CN104991514A - Robocup medium-sized group robot software architecture self-positioning method - Google Patents
Robocup medium-sized group robot software architecture self-positioning method Download PDFInfo
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- CN104991514A CN104991514A CN201510249164.2A CN201510249164A CN104991514A CN 104991514 A CN104991514 A CN 104991514A CN 201510249164 A CN201510249164 A CN 201510249164A CN 104991514 A CN104991514 A CN 104991514A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25314—Modular structure, modules
Abstract
The invention relates to a Robocup medium-sized group robot software architecture self-positioning method and relates to the technical field of robots. The method comprises a step 1 of installing a robot visual module, a stadium calibrating module, and a color threshold value module, connecting the robot visual module, the stadium calibrating module, and the color threshold value module by using signal lines, and then performing programming; a step 2 of operating a medium-sized group match program which may automatically read data of the color threshold value module and the stadium calibrating module; a step 3 of starting the robot visual module which acquires an image and which saves the image; a step 4 of performing image thread processing on the saved image and performing positioning computation on the processed information, and storing positioning information in a memory module; and a step 5 of sending the positioning information to an appointed host computer by using the memory module. The method may easily achieve fast positioning, and is good in effect, simple in operation, fast in response speed, and short in consumed time.
Description
Technical field:
The present invention relates to robotics, be specifically related to a kind of method self-align based on Robocup medium-sized group of robot software's framework.
Background technology:
Along with the development of the association areas such as motion control, robotics, mechatronics, the hardware construction of middle humanoid robot also improves in direction faster in, speed dexterousr to build.Initial match is due to the restriction of technology, most employing be two-wheeled Soccer robot, its design of two-wheeled Soccer robot is, in the both sides of machine human body, a driving wheel is respectively housed, by respective motor, it is controlled, except two driving wheels, generally also in the rear end of machine human body, one or two engaged wheels are installed, the overwhelming majority is one, engaged wheel is without any Electric Machine Control, the effect in order to play 3 or 4 balanced robot's centers of gravity completely, coaxial two wheels robot produces by driving wheel and ground the motion state that adhesion changes robot.Two driving wheels are designed on an axis, it is the error for producing when reducing motion to greatest extent, therefore the design adopting common axle more, but this structure greatly limit the locomitivity of robot, especially steering capability, robot can not be made to complete freely left and translation motion to the right, circumferentially can only complete left-hand rotation and right turn movements.
Owing to requiring that robot is completely autonomous in medium-sized group of robot soccer game, so the most challenging, also the robot research level of team participating in the contest can be represented, its Research Significance is, research and the improvement of medium-sized group of robot relate to precision optical machinery, robotics, electromechanical integration, real time computer control, Real-time digital signal processing, image procossing and pattern-recognition, decision-making, trajectory planning, multi-disciplinary technical know-how is permitted in the coordination of multiple agent system and wireless telecommunications etc., the match of medium-sized group of robot extensively carry out the technical development inherently driving these association areas.
Summary of the invention:
The object of this invention is to provide a kind of method self-align based on Robocup medium-sized group of robot software's framework, it is convenient to realize quick position, and effect is high, simple to operate, and reaction velocity is fast, saves time.
In order to solve the problem existing for background technology, the present invention adopts following technical scheme: its method is:
Step one: mounting robot vision module, court demarcating module and color threshold module, and adopt signal wire to connect, programme after connection;
Step 2: run medium-sized group of competition procedures, program can read the data of color threshold module, court demarcating module automatically;
Step 3: start the machine people's vision module, and robot vision module carries out image acquisition, and stored by image;
Step 4: the image of preservation is carried out image thread process, positions calculating by the information of process, and is stored in memory module by locating information;
Step 5: locating information is sent on the host computer of specifying by memory module.
The present invention has following beneficial effect: be convenient to realize quick position, effect is high, simple to operate, and reaction velocity is fast, saves time.
Embodiment:
This embodiment adopts following technical scheme: its method is:
Step one: mounting robot vision module, court demarcating module and color threshold module, and adopt signal wire to connect, programme after connection;
Step 2: run medium-sized group of competition procedures, program can read the data of color threshold module, court demarcating module automatically;
Step 3: start the machine people's vision module, and robot vision module carries out image acquisition, and stored by image;
Step 4: the image of preservation is carried out image thread process, positions calculating by the information of process, and is stored in memory module by locating information;
Step 5: locating information is sent on the host computer of specifying by memory module.
The above, be only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, and any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (1)
1., based on the method that Robocup medium-sized group of robot software's framework is self-align, it is characterized in that its method is:
Step one: mounting robot vision module, court demarcating module and color threshold module, and adopt signal wire to connect, programme after connection;
Step 2: run medium-sized group of competition procedures, program can read the data of color threshold module, court demarcating module automatically;
Step 3: start the machine people's vision module, and robot vision module carries out image acquisition, and stored by image;
Step 4: the image of preservation is carried out image thread process, positions calculating by the information of process, and is stored in memory module by locating information;
Step 5: locating information is sent on the host computer of specifying by memory module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510249164.2A CN104991514A (en) | 2015-05-15 | 2015-05-15 | Robocup medium-sized group robot software architecture self-positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510249164.2A CN104991514A (en) | 2015-05-15 | 2015-05-15 | Robocup medium-sized group robot software architecture self-positioning method |
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| Publication Number | Publication Date |
|---|---|
| CN104991514A true CN104991514A (en) | 2015-10-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510249164.2A Pending CN104991514A (en) | 2015-05-15 | 2015-05-15 | Robocup medium-sized group robot software architecture self-positioning method |
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| CN (1) | CN104991514A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106964145A (en) * | 2017-03-28 | 2017-07-21 | 南京邮电大学 | A kind of apery Soccer robot pass control method and team's ball-handling method |
-
2015
- 2015-05-15 CN CN201510249164.2A patent/CN104991514A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106964145A (en) * | 2017-03-28 | 2017-07-21 | 南京邮电大学 | A kind of apery Soccer robot pass control method and team's ball-handling method |
| CN106964145B (en) * | 2017-03-28 | 2020-11-10 | 南京邮电大学 | Humanoid football robot passing control method and team ball control method |
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| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151021 |
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| WD01 | Invention patent application deemed withdrawn after publication |