CN107617220A - A kind of intelligent soccer robot control system and control method - Google Patents
A kind of intelligent soccer robot control system and control method Download PDFInfo
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Abstract
The invention provides a kind of intelligent soccer robot control system and control method, including visual response system, pressure capsule system, central processing unit, walking mechanism, the central processing unit is preferentially driven the knee and moved with lower component to the direction for providing the pressure signal and moved according to the pressure signal of pressure capsule system；The first signal, secondary signal and the movement of the 3rd signal control foot robot that the central processing unit provides according to the visual response system according to the distance between the football and the robot；The present invention is simple in construction, and easy to manufacture, flexible motion, cost is not high, simple to operate, has smoothly completed robot dribbling and has run, hides opponent's impact etc..
Description
Technical field
Patent of the present invention is related to the control system and control method of a kind of intelligent soccer robot, especially by intelligent control
Realization processed is acted blindly, and can be imitated people and is persistently dribbled and motion and intelligent starting, close down using electricity wisely etc..
Background technology
Present highly-specialised, intelligentized Soccer robot have emerged, and in world's Soccer robot contest
It is employed, in the international robot combined meetings of FIRA and the robot soccer World Cup Competition of the ROBOTCUP worlds, with very strong sight
Reward property and interest.Participate in it is this confrontation football match robot, to have flexible movable joint and commander motion brain with
And strong intelligent controlling device.Current apish movable joint controls and multiple and its people come the robot manufactured in football
Between specifically coordinate and coordinate, it is very clumsy, reason be robot in itself without too many perception, and there is no flexible machine
The motion control of tool locomitivity, especially joint will could be realized along with a series of commander.
In the robot soccer World Cup Competition of the ROBOTCUP worlds, it is to control a machine by everyone to have a type
People, realize that the football between troop coordinates by the manipulation of people, be machine to be realized by remote control or smart handle
Control of the people to football, this process are still that the intellection of people and limb action are participated in robot soccer contest, are
A kind of play sport of people, sight are not big enough.In addition, during Soccer robot is controlled, it will usually have permission machine
The conflict of collision is produced between people, this requires robot to have very high flexibility and anti-impact force, and what is be even exceedingly fast is anti-
Answer speed.And in the robot soccer competition after existing upgrading, it is desirable to the complete intelligent control of robot, it is not necessary to people's conduct
The player of Soccer robot participates in robot soccer competition, this to robot high-speed mobile and be accurately positioned on court other
Robot etc. proposes very high requirement.Therefore a kind of joint for the Soccer robot for being capable of flexible automatic control is needed, can
In the case where other detection signals provide instruction, using the stepper motor of the sensitive rotation of high speed come drive Soccer robot according to
The match of Soccer robot is realized in control.
A kind of anthropomorphic robot lower limb with double spherical hip joint mechanisms and 7 freedom legs are disclosed in the prior art
Structure, wherein 3 frees degree of hip joint, 3 frees degree of ankle-joint, 1 free degree of knee joint, hip joint use double spherical machine
Structure, i.e. six rotary shafts are met at a bit, so when knee joint and ankle-joint are failure to actuate, human emulated robot is not being increased
Waist function is realized in the case of adding joint, the robot that the flexibility of this robot is compared in above chapter patent document is flexible
Property greatly improve, but the increase of the free degree so that the control of the leg of anthropomorphic robot needs more chips to calculate positions fortune
Capable mode and more sensors carry out control machine people, and manipulation instruction is extremely complex.It is disclosed in the prior art another
Kind robot leg mechanism, including pedestal and motion platform, pedestal are connected by transmission mechanism with motion platform；Transmission mechanism includes
The motor being fixed on pedestal and the moving cell with motor connection；Moving cell includes that robot leg mechanism swing backward can be made
The first moving cell and make the second moving cell that motion platform is pushed or above carried；First moving cell is fixed including a top
Support bar on pedestal, with first the first screw body of motor connection and first connecting-rods with constant lengh being hinged with motion platform；The
One connecting-rods with constant lengh includes straight bar part and outwardly convex portion, and support bar is hinged with straight bar part, the first screw body
It is hinged with convex portion；Second unit includes second be hinged with the second screw body of the second motor connection and with motion platform
Connecting-rods with constant lengh, the second screw body are hinged with the second connecting-rods with constant lengh；The benefit that this robot is used for football match is simple in construction, is held
The advantages of loading capability is strong, small volume, and processing and assembly process process are good, occupies the advantages of certain, due to this machine in confrontation
The leg of device people does not have knee joint, and exercise performance is dumb, and seem unusual clumsiness in control process, is not suitable with existing foot
Ball dual meet.
In the prior art, a kind of robot foot based on ant group algorithm is disclosed in Chinese patent 2014102998879
Ball dynamic decision devices and methods therefor, superiority and ant group algorithm based on mankind's football strategy theory are found in dynamic environment
The high efficiency of optimal path, it is proposed that a kind of robot soccer dynamic decision devices and methods therefor based on ant group algorithm, pass through
Competition field situation and state are subjected to analysis refinement, and using robot tactical mission effect as feedback, with decision-making, assessment, determined again
The mode of plan, makes the strategy of most suitable current situation, but this algorithm still I send out and realize that Soccer robot is acted blindly, intelligence
Change.
Patent of the present invention is a kind of structure of the leg of the flexible joint of anthropomorphic robot, using stepper motor or control electricity
Machine controls the activity in joint, under corresponding activity ratio, the advance and retreat of the paces of strict control machine people, and the control of this motor
Be built upon what is realized under corresponding control structure and computing mode, can so ensure Soccer robot flexibly motion and
Hide the impact in confrontation, and the sensor on head produces preferable space and sentenced so as to obtain good visual effect
It is disconnected, and football trace ability, can be in simple structure, lower completion intelligent control, or even produced between other Soccer robots
Raw information sharing, completes the cooperation of team, and this robot uses new structure design, and easy to manufacture, cost is not high.This
Compared with similar intelligent robot, patent of the present invention employs the knee joint that has imitated mankind's activity and with lower component patent of invention
Using one roller of dual drive mode activated, actuating speed is fast, and robot movable is flexible, is swift in response；Optimization impact platform is set
Meter, it is possible to achieve dribbling motion for a long time；Design of acting blindly is employed, reaction is flexible；Employ vision system and pressure sensing system
System monitors simultaneously, and sets monitoring to have selected priority signal set-up mode according to the distance between football and robot, realizes
Act blindly with automatically controlling；Good circuit for controlling motor is employed, more motor linkage controls can be realized, realize football
Fast reaction of robot, etc..
The content of the invention
A kind of intelligent soccer robot control system, the robot include visual response system, pressure capsule system, center
Processor, walking mechanism, it is characterised in that the walking mechanism include driving realize the knee of gravity motion and with lower component and
Realize that body moves foot part, the pressure sensor device of the pressure capsule system is hit installed in the first impact platform and the 3rd
Hit on platform, the pressure sensor device provides pressure signal, and the central processing unit preferentially drives according to the pressure signal
The knee and being moved with lower component to the direction for providing the pressure signal moves；Installed in described first hit platform with it is described
Regarded described in the camera device of camera device, the robot head between 3rd impact platform to central processing unit offer
Feel letter；The visual response system provides the first signal, second respectively according to the distance between the football and the robot
Signal and the 3rd signal, the foot part control institute according to first signal, the secondary signal and the 3rd signal
State the movement of foot part；The foot moving parts uses multi-motor synchronous control pattern.
It is an object of the invention to provide a kind of simple in construction, easy to manufacture, flexible motion, cost is not high, simple to operate
Robot architecture, coordinated using the installation between good joint designs and stepper motor, and motor control, information gathering
With excellent computerized algorithm etc., it is difficult to overcome operation in the prior art, and its people is dumb, it is impossible to precisely control in operation
System, complete dribbling and run, hide the effects such as opponent's impact.
Brief description of the drawings
Fig. 1 is the knee and the following modular construction schematic diagram of knee of the Soccer robot of patent of the present invention.
Fig. 2, Fig. 3 are the Soccer robot knee of patent of the present invention and the partial cutaway schematic view of shank rotatable parts.
Fig. 4 is Soccer robot partial schematic diagram.
Fig. 5 is Soccer Robot Control Circuit schematic diagram of the present invention.
Fig. 6 is Soccer robot of the present invention to vision system mirror image schematic diagram.
Fig. 7 is the vision control system frame diagram of Soccer robot of the present invention.
Fig. 8 is the network schematic diagram of the control system of Soccer robot of the present invention.
Fig. 9 is the vision system and control principle drawing of Soccer robot of the present invention.
Figure 10 is the circuit for controlling motor schematic diagram of Soccer robot of the present invention.
Embodiment
As shown in figure 1, the present invention is a kind of Soccer robot, including induction system, control system, central processing
Device, walking mechanism, walking mechanism mainly include having imitated the knee of mankind's activity and its with lower portion, and knee and knee are with bottom
Part includes, and soft shell 123, the first impact platform 1, drive component 2 (including 21,22,23), worm screw are (including from top to bottom
Three scroll bars (bottom worm screw 120, top worm screw 121, middle worm screw 123), the second workbench 4, turbine 5 (including turbine 51,
52), the 3rd impact platform 6, the first workbench 7.Between first impact platform 1 and the 3rd impact platform 6 part (worm gear,
Worm screw, drive component, the first workbench, second workbench etc.) composition robot center of gravity tilting gearing, accelerate robot fast
Speed starts.
It is embodied in robot, a pair of 1 font upper support arm (first pair of upper supports is fixed with the first impact platform 1
Arm), this is provided with the first worm screw to being provided with the first T-shaped support frame between upper support arm on first support frame
120, the first worm screw 120 connection bottom drive component 23, bottom drive component 23 drives the rotation of the first worm screw, the first worm screw 120
The first worm gear 52 is driven to rotate.First worm gear 52 drives the first worm-wheel shaft 32 to rotate, and the is installed with the first turbine wheel shaft 32
1 font first of the second workbench 4 of one worm gear 52 and support is to lower support arm, and the second workbench 4 is with first lower
Brace rotation and left-right rotation, realize that robot rolls.
Middle part worm screw 122 is driven by drive component 22, and middle part worm screw 122 is arranged on the second support frame of inverted T-shape shape
On, second support frame is fixedly mounted on the second workbench 4, is provided with a pair 1 fonts the on the second workbench 4 simultaneously
Two support arms (non-label, figure in have shown that), cross is arranged at second support arm each other with the second T-shaped support frame
On second workbench, wherein the height of 1 the second support frame of font is higher than the support arm of T fonts second.Assembled on 1 font support frame
There is the second worm-wheel shaft 31, second turbine wheel shaft rotates on 1 font support frame drives double-arm the of the first workbench 7 of support
Two pairs of lower support arms rotate, forward lean or layback with mobile robot.
The both ends of top worm screw 121 are fixed on the L-type support of bearing 30 by bearing, and top worm screw 121 being capable of relative branch
Frame rotates clockwise or counterclockwise, and its middle and upper part worm screw 121 is connected to bearing branch in one end away from top drive component 21
Frame 30, the top of the support of bearing 30 connect the 3rd impact platform 6, and the bottom of the support of bearing 30 connects the first workbench 7, top worm screw
The second worm gear 51 is driven to rotate by bevel planet gear structure (not shown) between 121 and worm gear 5, for quick response,
Its middle and upper part worm screw 121 and middle part worm screw 122 can drive worm gear 51 to rotate simultaneously, ensure promptness and the accuracy rotated.
The rotation of wherein the second worm gear 51 clockwise and anticlockwise can drive the second turbine wheel shaft 31 to rotate, two on the second turbine wheel shaft
Double-arm support arm supports the first workbench 7, and the second worm gear wheel side is to tackling the front and back of robot, and ensures
One of important measures that robot quickly moves forward, moves afterwards.
Drive component 21,22,23 includes, motor, motor rack and motor control assembly, can be achieved around X, Y, Z tri-
The rotary motion of individual axle；The signal of wherein motor control assembly is signal (vision system signal and the sensing according to induction system
Device signal) it is controlled, the content of specific control mode carries out independent description below.
First impact platform 1 and the 3rd impact platform 6 are rounded square, are fitted with pressure sensing in each direction
Device, the sensor 111 on the first impact platform 1, the sensor 311 on the 3rd impact platform 6 are pressure sensor, these pressure
Sensor can be common sensing electronics.The number of sensor is set generally according to the size of impact platform, and in
Central processor is to the numbering of sensor, Data processing reference as computer programming of this numbering in central processing unit
Value.Pressure sensor 111,311 can perceive the strength and direction when football hits, wherein strength and direction by shock
Judge football hit after the direction of motion, central processing unit can make in the case where visual response system is not issued an order
The order of foot movement is driven, the order sends the rotating wheel of foot to, allows it to make corresponding motion, specific mode of operation
Made an explanation in drive circuit below.
When football strikes the first impact platform, three impact platforms during exercise, it may occur that elastic deformation, wherein
The process reaction of deformation goes out the size of stress, and football hits initial stage, is compressive deformation, and its movement velocity gradually subtracts during being somebody's turn to do
Small, after speed is reduced to 0, deformation that football expands gradually recovers spherical, football does the fortune of opposite direction in the deformation
Dynamic, the speed of the bigger ejection of deformation is faster.The deformation process of football is taken full advantage of in the present invention, is reached most in pressure sensor
When big pressure, according to pressure direction, central processing unit driving robot motion, this mode make it that the motion of robot will
Just moved earlier than visually seeing after football changes, therefore this robot can only rely on the robot of visual movement than other
Reaction speed it is sensitiveer, fully imitated inspired football player.
Shell 123 is flexible pleat material, is connected between the first impact platform 1 and the 3rd impact platform 6.Shell 123
All device features between the first impact platform 1 and the 3rd impact platform 6 are coated so that knee rotatable parts are in rotation
Not hit by football is influenceed, and ensure that the action such as fall down to the ground of other Soccer robots is placed in football have impact on,
For the activity between the first impact platform 1 and the 3rd impact platform 6, safety protection function is served.Especially, flexible material can
To prevent from wherein controlling the circuit of driving part to be knocked, the failure such as signal errors or short circuit is produced, overcomes common football
Robot in confrontation of robot meets with the situation of unexpected failure after shock.
First impact platform 1 is the square of fillet, and the angle of positive direction is that the radian of fillet is very with cambered fillet
It is small, for the ease of control, sensor is no longer set at fillet.3rd impact platform 6 is also the square of fillet, the angle of positive direction
With cambered fillet, the radian very little of fillet, for the ease of control, sensor no longer to be set at fillet.Due to arc
The width of the fillet of degree is maximum, is shown in experimental data, the probability and football that the cambered fillet of this band hits with opponent
The ratio of hit probability substantially 11:1；In Computer Simulation, or even the shock between Soccer robot in some experiments
It is far to have exceeded the probability hit with football, due to bigger among the setting generally of other footballs machine people, therefore
The probability that 3rd impact platform 6 hits other Soccer robots hits the general of other Soccer robots more than the first impact platform 1
Rate.First impact platform 1 of approximating square or the 3rd impact platform 6, ensure that in the confrontation of football match, can make
Other footballs machine people is hit with the 3rd impact platform 6, uses the more shock football of the first impact platform；Therefore the 3rd
The area of impact platform 6 will be slightly larger than the area of the first impact platform 1.In countermeasures simulation experiment, the football machine of above-mentioned design
Device people, it can preferably meet football confrontation and score.
In the present invention, in another embodiment, the thickness of the 3rd impact platform 6 is designed as it is thicker than the first impact platform 1,
About 2 times of the first impact platform thickness.The size of the upper surface of first impact platform 1 and the 3rd impact platform 6 omits
There is difference, the length of side of the periphery of the first impact platform 6 is merely greater than 1 peripheral 2-5 centimetres of the length of side of the 3rd impact platform；Between the two not
Different with only in the thickness also in striking face, other aspects are all identicals.First impact platform 1 and the 3rd impact platform 6 it
Between distance be less than the diameter of football, provide that the size of robot is less than 18 centimetres for diameter in small-sized group of laws of the game, height
Less than 15 centimetres, football is prevented to be stuck between the two, and the position for ensuring to hit football is in the first impact platform 1 or the 3rd
Impact platform 6.The area of second platform 4 is less than the area of the first impact platform 1 or the 3rd impact platform 6, and football is bouncing
Or the second platform will not be struck in air walk.This design ensure that football only hits the first impact platform 1, Huo Zhetong
When hit the first impact platform 1 and the 3rd impact platform 6, or only hit the 3rd impact platform 6.
When hitting the first impact platform 1 and the 3rd impact platform 6 simultaneously, because the area of the 3rd impact platform 6 is more than
The area of first impact platform, football can the impact platform 6 of preferential contact the 3rd under most probability so that the direction of motion of football is
Forward downward moves, and is advantageous to robot control football and advances；Realize the situation of robot dribbling motion.Before this design is
The function that does not have of Soccer robot.
Fig. 1 is the general configuration schematic diagram that Soccer robot bottom is overall in another embodiment of the present invention.In other reality
To apply in example, there is aggressive robot for some, the shell 123 of knee rotatable parts is the shell of two sections of stainless steel,
Ensure not bad by card in confrontation, this leg for causing the leg of robot more like people that designs.Tu1Zhong robots foot parts are
It is approximate rectangular, it is the outside that protective cover has been placed on to roller, roller close to the inner portion moves so that robot is more like the mankind.
The structure of robot foot parts illustrates below.Knee rotatable parts of the present invention employ turbine and worm drive system, should
Knee rotatable parts are big, compact-sized using turbine and worm transmission single staged transmission ratio, stable drive, noiseless, have self-locking work(
The advantages that energy, space availability ratio is greatly improved, reduce mechanism quality, so as to reach the purpose for reducing drive device burden.
Walking mechanism also the first impact platform 1 including Soccer robot is mounted below robot foot parts, is to drive
The major part of mobile robot walking, the part includes roller 101, stepper motor 103, universal joint 104, protective cover 102 etc.
Part.Robot foot parts carry four rolling 101, are separately positioned on below the first impact platform 1, and looked at straight from above
When, the first impact platform 1 is not exposed, and figure 2 illustrates three.It is, in football, it is ensured that do not have
Football strikes roller.Driven above each roller 101 by stepper motor 103, universal joint 104 connects stepper motor 103
With the first impact platform 1, four rolling is designed on four angles of the first impact platform 1, under the driving of stepper motor 103,
Roller 101 can be driven to rotate (roller is omni-directional wheel) simultaneously, drive Soccer robot to move toward the direction, this football
Robot hits football typically by hitting football during exercise, or in other Soccer robots so that football
Afterwards, strike on the first impact platform 1 or the 3rd impact platform 6 so that football.Because current Soccer robot is hit
Hit that the dynamics of football is all little, and in robot soccer game football size it is more much smaller than in general football, so most of
Football activity can strike the first impact platform 1.Protective cover 102 is arranged on the side of universal joint 104, for protecting universal joint
104th, stepper motor 103, and house portions roller 101.In a preferred embodiment, can be with selected section visual response system
In protective cover, the direction of motion of visual response systematic observation football, drive command directly is made to stepper motor 103.
In the present invention, central processing unit is in the signal that visual response system provides, football in court and not in net when
Wait, the signal that central processing unit provides is exactly that Soccer robot abuts football, allows football under the shock of robot constantly to right
The net of side advances.It is, the activity of football player's dribbling is imitated, the finger made by central processing unit of these activities
Make to complete.Stepper motor therein can be replaced with the more preferable brshless DC motor of control performance, but this replacing can show
Write lifting cost.
In another embodiment, the first impact platform 1, the 3rd impact platform 6 are the high materials of the light intensity of quality, and protective cover is
The high alloy material of intensity, such as aluminium alloy；Roller uses omni-directional wheel, Soccer robot can be made to keep itself in motion process
Posture is constant, and roller is provided with anticollision block, can effectively prevent omni-directional wheel from failing and deforming caused by collision in confrontation.
In an alternative embodiment of the invention, the height h of foot parts1It is slightly lower than football height h2(√ 5-1)/2
Times, it is being superimposed with the thickness h of the first impact platform 13Half when, i.e. the centre distance ground of the first impact platform 1
Height H=h1+h3/ 2=(√ 5-1) h2/ 2, when the first impact platform of football percussion 1, the center of gravity of football is in foot parts
Below, so that the Impact direction of football can cause football always certainly in ground, this robot diagonally downward
Near oneself, without away from Soccer robot, when the running speed of Soccer robot is set, according to the stress of football and
The coefficient of elasticity of football, can be in the experiment of Computer Simulation by founding mathematical models, can be clear and definite by sensor
Determine the speed and angle of leaving the first impact platform 1 of football, the solution of this mathematical modeling, checking, analyze again, change vacation
And if because parameter is fewer in the iteration of solution, data are with respect to determination.
In the football match of simulation, football hits the first impact platform 1, or hit simultaneously the first impact platform 1 with
3rd impact platform 6, or the probability of only the 3rd impact platform 6 of shock are substantially stablized:27：2:1.This statistics it is general
Rate, make preferential specific motor for central processing unit and give selection, as long as therefore the first impact platform 1 of football shock just
Variety of priority driven stepper motor 103, rather than other transmission mechanisms, ensure that the motion of Soccer robot and football is synchronous.If
The judgement made is wrong, then the football position provided according to visual sensing system, is made adjustment.
Fig. 2, Fig. 3 are the partial cutaway schematic view of knee and shank rotatable parts, robot knee of the invention and shank
Rotatable parts have imitated the mode of mankind's activity, employ the gear mechanism of multistage, and here is for the present invention in emulation experiment
Modeling, following modeling is advantageous to understand the present invention.
Rotatable parts are respectively θ in motion input quantity1, θ2And θ3, output quantity ψ1, ψ2And ψ3, its middle and upper part worm screw 121
The motion input quantity of rotation is respectively θ1, drive lower cone pinion rotation to drive worm gear 51 to rotate, be fixed on the second turbine wheel shaft
Support arm rotate with axle, output quantity ψ1, this input quantity is that corresponding motor provides, and it is for top to export
What the change of the turbine 51 below corresponding to worm screw 121 provided, the gear structure of the superiors in this structure corresponding diagram 2.Equally
Structure cause middle part worm screw 122 motion input component θ2The output quantity of second worm-wheel shaft of corresponding turbine 51 is ψ2；Bottom
The corresponding input quantity of worm gear 120 is θ3The output quantity of corresponding turbine is ψ3.The change of these corresponding amounts is by specific differential public affairs
Formula, realized in the formula that substantial amounts of experimental data Imitating calculates.Knee and shank rotatable parts drive path are as follows：Fortune
Dynamic input quantity θ1The spur gear z of knee rotatable parts is implemented separately1Around the rotation ψ of support axis1, motion input quantity θ2Pass through snail
Bar amount of exercise L2The spur gear motion z of drive2Z is moved with spur gear1, turbines into motion z5Pass motion to bevel planet gear fortune
Dynamic z6；Input quantity θ3Pass through worm movement L3The spur gear motion z of drive3Z is moved with spur gear2, turbines into motion z10Motion is passed
Pass bevel planet gear motion z11The differential attachment for transmitting turbine and having given composition will be moved, realize the rotation ψ of knee rotatable parts2
And ψ3, make two output campaigns gone down on one's knees.Fig. 4 is Soccer robot partial schematic diagram.
The movement relation formula of the foundation of laboratory simulations formula based on this structure, input quantity and output quantity：
ψ1=θ1……(3.111)
ψ2=1/2 (θ2-θ1)z1 z2 z5 z6/L2……(3.112)
ψ3=1/2 [(θ3-θ2)z3 z2 z10 z11/L3-1/4(θ2-θ1)z1 z2 z5 z6/L2]……(3.113)
The Matrix Formula of this robot leg conversion is：
R=R [ψ1(θ1),ψ2(θ2),ψ3(θ3)]
Here is a part of data of simulation calculation in laboratory, for understanding robot motion.
Computer corresponds to general velocity mistake！Reference source is not found.Limiting solution mistake！Reference source is not found.
For
Computer corresponds to general velocity mistake！Reference source is not found.Limiting solution mistake！Reference source is not found.
For
Computer corresponds to general velocity mistake！Reference source is not found.Limiting solution mistake！Reference source is not found.
For
Then, calculate and correspond to general velocity mistake！Reference source is not found.General inertial force mistake！Reference is not found
Source..Given data is substituted into according to (4-11) and calculates to obtain general velocity mistake！Reference source is not found.Caused General inertial force mistake！
Reference source is not found.For
Calculating corresponds to general velocity mistake！Reference source is not found.Limiting solution mistake！Reference source is not found.For：
Calculating corresponds to general velocity mistake！Reference source is not found.Limiting solution mistake！Reference source is not found.For：
The Limiting solution mistake that will be tried to achieve！Reference source is not found.With General inertial force mistake！Reference source is not found.
Substitution formula (4-13) can obtain the kinetics equation of robot：
Mistake！Reference source is not found. (4-14)
Solve (4-13) and obtain the driving moment in joint and be：
Required according to the real work of Soccer robot, set the maximum angular acceleration of knee joint 1~3 as mistake！Do not look for
To the source of reference., maximum angular rate is mistake！Reference source is not found..Connecting rod mistake can be calculated automatically in Solidworks softwares
By mistake！Reference source is not found.Inertial parameter shown in, by above-mentioned given value substitution (4-14) each joint is obtained by numerical simulation
Driving moment mistake！Reference source is not found..The driving moment in each joint is obtained with software emulation simultaneously, it was found that number
It is worth simulation result and software emulation result no significant difference, illustrates that the kinetics equation that this section is established is correct.
Act blindly design
The present invention has used conventional mathematical modeling soft SA S during modeling, under this software uncomplicated
Programming under it is achieved that experiment in also used MATLAB softwares to realize, the data analysis of this implementation does not have
SAS data analysis is simple, and both experiment effects because the setting of this robot is more excellent, grab by Soccer robot
All it is better than other robot with dribbling effect.While hitting, the foot parts of central processing unit can robot command
The quick response of stepper motor 103, give one signal of communication every time, allow stepper motor 103 to rotate two weeks or more, drive
Roller rotates at least one week, and mobile robot, this to act blindly in advance, i.e., no longer under the instruction of visual response system, relies solely on
The sensing of sensor just adjusts robot motion so that and machine person's development is faster than nearly half of body position of common Soccer robot,
It ensure that in dribbling is moved, the long-term control to football can be kept.The design of acting blindly of robot, show the another of the present invention
On one inventive point, visual signal that signal priority that pressure sensor is given gathers in visual response system.If pressure
Come from football, what the track of this and then motion of football will be appreciated that, and easily realized by software programming.But
It is during the first impact platform 1 and the 3rd impact platform while collision, then sets the sensor on the first impact platform 1
Signal priority is in the sensor signal on the 3rd impact platform, the preferential signal for performing the first simulation platform, driving stepper motor
Direction serpentine locomotion of the pipe wheel towards football.Only it is that the 3rd impact platform strikes other robot, then according to visual response system
The football position provided in system, the signal provided prior to performing visual response system.The judgement of this signal is based on foot
Target of the ball as rank at first, football is pursued, dribbling, football is hit, avoids the design of other barriers, it is farthest full
The foot length time controls ball, rather than tangling between other Soccer robots.
Fig. 5 is Soccer Robot Control Circuit schematic diagram of the present invention.The figure clearly describes the knee of Soccer robot
Control principle and process below portion.The visual signal provided in visual response system depending on recoil simulator sends Soccer robot to
Central processing unit (CPU), central processing unit can be S7-200 and upper structure into or it is of the prior art other
Control device；The pressure signal that central processing unit preferentially provides according to pressure capsule system makes the finger of driving motion of knee joint
Show, in embodiment, if after the impact platform of Soccer robot first receives anterior pressure sensor stress, pressure sensor is sent
For electric signal to central processing unit, central processing unit sends the signal to travel forward to top drive component, in the drive component of top
The clockwise movement of motor 411, drive the second worm gear wheel, the effect for causing robot upper body to turn forward；Meanwhile visual response
System judges distance of the football apart from robot in a football distance, the pressure that as football is brought；Visual response system
Unite and send the first signal to central processing unit, motor in the drive component of driving middle part is made according to the first signal central processing unit
The first drive signal, make middle part drive component also drive the second worm gear, Soccer robot leans forward rapidly, center of gravity reach, can
Above barrier is collided in time and follows football to travel forward；Central processing unit is believed according to the first signal and pressure sensor
Number, drive signal is sent to driving robot foot parts 401,402,403,404, starts stepper motor, stepper motor drives rolling
Wheel rotates, and robot moves forward.
In the first embodiment, Soccer robot control method can use pressure signal to control mould simultaneously with visual signal
Formula, specific method are：Step 1, opening control system, from visual response system and pressure capsule system difference reception signal；
Step 2, it is to have pressure sensor signal to judge the signal；If the pressure sensor signal, start drive component
Drive the part above knee of Soccer robot to be tilted to pressure direction, realize that robot acts blindly for the first time；If without described
Pressure sensor signal, the drive component is not started temporarily；
Meanwhile whether the visual signal for judging to receive is secondary signal, the secondary signal represents ball robot distance
The distance of football is distance more than 2 football diameters；If the secondary signal, the drive component sends the 3rd driving letter
Number, according to the direction of visual signal, drive the center of gravity of robot to be tilted to football position direction, realize the machine
People acts blindly for the second time；Meanwhile central processing unit sends the 3rd enabling signal to foot parts, the robot is driven to the foot
Move ball position；
Step 3, if not the secondary signal, the first signal is determined whether immediately, and first signal represents the ball
Robot is the distance within 1 football diameter apart from the distance of the football；It is first signal, continues to start the drive
Dynamic component, keep center of gravity to continue to move to pressure direction, while the 1st enabling signal is sent to the foot parts, described in driving
Robot is overall to be moved to the direction from pressure；
Step 4, be necessarily the 3rd signal if not first signal, the 3rd signal represent the ball robot away from
From the distance for a distance from the football being 1-2 football diameter, the robot foot parts are not started.
The present invention realizes the multi_motor control of variable-frequency governor using PLC, and specific control mode is specially situated between later
Continue.During the driving of the specific embodiment of another embodiment, robot four sides carries pressure sensor, Soccer robot first
After impact platform receives the pressure sensor stress of front portion, pressure sensor sends electric signal to central processing unit, central processing
Device sends the signal to travel forward to top drive component, the clockwise movement of motor 411 in the drive component of top, driving second
Worm gear wheel, the effect for causing robot upper body to turn forward, this effect are also beneficial to keep balance in robot confrontation, no
Knocked down；If visual response system judges that distance of the football apart from robot is other more than two football distances
Pressure caused by impact, it may be possible to the collision with other Soccer robots；Visual response system sends second to central processing unit
Signal, the second drive signal of motor in the drive component of driving middle part is made according to the secondary signal central processing unit, makes middle part
Drive component drives the second worm gear to be transferred to opposite direction, while stops the motor movement of top driving part, and Soccer robot is fast
Speed stops leaning forward, and is moved after center of gravity, keeps robot center of gravity perpendicular to the ground；Central processing unit is according to secondary signal and pressure sensor
Signal, the drive signal of driving robot foot parts 401,402,403,404 is not made temporarily, stepper motor stops, roller
Stop operating, robot keeps as you were.
During driving, the first impact platform, the 3rd impact platform of Soccer robot do not have pressure signal input, depending on
Feel that induction system judges distance of the football apart from robot more than two football distances, central processing unit is according to visual response
The signal (secondary signal) that system provides, sends the 3rd drive signal to middle part drive component or bottom drive component, causes
Robot knee above body tilts to football position direction or football direction；Meanwhile central processing unit is to machine
Device people foot parts 401,402,403,404 send the 3rd enabling signal, the stepping electricity in foot parts 401,402,403,404
Machine starts, and roller follows robot body inclination direction to rotate, and Soccer robot is transported to football position direction or football
Dynamic direction movement.The executable step mode of central processing unit,
Step 1, the signal of visual response system and pressure capsule system is received；
Step 2, pressure sensor signal is determined whether；It is pressure sensor signal, starts the driving electricity of top drive component
Machine, drive the part above knee of Soccer robot to be tilted to pressure direction, realize that robot acts blindly for the first time；It is not that pressure passes
Feel signal, do not drive top drive component.
Step 3, judge signal whether be visual response system signal, preferentially judge whether signal is secondary signal, i.e.,
Whether Soccer robot is more than 2 football diameters distance apart from the length of football；
Step 4, in step 3, it is the secondary signal of visual response system, central processing unit determines whether pressure sensing
Signal；
There is no pressure sensor signal, step 4.1, send the 3rd driving to middle part drive component or bottom drive component and believe
Number, according to the direction of visual signal, the knee above body of robot is caused to football position direction or football
Direction is tilted, and realization is acted blindly for the second time；Meanwhile central processing unit sends the 3rd enabling signal to robot foot parts, roller with
Random device human body incline direction rotates, and Soccer robot moves to football position direction or football direction.
There is pressure sensor signal, step 4.2, central processing unit sends the second drive signal to middle part drive component, in making
Portion's drive component drives the second worm gear to be transferred to opposite direction, while stops the motor movement of top driving part, Soccer robot
Rapid to keep robot center of gravity perpendicular to the ground, robot keeps as you were, realizes marking an opponent in conflicting mode, that is, football
Defence.
Step 5, in step 3, it is not the secondary signal of visual response system, central processing unit judges football distance immediately
Whether whether the distance of robot in a football distance, i.e., be the first signal,
It is the first signal, make motor in the drive component of driving middle part according to the first signal central processing unit first drives
Dynamic signal, middle part drive component is set also to drive the second worm gear, Soccer robot leans forward rapidly, center of gravity reach, can collide in time
Above barrier and football is followed to travel forward；Central processing unit is according to the first signal and pressure sensor signal, to driving
Robot foot parts send the 1st enabling signal, and whole Soccer robot moves forward.
It is not the first signal, no longer determines whether pressure sensor signal, central processing unit starts middle part or bottom and driven
Dynamic component is moved to football direction, and the 2nd enabling signal is sent to driving robot foot parts, and whole Soccer robot is to football
Position is moved, and ensures Soccer robot dribbling motion.
In design, it is contemplated that in step 5, middle football apart from robot distance in the distance of 1-2 football, that is, provide
When three signals, when other side robot and first or the 3rd simulation platform situation about contacting, in this case, regardless of whether
Pressure sensor signal is produced, central processing unit all directly can send drive signal to middle part or bottom drive component, drive it
Quickly moved to football direction or football moving direction, when necessary, top motor drive signal can be given, realize weight
The heart more quickly tilts to football direction or football moving direction, and continuously goes out pulsewidth to robot foot parts and start
Signal, it is ensured that stepper motor or permanent magnetic brushless below is rapidly completed startup, it is ensured that most short speed reaches football position,
Control football.
Vision system
Because image information is the main source of robot perception environment, so, the design requirement of vision system is higher,
The requirement of range of observation first, according to the place of real racetrack, vision subsystem it is observed that scope should be
16mX12m, just it is observed that the environment in whole place.Next to that the requirement of positioning precision, because vision subsystem output is determined
Position information directly influences the processing of data fusion, decision-making subsystem, if position error is larger, the action and walking of robot
Mistake can all occur in route, be finally the requirement of real-time, only position fast system, office that just can accurately be on reacting field
Gesture, machine person's development are also very fast.
Present invention employs visual servo conceptual system of the prior art, utilizes visual information control machine human knee joint
And relative position and posture (position and orientation) between lower component and target object (football), its
In, camera sets camera respectively at robot four sides, head and the first impact platform and the 3rd impact platform per one side
Between be provided with least two cameras, while eye-in-hand and eye-to-hand hybrid mode are make use of, plus pressure
The information that force snesor provides, realize three kinds of servo control modes based on position, based on image and mixing vision.
The camera set between the first impact platform and the 3rd impact platform is installed to overlook, and causes its sighting distance to ensure
In the position of 2 football diameters, it is particularly conducive to judge the position of football, that is, football is in the camera image pickup scope
It is interior, the control model in step 5 can be directly initiated, central processing unit directly sends driving to middle part or bottom drive component
Signal, drive it quickly to be moved to football direction or football moving direction, and continuously go out pulsewidth to robot foot parts
Enabling signal, it is ensured that stepper motor or permanent magnetic brushless below is rapidly completed startup, it is ensured that most short speed reaches football
Position, control football.The single camera imaging general principle of the present invention is that incident ray is reflexed into shooting by mirror surface
Machine camera lens and then CCD chip imaging, on the basis of optical path analysis, give the limitation formula for reflexing to planar imaging, it is indicated that
Under the conditions of single view, the pixel of panoramic picture can be projected in some plane from viewpoint any distance and form plane throwing
Shadow image, obtained image seems the image obtained with common camera and indifference, and observation visual angle is bigger, so as to
Graphical analysis and processing are carried out using the method for in general processing perspective view.The vision of the present invention is panoramic vision, mainly by group
Close equal proportion omnidirectional reflector, quartz glass lens barrel, digital camera, camera mount and governor motion composition.It is a whole set of
Equipment can install fixation after adjusting, to ensure being not in that loosening, displacement etc. influence omnidirectional vision in use
The phenomenon of system calibrating parameter, it is completely suitable for the needs of the fierce confrontation of medium-sized group of match.
Fig. 6 is Soccer robot of the present invention to vision system mirror image schematic diagram.According to robot soccer competition to regarding
The requirement of feel system, shooting mode using level etc. than minute surface, level etc. than minute surface refer to horizontal plane and into pair in image
It is linear that the distance between should put relation, and mirror image schematic diagram is as shown in Figure 5.The input path of Fig. 5 midpoints is through minute surface
Catoptric imaging on video camera CCD at optical axis x.
The angle of Φ-reflection light and vertical line；The angle of θ-mirror normal and vertical line；
- incidence angle；Y (t)-minute surface bus equation；
F- focal length of camera；H- image planes with the distance between flatly.
Minute surface bus equation Y (t) can be provided by such as drag.
D=ax+b, a ＞ ＞ b 1- (2)
A differential equation is obtained after 1- (2), 1- (3), 1- (4) formula are substituted into 1- (1) formula, can be obtained using numerical solution
To minute surface bus equation Y (t) numerical solution；By this calculation, the calculating of football distance and robot distance is realized,
T (x) can be obtained.
The tracing task that visual feedback completes remote mobile football, tracking speed are employed in visual sensing system of the present invention
Degree is in 5 meter per seconds, and the fixing camera stereo visual system that frequency of use is 60HZ tracks, and this set is in prior art
On the basis of make.Because the movement between robot on football pitch is more, in order to prevent interference from imaging, employing to mark
Determine object of reference, be the camera self-calibration method demarcated, this method merely with the restriction relation between camera parameter itself
Using the windproof self-calibrating methods of KRUPPPA, also tested using quadric self-calibration method and based on active vision from
Standardization.These self-calibrating methods are not the innovation of the present invention in itself, and innovation of the invention is this vision system and control
System processed combines, and realizes the quick response of Soccer robot.Camera installed in head utilizes camera acquisition football
The image information of motion, is analyzed and processed to image in real time, calculates position and the posture of football, and these information are entered
Row processing, sends central processing unit (CPU), the information that central processing unit provides according to vision system, with reference to Soccer robot to
Motion mode and location, control drive component and foot parts, make its high speed execution.The vision of the present invention
The main function of system is to obtain the image information for having certain distance with robot, such as goal, court, white line, other machines
People and have with robot certain distance ball image information, and by handling these information, obtain the position of target object
Confidence ceases, such as robot itself, other robot and robot have the positional information of the ball of certain distance, panoramic vision
The advantages of be once just can obtain whole scene information, the real-time of information is preferable.
Fig. 7 is the vision control system frame diagram of Soccer robot of the present invention.Visual control device transmits signals to place
Device, processor control control drive component and foot parts motion are managed, wherein causing Soccer robot environment to become control process
Change, be filmed by the camera of ccd video camera, send image processor in time, image processor sends a signal to control
Visual control device, form the visual spatial attention loop of closure.
Fig. 8 is the network schematic diagram of the control system of Soccer robot of the present invention.Fig. 8 is that this design of image control is adopted
It is total by PCI using motion control card and image pick-up card with the control system system hardware Interface design based on PCI chips
The communication with the central processor CPU of Soccer robot, the figure used among ccd video camera and image pick-up card are realized in line design
As the connection of line standard, the rate signal that motion control card is converted to the control instruction of Soccer robot in motor sends motor to
Drive control device, and position feed back signal is provided, while the I/O mouths of motion control card receive the telecommunications of the feedback of external sensor
Number, the work orders such as initial setting up adjustment are completed, specific mode of operation, the controllers of this area can be by providing in figure
Circuit signal graph of a relation realize.It should be noted that the control device and Soccer robot of vision system are using simultaneously
The mechanism of row operation, two modules are not disturbed mutually, and it is whole that the cache resources provided in system can be made full use of to realize
The stable coordination work of robot system.Fig. 9 is the vision system and control principle drawing of Soccer robot of the present invention.
In Fig. 9 after robot graphics' collection, the control circuit moved in embodiment by IMAQ controlled motor.Wherein
Pci bus be for by information transfer, wherein controlling bus PCI be connected in parallel respectively motion control card PCI7358 and
Image pick-up card PCI1426, both chips are due to preferable periphery circuit design feature, easily realizing control programming control
System.By ccd video camera IMAQ, image pick-up card PCI1426 is delivered directly to, during IMAQ, triggering letter
Number acquisition be to be realized by the football of tracing movement.When football is static, in incomplete tracking state, at this time cut
The control of disconnected light, saves electricity consumption.The signal of IMAQ is transferred to control unit CPU by pci bus, and control unit passes through control
Bus processed transmits a signal to control parts of motion (motion control card), and motion control card control servo-controlled motor realizes vision
System unit controls.It is described after close contact football in Serve Motor Control, introducing proximity switch in the present invention
Central processing unit is preferentially driven the knee according to the pressure signal and moved with lower component, especially the first impact platform and
When 3rd impact platform constantly transmits pressure sensor signal, that is, Soccer robot is less than one apart from the distance of football
The distance of football diameter, proximity switch close the input of vision system signal, with pressure sensor signal commander's Soccer robot motion；
Other are designed as those skilled in the art can realize according to above-mentioned schematic diagram, repeat no more.
Need to have thought better of the smoothing denoising of video camera, image sharpening etc. in the Computer Simulation of visual spatial attention module and ask
Topic, benefit of the invention is, as a result of the tracking compared with low velocity in image procossing, the meter per second of football speed 5, because
The problems such as because of above-mentioned reason image definition will not being brought to decline substantially in the image of this collection, therefore tolerance is relatively good.
Motor control
The control technology of single motor is very perfect, multiple motors is used in Soccer robot, these motor can
Can share out the work and help one another one action of completion, such as the motor 21 in the drive component of top combines the motor in the drive component 22 of middle part
Collective effect, the selection of the 2nd worm gear is realized, realize the position adjustment of the 3rd simulation platform, that is, completed more than robot knee
The change in location of body.Knee and be also likely to be that motor is respectively completed respective rotation, phase with the driving of lower component in the present invention
There is no any contact between mutually, this just needs robot to go to control multiple electric motors, makes its coordinated operation, for the control of a motor
Making can not meet that its dribbling, defence etc. require in Soccer robot movement, and need to control multiple electric motors, make its more preferable
Ground coordinated operation, foot part of the present invention employ multi-motor synchronous control.Wherein knee and with lower component set top drive
Motor in dynamic component is main order electromotor, the rotating speed of decision systems, and the motor in the driving part of middle part is slave motor, driven electricity
The speed of machine is dressed to main order electromotor.
Multiple motors are shown a case that in Fig. 8, multiple motors can be accessed in dotted portion.The first of Soccer robot
Impact platform 1 is mounted below, and the major part for driving robot ambulation is 4 identical parts, in robot foot parts
The middle motor that sets is main order electromotor, the rotating speed of decision systems, and other three motors are slave motor, the speed of slave motor to
Main order electromotor is dressed.Multi-motor synchronous control network is used in electric machine control system, using Siemens S7-200PLC as master control
Unit, connected by RS-485 bus communications with frequency converter.This two frequency converters 1, frequency converter 2 control a main motor and one respectively
From motor, two motors all feed back rotating speed with rotary encoder, while rotary encoder feeds back tach signal to frequency converter
PLC is fed back to, PLC is interior to do data processing according to the tach signal of feedback, and draws actual speed,
And according to the offset obtained by actual speed.Host computer monitoring software is connected in network by RS-485 buses, is realized
The connection of network, and the state of slave computer can be monitored, data exchange is realized, sends command adapted thereto.In the synchronization control of multiple motors
In network processed, employ three it is on the books in the prior art from electric machine structure, multi_motor control network.
In the present invention in synchronous control system for multiple motors, in order to ensure production equipment run well, it is desirable to each motor it
Between must coordinated operation, rotating speed or linear velocity between each motor is remained certain proportionate relationship.It is so-called to coordinate control,
It is exactly in multivariable control system, using certain control method, the control process of each controlled quatity is cooperated and " coordination ",
And then make to keep certain rapport between each variable, the multi_motor control of variable-frequency governor is realized using PLC, there is volume
Small, in light weight, starting current is low, PLC, has abundant input/output interface, it is possible to achieve software programming,
Appropriate adjustment programme can be carried out according to the movement law of other side robot on football pitch, realize relative other side robot reaction spirit
The characteristics of quick.PLC includes CPU module, I/O mouth molds block, the module such as power module, programming device, in system
Also match somebody with somebody and put some special modules such as host computer, operation and control interface, digital-to-analog amount expansion module, communication module.These hardware knots
Structure is not the proprietary of the present invention in itself, but how wherein motor control can be realized to the function of robot.
Motor in the drive component of top combines the control system of the motor in the drive component of middle part, and this system can be used
The control of four motors in robot foot parts.Using two motor controls as example, the control system includes：Two electronic
Machine, frequency converter, PC, wherein, motor is two motors, frequency converter is entered using Liang Tai Siemens MM Series Frequency Converters to motor
Row variable frequency regulating speed control, the control of 0.12~11Kw low-power machines, all frequency converters are all to be gone here and there by S7PLC by RS485
Row communication port, come what is controlled, is enhanced the control performance of system and reduces system wiring and debug time using USS agreements.
PC uses S7-200 programming softwares STEP7.
Figure 10 is the circuit for controlling motor schematic diagram of Soccer robot of the present invention.Specific motor control chip employs bag
51 model single-chip microcomputers of a 4K byte FLASH memory are contained, there are 32 two-way I/O mouths.Control principle drawing, wherein monolithic
The main function of machine is to receive the dial-up value obtained in dial-up dish, then again by keys interrupt, so that software program starts
Startup optimization.Wherein power-supply controller of electric U4, U5, U7 connects controlling switch Q1-Q3 respectively, and the pin 4 of three controlling transistors,
6, realize power supply；Then the time sequential pulse of stepper motor is transmitted by port P1.0, P1.1 and P1.2 again, forms pulse electricity
Source control circuit, distribution to pulse is carried out by software program by Phototube Coupling, by IGBT drive module, monolithic
The pulse signal of machine output is by power amplification so that Driving Stepping Motor, three pull-up resistors are connected to chip controls
Pin P1.0, P1.1 and P1.2 so that reach the power needed for motor operation so as to controlled motor normal operation.
Circuit may be programmed by the connection signals of PSEN (29) connection external program holders, this signal from PLC
Controller includes CPU module, and signal is that visual signal gives caused control signal after CPU.In Fig. 9, K1, K2 is coupled with
P2.7 and P2.5.R1, R2 are pull-up resistor, connect 5V power supplys.NOT gate 74LS04 is connect by NAND gate 74LS00 and is connected to INT0 interruptions
Mouthful.This annexation, form ON-OFF control circuit.Under working condition, two 30PF electric capacity (C4 and C5) parallel connections one in parallel
The external crystal oscillator of individual crystal oscillator (X1) composition, the wherein frequency of the crystal oscillator is 12Hz；Both ends are coupled with clock circuit
On pin XTAL1 and XTAL2, crystal oscillating circuit is formed.A high level signal is exported in the process of running, is then delayed necessarily
After time, then a low level signal is inputted, and can be delayed the regular hour, so circulation is gone down.As long as so as to us
Just the pulse period can be changed by changing delay time, frequency during motor normal operation determines the pulse period.P2 mouths (21-28)
Be defined two-way I/0 mouths.
It is so as to controlled motor according to the power-up sequence or step mode for changing winding in stepper motor running
The direction of rotation.For three-phase six-beat working method：Positive rotates：A→AB→B→BC→C→CA.Anti-phase rotation：CA→C→
CB→B→BA→A.This control sequential is common in motor control, and the step motor control of Soccer robot employs
Conventional control sequential.P0 mouth corresponding pins 39-32：Two-way I/O mouths；Mouthful 1-8 is defined two-way I/0 mouths；Wherein by drawing
Preceding four pins connect four inputs U9B, U9A, U2F, U2E pin composition common pin in pin P0.0-P0.7, and
The controller switches 8 of parallel connection, 4,2,1 four pins, six phase buffers of open collector High voltage output are formed, to be acted on
It is for choosing dial-up dish but also high current can be absorbed.8th, the conducting state of 4,2,1 four pins and common pin, wherein
Its four 1K resistance R17, R18, R19, R20 have been metering functions.
The circuit that XTL1 connects with XTL2 forms oscillating circuit, is made up of shunt capacitance C4, C5 and inductor X1, wherein electricity
Hold to be grounded after being connected in parallel.Above-mentioned control mode realizes stopping power down function, can be in the no motion of mistake of Soccer robot
Cheng Zhong, realization automatically power off, and can greatly reduce power supply weight, realize Soccer robot weight device, start the characteristics of fast, can
The fabulous interception for breaking away from other side and grab.
System program is as follows：
Any specific for being not limited only to technical scheme, advantage and characteristic selection or combination disclosed in patent of the present invention etc.
Deng those skilled in the art can think various groups of technical scheme, advantage and the characteristic illustrated in patent of the present invention
Close and modification, simple transformation are constituted in the technical scheme disclosed in patent of the present invention.
Claims (6)
1. a kind of intelligent soccer robot control system, including visual response system, pressure capsule system, central processing unit, OK
Walk mechanism, it is characterised in that the walking mechanism includes driving and realizes the knee of gravity motion and lower component and to realize body
Mobile foot part, the pressure sensor device of the pressure capsule system are arranged on the first impact platform and the 3rd impact platform
On, the pressure sensor device provides pressure signal, and the central processing unit preferentially drives the knee according to the pressure signal
Portion and being moved with lower component to the direction for providing the pressure signal moves；Platform is hit installed in described first to hit with the described 3rd
Camera device, the camera device of the robot head hit between platform provides the vision to the central processing unit to be believed；
The visual response system according to the distance between the football and the robot provide respectively the first signal, secondary signal and
3rd signal, the foot part control the foot according to first signal, the secondary signal and the 3rd signal
Part moves.
2. intelligent soccer robot control system as claimed in claim 1, it is characterised in that the foot moving parts uses
Multi-motor synchronous control pattern, including the main order electromotor and three slave motors of frequency converter are connected respectively, wherein the master
Making the control circuit of motor includes the pulse power source control circuit of control power supply sequential, the switch control electricity of regulation motor operation
Road, the crystal oscillating circuit for ensureing motor stabilizing driving, the motor timings control with six buffers of open collector High voltage output
Circuit；The crystal oscillating circuit connects clock circuit pin, is made up of two shunt capacitances and an inductor, and the electric capacity is in parallel
It is grounded after connection；Connection electrically connects pull-up resistor between the pulse power source control circuit and chip controls pin；The motor
Sequential control circuit connects current-limiting resistance respectively.
3. intelligent soccer robot control system as claimed in claim 2, it is characterised in that the visual response system includes
The motion control device and image collecting device of the central processing unit are connected by pci bus, the motion control device is
Motion control card and its motor message Acquisition Circuit, described image harvester be image pick-up card and peripheral images, light source and
Trigger signal forms.
4. intelligent soccer robot control system as claimed in claim 3, it is characterised in that the knee and with lower component bag
Top drive component, middle part drive component and bottom drive component are included, the pressure signal passes through the central processing unit respectively
Control the top drive component, the middle part drive component and the bottom drive component, drive the robot center of gravity to
Pressure direction moves.
5. a kind of control method of intelligent soccer robot,
Step 1, opening control system, from visual response system and pressure capsule system difference reception signal；
Step 2, it is to have pressure sensor signal to judge the signal；If the pressure sensor signal, start drive component and drive
The part above knee of Soccer robot tilts to pressure direction, realizes that robot acts blindly for the first time；If without the pressure
Transducing signal, the drive component is not started temporarily；
Meanwhile whether the visual signal for judging to receive is secondary signal, the secondary signal represents the ball robot apart from football
Distance be distances more than 2 football diameters；If the secondary signal, the drive component sends the 3rd drive signal,
According to the direction of visual signal, drive the center of gravity of robot to be tilted to football position direction, realize the robot
Act blindly for the second time；Meanwhile central processing unit sends the 3rd enabling signal to foot parts, the robot is driven to the football
Move position；
Step 3, if not the secondary signal, the first signal is determined whether immediately, and first signal represents the ball machine device
People is the distance within 1 football diameter apart from the distance of the football；It is first signal, continues to start the driving group
Part, keep center of gravity to continue to move to pressure direction, while the 1st enabling signal is sent to the foot parts, drive the machine
People is overall to move to the direction from pressure；
Step 4, it is necessarily the 3rd signal if not first signal, the 3rd signal represents the ball robot apart from institute
The distance for stating football is the distance of 1-2 football diameter, does not start the robot foot parts.
6. control method as claimed in claim 5, it is characterised in that the robot foot parts are multi-motor synchronous control
Pattern.
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| CN113171595A (en) * | 2020-09-30 | 2021-07-27 | 深圳华锐互动科技有限公司 | Control method of ball game training plate assembly and ball game training plate assembly |
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