CN106272417A - It is easy to the device identified and the Soccer robot applying this device - Google Patents
It is easy to the device identified and the Soccer robot applying this device Download PDFInfo
- Publication number
- CN106272417A CN106272417A CN201610762286.6A CN201610762286A CN106272417A CN 106272417 A CN106272417 A CN 106272417A CN 201610762286 A CN201610762286 A CN 201610762286A CN 106272417 A CN106272417 A CN 106272417A
- Authority
- CN
- China
- Prior art keywords
- robot
- module
- easy
- soccer
- numbering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of device being easy to identify and apply the Soccer robot of this identification device, wherein device includes discrimination module and numbering module, and discrimination module is rotation asymmetry shape cover plate, holds before and after being used for distinguishing Soccer robot；Numbering module is at least two black or white pattern unit, is positioned on discrimination module rotation asymmetry figure cover plate, for being numbered robot by the color of unit and the sequence of unit.The device being easy to Soccer robot identification that the present invention proposes, visual system can judge to rotate according to the shape of discrimination module and waits end before and after post exercise Soccer robot, the pattern unit color of numbering module is black or white simultaneously, visual system can not be affected by light, sequence according to black and white pattern and pattern determines the numbering of robot, such that it is able to make visual system not affected by light and robot motion, accurately identify different Soccer robots.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of device being easy to identify and apply the football of this device
Robot.
Background technology
International teen-age robot World Cup Competition (RoboCup Junior, RCJ) is international RoboCup match
(RoboCup) important component part.Target is to be competed by tissue robot, promotes worldwide robot research
And education.The education of RoboCup and universal theory are mainly realized by RCJ activity.
When carrying out international teen-age robot World Cup Competition, in order to distinguish antagonism group robot, every team is every simultaneously
Individual robot the most also to make a distinction, and the top blind flange at each Soccer robot is designed with mark to make a distinction.
Existing identification method is for drawing five circles and by five circles are carried out color calibration and row in robot top blind flange
Sequence is to carry out the numbering of robot.This numbering is easily affected by light when match, and the strong and weak change of light can affect and regard
The vision system identification to color, robot has the actions such as direction transformation during the games simultaneously, and visual system cannot be accurate
Hold before and after judging robot, have impact on the visual system accurate identification to Soccer robot.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is to provide a kind of device being easy to identify and applies this device
Soccer robot, it is possible to make soccer robot vision system not affected by light and robot motion, accurately identify different
Soccer robot.
The technical scheme is that and be achieved in that:
A kind of device being easy to identify, including discrimination module and numbering module, described discrimination module is rotation asymmetry shape
Cover plate, holds before and after being used for distinguishing robot；
Described numbering module is at least two black or white pattern unit, is positioned at described discrimination module rotation asymmetry figure
On shape cover plate, for robot being numbered by the color of described unit and the sequence of described unit.
Preferably, described discrimination module is trapezoidal decks.
Preferably, described discrimination module is trapezoidal for non-equilateral triangle cover plate.
Preferably, described numbering module is at least two black or the circular pattern unit of white.
The invention allows for a kind of Soccer robot, the described device being easy to identify.
What the present invention proposed is easy to the device identified and the Soccer robot applying this device, and visual system can be according to distinguishing
The shape of other module judges to rotate and waits end before and after post exercise Soccer robot, and the pattern color of numbering module is simultaneously
Black or white, visual system can not be affected by light, determines the numbering of robot according to the sequence of black and white pattern and pattern,
Such that it is able to make visual system not affected by light and robot motion, accurately identify different Soccer robots.
Accompanying drawing explanation
Fig. 1 is the structural representation of the device being easy to Soccer robot identification that the present invention proposes.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
As it is shown in figure 1, the device being easy to identify of the present invention, including discrimination module and numbering module, discrimination module is non-
Rotationally symmetrical shape cover plate, preferably trapezoidal decks 1011 or isosceles non-equilateral triangle cover plate 1012, for distinguishing robot
Front and back end；Numbering module 102 is at least two black or white pattern unit, preferably at least two black or the circle of white
Pattern unit, is positioned on the rotation asymmetry shape cover plate of discrimination module, for by the design and color unit of pattern unit
Robot is numbered by sequence.
What the present invention proposed is easy to the device of identification, and visual system can judge rotate according to the shape of discrimination module
Holding Deng before and after post exercise Soccer robot, the pattern unit color in numbering module is black or white simultaneously, vision system
System can not be affected by light, determines the numbering of robot according to the sequence of black and white pattern and pattern, such that it is able to make vision system
System is not affected by light and robot motion, accurately identifies different Soccer robots.
Specifically, in Soccer robot motor process, the direction of Soccer robot can change at any time, if cannot
Hold before and after judging robot, the identification that Soccer robot is numbered by visual system will be affected.Such as two circular diagrams of definition
Night No. Bai Weiyi in case, upper white under black be No. two, then if after Soccer robot is changed direction, it is impossible to identify football machine
The identification No. one and No. two that before and after people, end will be wrong, the process of impact match.
In the present embodiment, Soccer robot can be divided into A, B can two groups of antagonism groups, antagonism group robot is by distinguishing
The shape of module makes a distinction, and such as A group is trapezoidal, and B group is the non-equilateral triangles of isosceles.Wherein A group and B group are respectively arranged with three machines
Device people, trapezoidal and B group the non-equilateral triangle of isosceles of A group all includes two black or white circular pattern.
In detail, when the discrimination module of Soccer robot is trapezoidal decks, trapezoidal top can be set as robot
Front end, trapezoidal is the rear end of robot below.Trapezoidal internal includes two circular patterns, and two circular patterns are respectively at ladder
The upper avris of shape and lower avris.Can define two circular patterns be all black be A group robot one, two circular patterns are all
Being A group robot two for white, on two circular patterns, night is in vain for A group robot three；In like manner, B group can be defined
The numbering of three robots.When Soccer robot moves, can hold according to before and after trapezoidal upper following judgement robot, and
The numbering of Soccer robot can be determined according to the color of two circular patterns in trapezoidal and sequence.
In the present embodiment, owing to the color of two circular patterns is black or white, when the light of competition area occurs
During change, visual system can be interference-free, easily the color of identification icon, does not interferes with the identification to Soccer robot.
In sum, the embodiment of the present invention at least can realize following effect:
In embodiments of the present invention, visual system can judge, according to the shape of discrimination module, post exercises such as rotating
Holding before and after Soccer robot, the pattern color in numbering module is black or white simultaneously, and visual system can not be by light
Impact, determines the numbering of robot, such that it is able to make visual system not by light and machine according to the sequence of black and white pattern and pattern
The impact of device people motion, accurately identifies different Soccer robots.
In embodiments of the present invention, owing to the color of two circular pattern unit is black or white, when competition area
When light changes, visual system can be interference-free, and the color of identification icon, does not interferes with Soccer robot easily
Identification.
Last it should be understood that the foregoing is only presently preferred embodiments of the present invention, it is merely to illustrate the skill of the present invention
Art scheme, is not intended to limit protection scope of the present invention.All made within the spirit and principles in the present invention any amendment,
Equivalent, improvement etc., be all contained in protection scope of the present invention.
Claims (5)
1. it is easy to the device identified, including discrimination module and numbering module, it is characterised in that described discrimination module is non-rotation
Turn symmetric figure cover plate, hold before and after being used for distinguishing Soccer robot；
Described numbering module is at least two black or white pattern unit, is positioned at described discrimination module rotation asymmetry figure lid
On plate, for robot being numbered by the color of described unit and the sequence of described unit.
It is easy to the device identified the most as claimed in claim 1, it is characterised in that described discrimination module is trapezoidal decks.
It is easy to the device identified the most as claimed in claim 1, it is characterised in that described discrimination module is the non-equilateral triangles of isosceles
Shape cover plate.
The most as claimed in claim 1 be easy to identify device, it is characterised in that described numbering module be at least two black or
The circular pattern unit of white.
5. a Soccer robot, it is characterised in that there is the device being easy to identify as described in any one of claim 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610762286.6A CN106272417A (en) | 2016-08-29 | 2016-08-29 | It is easy to the device identified and the Soccer robot applying this device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610762286.6A CN106272417A (en) | 2016-08-29 | 2016-08-29 | It is easy to the device identified and the Soccer robot applying this device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272417A true CN106272417A (en) | 2017-01-04 |
Family
ID=57674905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610762286.6A Pending CN106272417A (en) | 2016-08-29 | 2016-08-29 | It is easy to the device identified and the Soccer robot applying this device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272417A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008071022A (en) * | 2006-09-13 | 2008-03-27 | Citizen Holdings Co Ltd | Mobile robot control system |
| CN201323919Y (en) * | 2008-12-04 | 2009-10-14 | 刘春刚 | Noctilucent shoe adhesive sheet |
| CN203658757U (en) * | 2013-12-16 | 2014-06-18 | 嘉善广瑞工贸有限公司 | Controlled football-robot game device |
-
2016
- 2016-08-29 CN CN201610762286.6A patent/CN106272417A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008071022A (en) * | 2006-09-13 | 2008-03-27 | Citizen Holdings Co Ltd | Mobile robot control system |
| CN201323919Y (en) * | 2008-12-04 | 2009-10-14 | 刘春刚 | Noctilucent shoe adhesive sheet |
| CN203658757U (en) * | 2013-12-16 | 2014-06-18 | 嘉善广瑞工贸有限公司 | Controlled football-robot game device |
Non-Patent Citations (2)
| Title |
|---|
| 汪鑫: "一种新的足球机器人色标设计方法", 《西华大学学报（自然科学版）》 * |
| 郭成果: "全方位移动机器人视觉子系统的设计与实现", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6231459B1 (en) | Golf ball with textual instructions positioned thereon | |
| US20160001137A1 (en) | Illumination system for a sports ball | |
| EP2873445A1 (en) | Motion analyzing method and motion analyzing apparatus | |
| CN101964047A (en) | Multiple trace point-based human body action recognition method | |
| US5607152A (en) | Plurality of baseballs each having different colored indicia for training baseball batters and a method for use | |
| CN109013364A (en) | A kind of pcb board automatic defect detecting device | |
| CN102306026B (en) | Perception system of soccer robot | |
| US6364783B1 (en) | Practice pool and billiard aiming system and method of use | |
| CN109045652A (en) | Golf scoring device and system | |
| US10398965B2 (en) | Method and apparatus for locating 3-D objects and executing desired operation, such as playing CAROM, by robot | |
| CN208839019U (en) | Intelligent robot is played chess work station | |
| CN106272417A (en) | It is easy to the device identified and the Soccer robot applying this device | |
| CN106310630B (en) | Sufficient basketball supplemental training robot based on image recognition Omni-mobile | |
| US9089751B1 (en) | Batting practice trainer | |
| Nardi et al. | ART99-azzurra robot team | |
| CN206444125U (en) | Football penalty kick trainer | |
| CN103218826B (en) | Projectile based on Kinect detection, three-dimensional localization and trajectory predictions method | |
| CN104383689B (en) | Intelligent shooting athletic robot | |
| CN104298345A (en) | Control method for man-machine interaction system | |
| CN208097303U (en) | A kind of boxing training device based on the collision of sterically defined real-time detection and dynamics | |
| US20170014700A1 (en) | Equipment and methods for volleyball training | |
| CN107221229A (en) | Teaching method and device | |
| WO2009129541A1 (en) | Training balls for pool and the like | |
| CN207215714U (en) | Detection means for notebook computer internal structure | |
| CN106823298A (en) | College Soccer Teaching and training smart integrated system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |