to the improved action that the reference and the mechanism body of true environment are controlled.3D emulation has overcome the deficiency of 2D emulation, not only can verify the algorithm of match flow process, can also be verified the control algolithm of mechanism body, and the defective that mechanism body exists is improved.The 3D simulating, verifying and various algorithms can be transplanted to the real machine philtrum very easily, shorten the robot algorithm research time, can also improve the reliability of robot in true environment by to the various situations that are difficult to simulate in actual true environment simulation analysis in addition.Therefore, one of exploitation is close to real 3D real-time emulation system has crucial effects to the development of anthropomorphic robot.
Find through literature search prior art, Chinese invention patent (application number 200710044707.2): submarine pipeline detecting robot emulation system, it comprises crawl device emulation module, battery cell monitoring and odometer emulation module, detection simulation module and location simulation module, each module all is the instruction of accepting from the actual robot intelligent controller, carry out simulation calculation, true reflection system operation function and performance, for debugging in the development process, and functional test.But because the object of emulation is different fully with the present invention, structure, principle, the function of two cover analogue systems also are diverse.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of real more apery robot center forward competition real-time emulation system is provided, make it can the various robots of convenient simulation operation conditions, test various theories, algorithm and anthropomorphic robot architecture better, be transplanted to existing robot control strategy and system more easily and improve.
The present invention is achieved by the following technical solutions, the present invention includes client, server, monitoring module and information interaction module.Client is provided with three anthropomorphic robot modules, each anthropomorphic robot module is obtained field data by the parsing of information interaction module from server, the on-the-spot playing condition model of reconstruct, analyze current environment, generate decision information, send in the server by the synthetic standard instruction of information interaction module again, to carry out the match between two teams.Monitoring module shows the competition status between two teams in real time.Above-mentioned four modules have been set up one 3 pairs 3 apery robot center forward competition 3D real-time emulation systems, and carry out the test of various theories, algorithm and control in this system.
Described anthropomorphic robot module comprises that explanation module, world model make up module, decision-making module and behavior parsing module.Explanation module obtains field data from server, field data is made an explanation, obtain sportsman's pose and environmental information, world model makes up module and rebuilds on-the-spot playing condition model (being world model) according to gained information, generate sportsman's concrete behavior strategy then by the policy-making thought of decision-making module, process behavior parsing module changes into the combination of various basic acts, is integrated into corresponding control routine again and flows to server, to realize the antagonism between the anthropomorphic robot module.
Described server comprises anthropomorphic robot 3D emulation module, court environmental simulation module, dynamics of rigid bodies emulation module, judge module, information fusion module and display interface module.The decision information that anthropomorphic robot 3D emulation module provides according to the information interaction module is carried out corresponding anthropomorphic robot 3D behavior emulation, and carries out dynamics simulation in the environmental simulation module of court; The court environmental information that the dynamics of rigid bodies emulation module provides according to the emulation behavior and the court environmental simulation module of anthropomorphic robot 3D emulation module is carried out the dynamics of rigid bodies emulation based on ODE (physical engine of increasing income), thereby generate posture information and collision detection information, be sent to the information fusion module; Judge's module is according to standard race regulation arrangement contest process, and corresponding ruling is made in various unlawful practices, and the ruling information with gained sends the information fusion module to again; The information fusion module is integrated posture information, collision detection information and ruling information, and the information frame that integration is formed sends to the information interaction module; Display interface module is transported to the contest process on the server in the monitoring module in real time.
Described information interaction module comprises communication module and parsing module.On the one hand, communication module obtains field data from server and sends parsing module to, and parsing module is analyzed and extracted information, and useful information is sent to client; On the other hand, parsing module is integrated into the standard instruction with the decision information of client and passes to communication module, and sends to server by communication module.Module communication adopts the UDP/IP agreement, satisfying the requirement of real-time, and the reliability of relevant detection mechanism guarantee information is set.3 anthropomorphic robot modules of each client terminal start-up process, each process is made up of two threads: one is the I/O processing threads, one is the key decision thread.In each emulation cycle, the anthropomorphic robot module is obtained field data by the I/O processing threads from server, carries out decision-making treatment, sends on the server by the key decision thread at the appointed time again, realizes 3 pairs 3 apery robot center forward competition.
Described monitoring module is exactly a monitor, show heat in real time, the journal file that also can the service for playback device produces automatically, foundation directly perceived is provided for the test of various theories, algorithm, and can write down and estimate the behavior of each anthropomorphic robot module, provide real reference for further improving.
Be compared with the prior art, the present invention in use substitutes actual anthropomorphic robot and realizes 3 pairs 3 apery robot center forward competitions, by the real-time simulation of 3 pairs 3 apery robot center forward competitions, verified the architecture of various theories, algorithm and anthropomorphic robot effectively.Simulate the various collision behaviors of actual anthropomorphic robot truly based on the dynamics simulation of ODE, reduce the research cost of anthropomorphic robot control theory and algorithm effectively and shortened search time simultaneously, raise the efficiency.Architecture after the theory that is proved to be successful, algorithm and the improvement is easy to be transplanted in the real anthropomorphic robot, greatly promotes the development of anthropomorphic robot.
Description of drawings
Fig. 1 system architecture diagram of the present invention
The design principle figure of Fig. 2 system of the present invention
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises imitative client, server, monitoring module and information interaction module.Three anthropomorphic robot module processes of operation on every client, client links to each other with server end by the information interaction module with the communications protocol of UDP/IP, and the heat on the server shows in real time by monitoring module.The concrete framework of each module as shown in Figure 2.
1, client, each client comprise three anthropomorphic robot modules, and this module is obtained field data from server, carry out respective handling, again decision information are sent to server, finish robot soccer contest process.The anthropomorphic robot module is made of explanation module, world model structure module, decision-making module, behavior parsing module.
A) explanation module obtains field data from the information interaction module, then information is made an explanation, and obtains sportsman's pose and environmental information, delivers to world model again and makes up in the module.
B) world model makes up pose and the environmental information reconstruct world model that module is sent here according to explanation module, flows to decision-making module again and does corresponding control strategies.
C) decision-making module is carried out the control corresponding algorithm in the world model of reconstruct, chooses optimum control decision at the appointed time and sends in the behavior parsing module.
D) the behavior parsing module changes into the combination of various elemental motions with control decision, integrates the corresponding control information code again, sends in the information interaction module.
2, server, server adopts distributed emulation middleware system SPADES (parallel intelligent body Discrete Event Simulation System) based on multiple agent as the general-purpose platform of multicomputer system operation emulation, in the connection that realizes on this platform between multicomputer system and the multiple agent.This module is carried out real-time 3D emulation according to the decision information of client to apery robot center forward competition.This module comprises anthropomorphic robot 3D emulation module, court environmental simulation module, the dynamics of rigid bodies emulation module based on ODE, judge module, information fusion module and display interface module.
A) 3D of robot emulation module, about 0.5～0.6 meter of the anthropomorphic robot model height of foundation has 20～23 frees degree, utilizes cad tools to carry out corresponding 3D modeling, model is imported in the simulated environment of Java 3D again.The various actions of the decision information real-time simulation anthropomorphic robot that this module sends according to the information interaction module.
B) court environmental simulation module, this module provide various courts information, comprise court length and width and various places terrestrial reference, are the outside objective environments of anthropomorphic robot behavior.
C) dynamics of rigid bodies emulation module, this module is carried out dynamics of rigid bodies emulation based on ODE according to the emulation behavior of anthropomorphic robot 3D emulation module and court environmental information, thereby generates posture information and collision detection information, is sent to the information fusion module.
D) judge's module, this module is according to standard race regulation arrangement contest process, and corresponding ruling is made in various unlawful practices, and the ruling information with gained sends the information fusion module to again.
E) information fusion module, this module is integrated posture information, collision detection information and ruling information, and the information frame that integration is formed sends to the information interaction module.
F) display interface module, this module is transported to the contest process on the server in the monitoring module in real time.
3, information interaction module, this module adopts the UDP/IP agreement. realize the real-time communication of multi-process between client and the server, multithreading.This module comprises communication module and parsing module.
A) communication module, this module comprises information receiving unit and information transmitting unit.This module receives field data from server, deliver to parsing module again and do further processing; This module sends to server with the synthetic back of parsing module decision information.
B) parsing module, this module comprise information synthesis unit and information analysis unit.The information synthesis unit is passed to information transmitting unit with the information frame of the synthetic prescribed form of decision information of client; The information analysis unit extracts useful information and sends client to and do decision-making from the field data that communication module transmits.
4, monitoring module, this module is obtained image information from server, show heat in real time; The journal file that this module can the service for playback device produces automatically provides foundation directly perceived for the test of various theories, algorithm, and record and estimate the behavior of each anthropomorphic robot module, and giving further to improve provides real reference.
In the present embodiment, two clients are moved three anthropomorphic robot module processes respectively, and each anthropomorphic robot carries out the mutual of field data and decision information by UDP/IP agreement and server.The decision information that server provides according to client, according to standard race rule, real-time simulation match process, and field data issued client.Heat shows in display in real time by display interface module simultaneously.
Claims (7)
1, a kind of apery robot center forward competition real-time emulation system, it is characterized in that, comprise four modules: client, server, monitoring module and information interaction module, described client is provided with three anthropomorphic robot modules, each anthropomorphic robot module is obtained field data by the parsing of information interaction module from server, the on-the-spot playing condition model of reconstruct, analyze current environment, generate decision information, send in the server by the synthetic standard instruction of information interaction module again, to carry out the match between two teams, monitoring module shows the competition status between two teams in real time, thereby has set up one 3 pairs 3 apery robot center forward competition 3D real-time emulation systems.
2, apery robot center forward competition real-time emulation system as claimed in claim 1 is characterized in that, described anthropomorphic robot module comprises that explanation module, world model make up module, decision-making module and behavior parsing module.Explanation module obtains field data from server, field data is made an explanation, obtain sportsman's pose and environmental information, world model makes up module and rebuilds on-the-spot playing condition model according to gained information, generate sportsman's concrete behavior strategy then by the policy-making thought of decision-making module, process behavior parsing module changes into the combination of various basic acts, is integrated into corresponding control routine again and flows to server, to realize the antagonism between the anthropomorphic robot module.
3, apery robot center forward competition real-time emulation system as claimed in claim 1, it is characterized in that, described server, comprise anthropomorphic robot 3D emulation module, court environmental simulation module, dynamics of rigid bodies emulation module, judge module, information fusion module and display interface module, wherein: the decision information that anthropomorphic robot 3D emulation module provides according to the information interaction module is carried out corresponding anthropomorphic robot 3D behavior emulation, and carries out dynamics simulation in the environmental simulation module of court; The court environmental information that the dynamics of rigid bodies emulation module provides according to the emulation behavior and the court environmental simulation module of anthropomorphic robot 3D emulation module is carried out the dynamics of rigid bodies emulation based on the physical engine of increasing income, thereby generate posture information and collision detection information, be sent to the information fusion module; Judge's module is according to standard race regulation arrangement contest process, and corresponding ruling is made in various unlawful practices, and the ruling information with gained sends the information fusion module to again; The information fusion module is integrated posture information, collision detection information and ruling information, and the information frame that integration is formed sends to the information interaction module; Display interface module is transported to the contest process on the server in the monitoring module in real time.
4, as claim 1 or 3 described apery robot center forward competition real-time emulation systems, it is characterized in that, described monitoring module is exactly a monitor, show heat in real time, the journal file that also can the service for playback device produces automatically, foundation directly perceived is provided for the test of various theories, algorithm, and can writes down and estimate the behavior of each anthropomorphic robot module, provide real reference for further improving.
5, apery robot center forward competition real-time emulation system as claimed in claim 1, it is characterized in that, described information interaction module comprises communication module and parsing module, on the one hand, communication module obtains field data from server and sends parsing module to, parsing module is analyzed and is extracted information, and useful information is sent to client; On the other hand, parsing module is integrated into the standard instruction with the decision information of client and passes to communication module, and sends to server by communication module.
6, as claim 1 or 5 described apery robot center forward competition real-time emulation systems, it is characterized in that, the information interaction module, its module communication adopts the UDP/IP agreement, and the reliability of testing mechanism guarantee information is set, 3 anthropomorphic robot modules of each client terminal start-up process, each process is made up of two threads: one is the I/O processing threads, one is the key decision thread, in each emulation cycle, the anthropomorphic robot module is obtained field data by the I/O processing threads from server, carries out decision-making treatment, send on the server by the key decision thread at the appointed time again, realize 3 pairs 3 apery robot center forward competition.
7, as claim 1 or 2 or 3 or 5 described apery robot center forward competition real-time emulation systems, it is characterized in that, described server, its development platform is based on (SuSE) Linux OS, adopts the general-purpose platform that moves emulation based on the distributed emulation middleware system SPADES of intelligent body as multicomputer system.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101834842A (en) * | 2010-03-16 | 2010-09-15 | 清华大学 | Intelligent control method for RoboCup platform players under embedded environment and system thereof |
| CN105956293A (en) * | 2016-05-09 | 2016-09-21 | 江苏久祥汽车电器集团有限公司 | Robot data modeling method |
| CN105999692A (en) * | 2016-05-17 | 2016-10-12 | 洪炳镕 | Humanoid robot football game machine |
| CN107820607A (en) * | 2017-08-23 | 2018-03-20 | 深圳前海达闼云端智能科技有限公司 | Method, apparatus, server and the terminal device of supervisory-controlled robot |
| CN108472544A (en) * | 2015-12-15 | 2018-08-31 | 弗兰克·佩尔泽 | The method and system of sports equipment is determined in real time |
| CN108521764A (en) * | 2017-05-08 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Intelligent game system and robot |
| CN111061642A (en) * | 2019-12-19 | 2020-04-24 | 北京智能工场科技有限公司 | Full-automatic competition data processing system and method based on user data |
| CN111443619A (en) * | 2020-04-17 | 2020-07-24 | 南京工程学院 | Virtual-real fused human-computer cooperation simulation method and system |
| CN112001071A (en) * | 2020-08-14 | 2020-11-27 | 广州市百果园信息技术有限公司 | Method, device, equipment and medium for determining simulated guess data |
| CN112666873A (en) * | 2020-12-30 | 2021-04-16 | 北京科技大学 | Robot competition referee system and control method thereof |
| DE202022103050U1 (en) | 2022-05-31 | 2022-06-28 | Deepti Chhabra | Artificial intelligence based decision making of intelligent humanoid robots |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101834842A (en) * | 2010-03-16 | 2010-09-15 | 清华大学 | Intelligent control method for RoboCup platform players under embedded environment and system thereof |
| CN101834842B (en) * | 2010-03-16 | 2013-01-30 | 清华大学 | Intelligent control method for RoboCup platform players under embedded environment and system thereof |
| CN108472544B (en) * | 2015-12-15 | 2022-11-25 | 弗兰克·佩尔泽 | Method for real-time determination of sports equipment through system and system for real-time determination of sports equipment |
| CN108472544A (en) * | 2015-12-15 | 2018-08-31 | 弗兰克·佩尔泽 | The method and system of sports equipment is determined in real time |
| CN105956293A (en) * | 2016-05-09 | 2016-09-21 | 江苏久祥汽车电器集团有限公司 | Robot data modeling method |
| CN105999692A (en) * | 2016-05-17 | 2016-10-12 | 洪炳镕 | Humanoid robot football game machine |
| CN105999692B (en) * | 2016-05-17 | 2018-04-24 | 洪炳镕 | Human emulated robot foot ball game appliance |
| CN108521764A (en) * | 2017-05-08 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Intelligent game system and robot |
| CN108521764B (en) * | 2017-05-08 | 2021-07-16 | 深圳市大疆创新科技有限公司 | Intelligent competition system and robot |
| CN107820607B (en) * | 2017-08-23 | 2021-05-07 | 达闼机器人有限公司 | Robot monitoring method and device, server and terminal equipment |
| CN107820607A (en) * | 2017-08-23 | 2018-03-20 | 深圳前海达闼云端智能科技有限公司 | Method, apparatus, server and the terminal device of supervisory-controlled robot |
| CN111061642A (en) * | 2019-12-19 | 2020-04-24 | 北京智能工场科技有限公司 | Full-automatic competition data processing system and method based on user data |
| CN111443619A (en) * | 2020-04-17 | 2020-07-24 | 南京工程学院 | Virtual-real fused human-computer cooperation simulation method and system |
| CN111443619B (en) * | 2020-04-17 | 2021-06-08 | 南京工程学院 | Virtual-real fused human-computer cooperation simulation method and system |
| CN112001071A (en) * | 2020-08-14 | 2020-11-27 | 广州市百果园信息技术有限公司 | Method, device, equipment and medium for determining simulated guess data |
| CN112666873A (en) * | 2020-12-30 | 2021-04-16 | 北京科技大学 | Robot competition referee system and control method thereof |
| DE202022103050U1 (en) | 2022-05-31 | 2022-06-28 | Deepti Chhabra | Artificial intelligence based decision making of intelligent humanoid robots |
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