CN102306026A - Perception system of soccer robot - Google Patents
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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
The present invention relates to a kind of robot sensory perceptual system, be specifically related to a kind of sensory perceptual system that is applied to medium-sized Soccer robot.
Background technology
The imagination of robot soccer game is at first to be proposed in paper " On Seeing Robot " in 1992 by the professor Alan Mackworth of Univ British Columbia Canada, and his target is to have significant and challenging problem for artificial intelligence and one of intelligent robot subject proposition." Computer Vision:System taken in again in this piece article in 1993; Theory; And Applications " book; Meanwhile; In October, 1992 Tokyo hold about " huge challenge of artificial intelligence field " scientific seminar on; The participant has conscientiously discussed and has carried out the meaning of robot soccer game to developing science and technology, and thinks that in numerous challenge problems allowing robot play soccer is the challenging research topic of tool of robot and artificial intelligence field.Robot soccer game has obtained a lot of universities of developed countries such as Korea S, Japan and America and Europe and the support of scientific research institution after proposing, and has carried out the research of robot soccer game, and selects and appoints the delegation of oneself to participate in international tournament.International major company that other is strong such as Sony Corporation, Toyota Company, Samsung, LG company, SUN company etc. are to the patronage energetically of world cup robot soccer game.
Influence and larger robot soccer game organizer mainly contain two in the world at present, and one is the FIRA headed by the Korea S, and another is the RoboCup headed by the Japan.RoboCup has very big influence Japan, America and Europe, and existing having become has the robot soccer game of considerable influence tissue in the world.The sports of RoboCup is many, and not only is confined to robot soccer, comprises following several altogether: the emulated robot football match; Small scale robot football match (F180); Medium-sized robot soccer game (F2000); Sony's four robot leg football matches; The anthropomorphic robot football match; The emulated robot match of helping out of distress; The robot match of helping out of distress.
Any one subject development all can promote the progress of industrial technology with progress, even can drive the development of a collection of novel industry.The intelligence that allows robot have the people is scientific worker's generation by generation target and hope, and the robot soccer system is that an intelligent automation degree requires quite high system.Its whole heat can not have people's intervention, just is equivalent to a sportsman who trains in the perception independently of whole heat, judgement, decision-making, action.The complexity of the complexity of its environmental information and robot system itself is all very high.Robot not only will be through the characteristic body (ball, goal, post mark, place) in the limited sensor identification etc., also will make corresponding attack, defence according to the information of perception, tackle, keeps away action such as barrier.Robot system is very complicated system, need solve a large amount of theory and technology problems for realizing this system, relates to very extensive studies and technical field.The problem that faces to medium-sized Soccer robot motion control; From realizing a complete system that can be used for competing; At first need Soccer robot to perceive the information of surrounding environment, carry out the fusion of information then, just possibly effectively control at last Soccer robot.
Chinese patent ZL200410053041.3 disclosed " intelligent mobile robot " (Shanghai Communications University); A kind of intelligent mobile robot; Comprise car body platform and the brain two large divisions of robot; Adopt notebook computer as the robot brain; Be connected with wireless ethernet ruton letter equipment and general packet radio service gprs adapter on it; Robot is provided with to vision sensor; The full dimension visual sensor system that constitutes by full dimension vision sensor and full dimension visual reflection mirror; And the ultrasonic sensor that is distributed in the car body whole body; The robot brain is responsible for the acquisition process visual signal; Be responsible for and the communicating by letter and decision of the senior level of objects outside; Slave computer is responsible for the bottom control of robot actuating mechanism, and the odometer information that will sample and obtain; Ultrasonic sensor information and energy storage status information are uploaded to the robot brain.Panoramic vision, forward direction vision and ultrasonic sensor perception external environment have been adopted in this invention; Its minute surface vertical line of camera and local horizon angulation that forward direction vision wherein adopts are bigger; Make effective sensing range of forward direction vision diminish; Promptly in robot soccer game, the football on the field and the other side robot perceived distance are diminished the variation of perception environment timely; The place ahead information that the ultrasonic sensor that its near-end vision adopts comes the perception robot is though the effective environment in perception robot the place ahead owing to the selling at exorbitant prices of ultrasonic sensor, thereby makes that the cost performance of this patent sensory perceptual system is low excessively.
Chinese patent ZL02132744.0 disclosed " full-automatic football robot and intelligence control system thereof " (Harbin Institute of Technology), it relates to a kind of high-intelligentization robot and control system thereof.This system adopts rotary camera, fixed cameras, ultrasonic sensor probe and ultrasonic sensor to come the perception environment, and wherein, fixed cameras has played the effect of forward direction vision; What rotary camera played is the effect of panoramic shooting; Though rotary camera can carry out effective perception on the direction that video camera faced toward; But when rotation gamma camera and fixed cameras are on same direction; Just can not perception and the fixing rightabout environmental information of gamma camera; Thereby lack assurance, can not guarantee the environment sensing on other directions whole place environment; Though the near-end information of ultrasonic sensor around can the perception robot, during the games, ultrasonic sensor is perception football, robot, goal and enclose the difference of blocking effectively, is prone to cause the situation of erroneous judgement.In addition, the also not high problem of existence price ratio of ultrasonic sensor.
To sum up, existing medium-sized Soccer robot platform generally adopts vision and ultrasonic sensor to come the extraneous environment of perception.Wherein visually-perceptible is divided into the forward direction vision, panoramic vision and rotary camera etc.In addition, the robot that also has has adopted the sensory perceptual system of several types of mixing in forward direction vision, panoramic vision, laser and the ultrasonic sensor.But these several type systematics all exist and can not preferably forward direction, panorama and nearly visual information be carried out the effective information fusion, have the problem in vision dead band at forward direction vision near-end; In addition, adopt ultrasound wave, the sensor that laser is a type costs an arm and a leg, and cost performance is not high.
Summary of the invention
Above deficiency to the prior art existence; The purpose of this invention is to provide a kind of environmental information that can effectively cooperate the perception Soccer robot, do not have the Soccer robot sensory perceptual system in dead band at the forward direction vision near-end of Soccer robot through panoramic vision, forward direction vision, infrared sensor three parts.The invention solves existing Soccer robot and can not be preferably forward direction, panorama and nearly visual information be carried out effective information and merge, effectively have the problem in vision dead band under the perception prerequisite at forward direction vision near-end.
The technological means that the present invention adopts is: a kind of Soccer robot sensory perceptual system; Comprise forward direction vision camera, panoramic vision camera head; It is characterized in that; Said sensory perceptual system also comprises infrared sensing apparatus and perception disposal system; The nearly visual information that the forward direction information that the perception disposal system will be obtained from the forward direction vision camera, the panorama information that the panoramic vision camera head obtains and infrared sensing device obtain carries out information fusion; And send the environmental information after the information fusion to the robot decision system, the process of said information fusion and transmission may further comprise the steps:
Step 1: sensory perceptual system starts: start the forward direction vision camera, obtain forward direction information; Start the infrared sensing apparatus, obtain nearly visual information; Start the panoramic vision camera head, obtain panorama information;
Step 2: the perception disposal system is called nearly visual information, and judges whether infrared sensor finds target, if find that target then gets into target clamping device information and sends decision system to;
Step 3: the perception disposal system is called forward direction information, and judges whether the forward direction vision finds target, if do not find target, then execution in step five;
Step 4: the perception disposal system is called Precision Orientation Algorithm target is positioned, and sends the target accurate location information to decision system;
Step 5: the perception disposal system is called panorama information, and judges whether panoramic vision finds target, if do not find target, will not find that then target information sends decision system to;
Step 6: the perception disposal system judges whether and need accurately locate target that if desired target is accurately located, then control robot turns to target, and execution in step three;
Step 7: the perception disposal system is called panorama information and is found the target relative position, and sends the target relative position information to decision system.
Said infrared sensing apparatus comprises that two place the inboard infrared sensor probe of robot football-kicking mechanism; And the process chip DSP and the peripheral circuit plate that link to each other with infrared sensor probe, be provided for changing the adjustable resistance of the sensing range that infrared sensor pops one's head on the said peripheral circuit plate;
Said forward direction vision camera is installed on the robot upper part dead ahead, the adjustable included angle of forward direction vision camera and ground level; When angle became big, the forward direction vision camera was tending towards vertically, and its sensing range is diminished, and humanoid robot forward direction vision near-end dead band reduces in making; When angle diminished, the forward direction vision camera was tending towards level, and its sensing range extends forward, and it is big that forward direction vision near-end dead band becomes; When football or other objects appeared in the forward direction visually-perceptible scope, sensory perceptual system can calculate football or the exact position of other objects in the forward direction sensing range accurately through the perception mathematical model of forward direction visually-perceptible.
Said forward direction vision camera and infrared sensing apparatus are the use that cooperatively interacts, and make the sensing range of forward direction vision pickup camera and infrared sensing apparatus be engaged togather each other all the time.
Said sensory perceptual system communicates through wired or wireless form and robot decision system.
Compare prior art, the present invention has following beneficial effect:
(1) the present invention is through installing the infrared sensing apparatus, whether holds the situation of football in the mechanism that catches of detection machine people closely, and can regulate effective sensing range of infrared sensing apparatus through regulating adjustable resistance on the peripheral circuit; The variation that the minute surface vertical line of forward direction vision camera and local horizon angulation appear can change the sensing range of forward direction vision pickup camera on middle distance, and through the mathematical model of forward direction vision the preceding paragraph object is carried out accurate localization; On remote, utilize panoramic vision, the information of the perception overall situation.
(2) infrared sensing apparatus among the present invention and the forward direction vision pickup camera use that cooperatively interacts; In the time of the variable angle on forward direction vision camera and ground; The adjustable resistance of adjustment infrared sensor probe peripheral circuit makes infrared sensor probe sensing range become big or diminishes; The sensing range that guarantees both is engaged togather all the time; Thereby humanoid robot no near-end dead band in the forward sight scope in can guaranteeing; The panoramic vision that has remedied robot makes detection stable, efficient in the problem that closely can't effectively detect.
(3) the present invention is merged through the mutual information through infrared sensor, forward direction vision and panoramic vision; Realization that can be accurate, efficient, stable is to the perception of environment; Make the robot decision system make decision-making more accurately, and reduced cost, improved cost performance.
Description of drawings
Fig. 1 is a Soccer robot sensory perceptual system structured flowchart.
Fig. 2 is the preceding diagrammatic sketch of the structure of Soccer robot sensory perceptual system.
Fig. 3 is the structure left side diagrammatic sketch of Soccer robot sensory perceptual system.
Fig. 4 is the perception process flow diagram of Soccer robot sensory perceptual system.
Fig. 5 is the sensing range synoptic diagram of Soccer robot sensory perceptual system; Wherein:
(a) be forward direction vision camera and horizontal plane angle when big, panorama, forward direction, closely feel the sensing range synoptic diagram;
(b) be forward direction vision camera and horizontal plane angle hour, panorama, forward direction, closely feel the sensing range synoptic diagram.
Fig. 6 is a Soccer robot sensory perceptual system forward direction sensing range synoptic diagram; Wherein:
(a) be forward direction vision camera and horizontal plane angle when big, forward direction sensing range synoptic diagram;
(b) be forward direction vision camera and horizontal plane angle hour, forward direction sensing range synoptic diagram;
Embodiment
Referring to Fig. 1, a kind of Soccer robot sensory perceptual system of the present invention comprises forward direction vision camera 1, panoramic vision camera head 2, infrared sensing apparatus 3 and perception disposal system 7; Said infrared sensing apparatus 3 comprises that two place the inboard infrared sensor probe 5 of robot football-kicking mechanism; And with infrared sensor probe 5 process chip DSP6 and peripheral circuit plates 4 that connect mutually, peripheral circuit plate 4 is provided with the adjustable resistance that is used to change the sensing range that infrared sensor pops one's head in; Infrared sensor probe 5 sends the signal that detects to process chip DSP6, and the nearly visual information after process chip DSP6 will handle sends perception disposal system 7 to.In the present invention, process chip DSP6 can adopt 2407,2812 of TI.After the power supply of infrared sensor probe, can change the sensing range of infrared sensor probe 5 through the resistance sizes of regulating the adjustable resistance on the peripheral circuit plate 4.When the resistance of adjustable resistance became big, the sensing range of infrared sensor probe can diminish; During the resistance of adjustable resistance, the sensing range of infrared sensor probe can become big.The structure of two infrared sensor probes has guaranteed the stable and efficient of nearly feel perception in the infrared sensing apparatus; Process chip DSP when the target connection; The information relevant with target that process chip DSP will obtain sends robot perception disposal system to through wired or wireless mode; Perception disposal system 7 sends the environmental information of perception to decision system 8 again, and decision system 8 control action systems 9 take action.
Referring to Fig. 2 and Fig. 3; Said panoramic vision camera head 2 is installed on the top of Soccer robot; It comprises panoramic camera and the panorama mirror surface relative with the panorama camera position; The panorama gamma camera obtains robot panorama information on every side through the information of panorama mirror surface, and sends information to perception disposal system 7 through wired or wireless mode.In fact, in the time of match, also can adjust the size of omnidirectional vision scope R1 usually according to the light power of competition area, omnidirectional vision near-end dead band R2 also can correspondingly change simultaneously; After adjustment was accomplished, the omnidirectional vision scope R1 that omnidirectional vision camera head 2 is covered was constant in the process of match, thereby corresponding with it omnidirectional vision near-end dead band R2 is constant during the games.
See Figure 2 and Figure 3, said forward vision camera 1 is mounted on the robot in front of the upper mechanical housing bracket, the front camera 1 and the visual angle α adjustable ground plane; see Figure 5 (a) and FIG. 6 (a), the current level of the vision camera 1 is rotated downward, forward vision camera 1 and the ground plane angle α is large, the forward vision camera tends perpendicular to the ground plane, prior to the sensing range of a R4 (a ) fan-shaped area reduced, while the dead zone prior to the proximal small visual, infrared sensor device 3 while adjusting the variable resistor resistance becomes large, so that the near-infrared sensor probe sense perception Area I R3 (a) the rectangular area is reduced , and with the front camera to the visual perception of a range of forward an R4 (a) are connected, so that the robot soccer forward vision proximal no dead zone; see Figure 5 (b) and Figure 6 (b), the current to the Vision Camera 1 level downward rotation, forward vision camera 1 and the ground plane angle α is small, forward vision camera tends to level with the ground plane, forward sensing range of two R4 (b) fan-shaped area extending forward (ie expand), while the proximal forward vision dead zone becomes larger, while adjusting the adjustable infrared sensor device the resistance becomes smaller, making infrared sensor probe near vision sensing range two R3 (b) rectangular area to expand, and with the former camera to visually perceive a range of two forward R4 (b) fan-shaped area of convergence, so that the robot soccer forward vision proximal no dead zone.When target appears in the sensing range of forward direction vision pickup camera; Can be through calling the perception mathematical model of the forward direction visually-perceptible in the perception disposal system; Calculate the exact position of target in the forward direction sensing range accurately, and send the precise position information of target to decision system through wired or wireless mode.
Referring to Fig. 4; The nearly visual information that the forward direction information that said perception disposal system 7 will be obtained from forward direction vision camera 1, the panorama information that panoramic vision camera head 2 obtains and infrared sensing device 3 obtain carries out information fusion; And send the environmental information after the information fusion to robot decision system 8, the process of this information fusion and transmission may further comprise the steps:
Step 1: sensory perceptual system starts: start the forward direction vision camera, obtain forward direction information; Start the infrared sensing apparatus, obtain nearly visual information; Start the panoramic vision camera head, obtain panorama information;
Step 2: the perception disposal system is called nearly visual information, and judges whether infrared sensor finds target, if find that target then gets into target clamping device information and sends decision system to;
Step 3: the perception disposal system is called forward direction information, and judges whether the forward direction vision finds target, if do not find target, then execution in step five;
Step 4: the perception disposal system is called Precision Orientation Algorithm target is positioned, and sends the target accurate location information to decision system;
Step 5: the perception disposal system is called panorama information, and judges whether panoramic vision finds target, if do not find target, will not find that then target information sends decision system to;
Step 6: the perception disposal system judges whether and need accurately locate target that if desired target is accurately located, then control robot turns to target, and execution in step three;
Step 7: the perception disposal system is called panorama information and is found the target relative position, and sends the target relative position information to decision system.
Soccer robot sensory perceptual system of the present invention is a process continuously when the perception environmental information, not only comprises in the environmental information of its perception the information relevant also comprising the goal with football, and the information of the robot in its sensing range.
Said sensory perceptual system communicates through wired or wireless form and robot decision system.
In use; Forward direction vision camera 1 cooperatively interacts with infrared sensing apparatus 3; There is not the near-end dead band in humanoid robot in the assurance in the forward sight scope: when specifically competing; The angle of forward direction vision camera and ground level is adjusted according to the intensity of illumination of competition area; When intensity of illumination is big, angle is turned down; When intensity of illumination is less, angle is transferred greatly, thereby the forward direction sensing range of forward direction vision camera also can enlarge or dwindle.This moment can be through the resistance sizes of adjustable resistance on the adjustment infrared sensing apparatus peripheral circuit; And make the nearly feel sensing range of infrared sensor probe become greatly, dwindle and diminish with the expansion of the forward direction sensing range of forward direction vision camera; Thereby make both sensing ranges be engaged togather all the time; Effectively guarantee Soccer robot no near-end dead band in the forward sight scope; The panoramic vision that remedies robot makes detection stable, efficient in the problem that closely can't effectively detect.Though there is segment proximal perception dead band at the rear portion of Soccer robot; But owing in robot soccer game, be that several robots compete jointly, therefore; The near-end perception dead band of some robots can be perceived by other other robots, thereby does not influence the action control of this robot.
In the real racetrack process, when panoramic vision camera head, forward direction vision camera and infrared sensing apparatus are not all found target, the perception information of finding target is arranged and send the order of advancing before decision system can be called to original target; When panoramic vision camera head discovery target, when forward direction vision camera and infrared sensing apparatus were not found target, decision system was sent the order that the adjustment direction is advanced to target at full speed; Found target when panoramic vision camera head and forward direction vision camera, when the infrared sensing apparatus was not found target, decision system was sent the order that deceleration is advanced to target; In the middle of humanoid robot advance, football enters into panoramic vision near-end dead band and panoramic vision is not found target, during forward direction vision camera and infrared sensing apparatus discovery target, decision system is sent further deceleration and to the order of gtoal setting; When target gets into forward direction vision dead band; Panoramic vision camera head and forward direction vision camera are not all found target; The infrared sensor sensor is found target; Decision system is sent target and has been got into holding mechanism; And combine the perception information of panoramic vision camera head and forward direction vision camera to judge the position in the environment of current place, make and advance shooting or adjust the order that direction is advanced and shot.
For example: in the RoboCup match; Find having football and forward direction vision and infrared sensor not to find football after one's death through panoramic vision in the middle humanoid robot ground on the scene; Through information fusion, robot controller calls to be turned round strategy and advances to the direction at football place.Direction advances in the visual range of forward direction vision towards the football place when robot; Panoramic vision and forward direction vision have all been found football; In humanoid robot call corresponding control strategy, adjustment left and right wheels suitable when impact point is advanced speed with pose so that robot speed when arriving football be zero and football get into the mechanism that catches smoothly.When football has got into holding mechanism; Infrared sensor is found football; Robot can carry out the fusion of panoramic vision, forward direction visual information; The position of judging oneself is at half-court of oneself or the other side's half-court; Call corresponding strategy then and protect ball, obstacle and the adjustment pose avoided on own anterior approach are advanced to accomplish last shooting action to opponents' goal.
Soccer robot sensory perceptual system of the present invention can be from panorama information, forward direction information, nearly three aspect perception of visual information environment; Make full use of the multi-sensor data resource in different time and space; Adopt the multisensor observation data of computer technology to obtaining by the time sequence; Under certain criterion, analyze, comprehensively, domination and using; Acquisition is explained the consistance of measurand and is described; And then make robot controller realize corresponding decision-making and gathering, make system obtain the part information more fully that respectively has of one's own than it.
Claims (5)
1. Soccer robot sensory perceptual system; Comprise forward direction vision camera (1); Panoramic vision camera head (2); It is characterized in that; Said sensory perceptual system also comprises infrared sensing apparatus (3) and perception disposal system (7); The forward direction information that perception disposal system (7) will be obtained from forward direction vision camera (1); The nearly visual information that panorama information that panoramic vision camera head (2) obtains and infrared sensing device (3) obtain carries out information fusion; And send the environmental information after the information fusion to robot decision system (8), the process of said information fusion and transmission may further comprise the steps:
Step 1: sensory perceptual system starts: start the forward direction vision camera, obtain forward direction information; Start the infrared sensing apparatus, obtain nearly visual information; Start the panoramic vision camera head, obtain panorama information;
Step 2: the perception disposal system is called nearly visual information, and judges whether infrared sensor finds target, if find that target then gets into target clamping device information and sends decision system to;
Step 3: the perception disposal system is called forward direction information, and judges whether the forward direction vision finds target, if do not find target, then execution in step five;
Step 4: the perception disposal system is called Precision Orientation Algorithm target is positioned, and sends the target accurate location information to decision system;
Step 5: the perception disposal system is called panorama information, and judges whether panoramic vision finds target, if do not find target, will not find that then target information sends decision system to;
Step 6: the perception disposal system judges whether and need accurately locate target that if desired target is accurately located, then control robot turns to target, and execution in step three;
Step 7: the perception disposal system is called panorama information and is found the target relative position, and sends the target relative position information to decision system.
2. Soccer robot sensory perceptual system according to claim 1; It is characterized in that; Said infrared sensing apparatus (3) comprises two infrared sensor probes (5); And the process chip DSP (6) and the peripheral circuit plate (4) that link to each other with infrared sensor probe, be provided for changing the pop one's head in adjustable resistance of sensing range of (5) of infrared sensor on the said peripheral circuit plate (4); It is inboard that said infrared sensor probe (5) is arranged at the robot football-kicking mechanism.
3. Soccer robot sensory perceptual system according to claim 1 is characterized in that, said forward direction vision camera (1) is installed on the robot upper part dead ahead, and the angle of forward direction vision camera and ground level is adjustable; When angle became big, the forward direction vision camera was tending towards vertically, and the forward direction sensing range diminishes, and forward direction vision near-end dead band reduces simultaneously; When angle diminished, the forward direction vision camera was tending towards level, and the forward direction sensing range extends forward, and forward direction vision near-end dead band becomes big simultaneously; In the time of in target appears at forward direction visually-perceptible scope, sensory perceptual system can calculate the exact position of target in the forward direction sensing range accurately through the perception mathematical model of forward direction visually-perceptible.
4. Soccer robot sensory perceptual system according to claim 1; It is characterized in that; Forward direction vision camera (1) is the use that cooperatively interacts with infrared sensing apparatus (3), makes the sensing range of forward direction vision pickup camera and infrared sensing apparatus be engaged togather each other all the time.
5. medium-sized Soccer robot sensory perceptual system according to claim 1 is characterized in that said sensory perceptual system communicates through wired or wireless form and robot decision system.
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| CN107044956A (en) * | 2016-06-02 | 2017-08-15 | 江西科技师范大学 | Urine detection instrument and its detection method based on omnidirectional vision and forward direction vision |
| CN107076557A (en) * | 2016-06-07 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Mobile robot recognition positioning method, device, system and mobile robot |
| WO2018001340A1 (en) * | 2016-06-29 | 2018-01-04 | 苏州宝时得电动工具有限公司 | Self-mobile device |
| CN107617220A (en) * | 2017-09-06 | 2018-01-23 | 滨州学院 | A kind of intelligent soccer robot control system and control method |
| CN107617220B (en) * | 2017-09-06 | 2023-12-01 | 滨州学院 | Intelligent football robot control system and control method |
| CN114244983A (en) * | 2021-12-13 | 2022-03-25 | 绍兴东影文化传媒有限公司 | Video shooting device based on wireless image transmission technology |
| CN114244983B (en) * | 2021-12-13 | 2024-02-09 | 绍兴东影文化传媒有限公司 | Video shooting device based on wireless image transmission technology |
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