CN110618682B - Centralized control type football robot color code structure and identification method thereof - Google Patents
Centralized control type football robot color code structure and identification method thereof Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
Abstract
The invention discloses a centralized control type football robot color code structural design which comprises a color code main body, wherein the color code main body is divided into a rectangular area A, a right-angled triangle area B, a right-angled triangle area C, a right-angled triangle area D and the rest of remaining areas, the rectangular area A is a team mark of a robot trolley and is positioned in the center of the color code main body, the long axis direction is the direction pointed by clockwise rotation of 45 degrees in the positive direction of the robot, the right-angled triangle area B and the right-angled triangle area C are respectively positioned at the lower left side and the upper left side of the rectangular area A, and the right-angled triangle area D is positioned at the right side of the rectangular area A. The invention also discloses an identification algorithm thereof. The color code structural design and the recognition algorithm of the centralized control type football robot provided by the invention can solve the problems of adhesion of color blocks at the boundary when a robot trolley collides, color mixing caused by color block diffusion in different illumination environments, interference among color areas in the color code and the like, and improve the real-time performance and the accuracy of the recognition of a vision system.
Description
Technical Field
The invention relates to a color code structure of a centralized control type football robot and an identification method thereof, belonging to the technical field of machine vision.
Background
In recent years, with the rapid development of the field of artificial intelligence, various studies have been conducted by many international well-known research institutions and organizations. As early as 1992, the teaching of the university of british columbia, canada, an Mackworth, first proposed the concept of a robot football at the international artificial intelligence conference, aiming to provide a challenging topic for the development of the artificial intelligence discipline through the robot football match. At present, two series of FIRA and Robocup football robot competitions mainly have the most influence internationally, and the interesting, ornamental and intelligent football robot competitions are integrated, so that the information and the automatic research level of the competition countries are reflected.
The FIRA Mirosot football robot system takes centralized control as a main form, mainly comprises a control subsystem, a vision subsystem, a communication subsystem and a strategy subsystem, and relates to a plurality of technical fields of mechanical structure, automatic control, image processing, wireless communication, multi-target path planning and the like. The centralized control type football robot system obtains the position and the queue number of the field robot through the vision subsystem, transmits information to the decision subsystem to judge the situation on the field, then makes strategic planning on the field robot, distributes tasks to each robot, transmits action instructions to the lower computer through the communication subsystem, and the robot corresponds the action instructions and drives the body to execute specific movement, thereby completing a cycle.
The vision subsystem is used as the premise of the decision subsystem, and the real-time performance, the accuracy and the anti-interference performance of the vision subsystem must be ensured. The color scale is used as an object identified and processed by the vision subsystem and comprises the position, the angle and the number information of the robot trolley, and the design of the color scale is important for image identification. In the prior art, the problems of adhesion of boundary color blocks during trolley collision, color mixing caused by color block diffusion in different illumination environments, interference among color areas in color codes and the like cannot be effectively solved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a color code structure of a centralized control type football robot and an identification method thereof, which can solve the problems of adhesion of color blocks at the boundary when a robot trolley collides, color mixing caused by color block diffusion in different illumination environments, interference among color areas in a color code and the like and improve the real-time performance and accuracy of visual system identification.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a centralized control formula football robot color code structure, includes the color code main part, the color code main part divide into regional A of rectangle, regional B of right angled triangle, regional C of right angled triangle, regional D of right angled triangle and remaining all the other regions, regional A of rectangle is the formation mark of robot dolly, is located the color code main part is positive, and the major axis direction is the clockwise direction that 45 points of rotation of robot positive direction, regional B of right angled triangle and right angled triangle C are located respectively the left side below and the upper left side of the regional A of rectangle, regional D of right angled triangle is located regional A's right-hand, regional B's of right angled triangle hypotenuse with the left side of color code main part is parallel, regional C's of right angled triangle hypotenuse with the front side of color code main part is parallel, regional D's of right angled triangle both sides respectively with the right side and the back side of color code main part are parallel.
The total filling colors of the right-angle triangular area B, the right-angle triangular area C and the right-angle triangular area D are not more than two and are different from the filling color of the rectangular area A.
The boundary interval between two adjacent rectangular areas A, right-angled triangle areas B, right-angled triangle areas C and right-angled triangle areas D is 2mm.
The filling color of the rectangular area A comprises yellow or blue.
The size of the color patch main body is 7.5cm multiplied by 7.5cm.
A color code structure identification method for a centralized control type soccer robot comprises the following steps:
s01, coding the robot trolley according to different filling colors of the right-angle triangle area B, the right-angle triangle area C and the right-angle triangle area D;
s02, determining the position of the robot, dividing the image collected by the visual sensor, scanning at intervals according to a specified step length, searching the queue mark seed points, dividing the queue mark area by adopting a region growing method, and counting the number N and the coordinates (x) of pixel blocks in the areai,yi) And the central coordinate of the formation mark is obtained according to a gravity center method:
center of formation mark (x)p,yp) Namely a robot trolleyThe center, thus determining the position of the robot trolley;
s03, determining the positive direction of the robot, obtaining the slope k of the long axis of the formation mark through fitting according to the obtained pixel point coordinates of the formation mark, and obtaining the slope angle theta of the formation mark, wherein theta is more than or equal to 0 and less than 180 degrees, and the slope k of the long axis is calculated in the following mode:
k＝b/(a-c) (3)
wherein the content of the first and second substances,
the slant angle θ of the formation is calculated as follows:
determining the sign of the formula (7) according to the inclination direction of the formation mark in the field and the positive and negative of the k value, and transforming an image coordinate system by taking the center of the formation mark as an origin and the inclination angle theta as a y-axis inclination angle;
the method comprises the steps that the positive direction of a robot trolley is further determined according to the condition that the color on the right side of the forward direction of a queue mark is unique, the scanning pixel range of a triangular window is determined by the vertexes of a left lower part, a left upper part, a right lower part, a right upper part and 1-4 of a rectangular area A, the color of each pixel in the scanning range is judged according to a color threshold, the color of the area is judged to be the currently identified pixel color when the number of pixels with the same color exceeds 50% of the total number of the scanned pixels, when the colors of two triangles 1 and 2 or 3 and 4 on one side of the rectangle are the same, the side with the same color is the forward right side of the queue mark, and whether the same color is a background color or not is preferentially judged, and if not, whether the color is other color or not is judged;
and S04, determining the number of the robot trolley, obtaining position information, determining the area on the right side of the forward direction of the queue mark as a triangular area D, determining the color of the area D in S03, determining the position of the triangular area B, C according to the method in S03, judging the color of the area, correspondingly converting the colors of the triangular areas 1-4 into triangular areas B-D, and judging the number of the robot trolley according to the coding condition of S01.
The invention has the beneficial effects that: the invention provides a color code structure of a centralized control type football robot and an identification method thereof, wherein the adopted oblique 45-degree rectangular team mark design can effectively avoid the adhesion condition of color blocks at the joint of the color codes when a trolley collides, a triangular team member mark formed by combining two colors can distinguish 11 robots, the colors needing to be distinguished are few, and the identification threshold value can be improved. Meanwhile, 2mm intervals are reserved among different color areas, and the occurrence of color mixing is reduced. The identification method provided by the invention is designed based on the new color code, simplifies the processing of the problems of adhesion and color mixing and the identification of the vehicle number, and improves the accuracy and the real-time performance of the identification process.
Drawings
FIG. 1 is a schematic representation of the color patch design of the present invention;
FIG. 2 is a schematic representation of several adhesion conditions of color patches during a game collision;
FIG. 3 is a schematic diagram of the color code design scheme of the robot trolley of the invention 1-11;
FIG. 4 is a schematic representation of the transformed image coordinate system of the present invention.
Detailed Description
The present invention is further described with reference to the accompanying drawings, and the following examples are only for clearly illustrating the technical solutions of the present invention, and should not be taken as limiting the scope of the present invention.
The invention provides a color code structure of a centralized control type football robot and an identification method thereof, wherein the color code is designed according to the requirements of the FIRA small group competition rules on the color code: the top of the robot must not be orange-colored and the yellow or blue color scale assigned by the event organizer is used to identify the robot team. The size of each robot is limited to 7.5cm by 7.5cm, all robots must have at least one solid area of 3.5cm by 3.5cm for applying the yellow or blue logo, and the robots must not use any patches of the same color as the color used by the opposing team. To identify each robot of the team, the teams may prepare a variety of different colored tiles in addition to blue and yellow.
As shown in FIG. 1, the color patch structure of the centralized control type soccer robot comprises a color patch main body, wherein the color patch main body of 7.5cm × 7.5cm is divided into a rectangular area A of 2cm × 8.6cm, a right-angled triangular area B, C of 4cm × 4cm, a right-angled triangular area D of 5.8cm × 5.8cm and the rest areas. The rectangular area A is a formation mark of the robot trolley and is positioned in the center of the color mark main body, and the long axis direction is the direction pointed by clockwise rotation of 45 degrees in the positive direction of the robot. The fill color of the rectangular area a includes yellow or blue. The robot trolley is adhered at the boundary in the collision process of the match, so that the identification of the team logo is influenced, and the relative position of the team member mark and the team logo is determined and is not influenced. As shown in figure 2, the formation mark (c) of the invention and other classical formation marks (a) and (b) are easy to be adhered in the collision condition as shown in figure 2, and the inclined 45-degree rectangular design effectively avoids the adhesion condition.
The hypotenuse of the right-angled triangle area B is parallel to the left side of the color code main body, the hypotenuse of the right-angled triangle area C is parallel to the front side of the color code main body, and the two right-angled sides of the right-angled triangle area D are respectively parallel to the right side and the rear side of the color code main body. Right-angled triangle areas B to D represent player marks, the right-angled triangle area B and the right-angled triangle area C are located at the lower left and upper left of the rectangular area a, respectively, and the right-angled triangle area D is located at the right of the rectangular area a. The boundary interval between two adjacent rectangular areas A, right-angled triangle areas B, right-angled triangle areas C and right-angled triangle areas D is 2mm, and the interval areas belong to background areas, so that the color mixing condition caused by color block diffusion in different illumination environments is effectively reduced.
As shown in fig. 3, the right triangle areas B to D have not more than two filling colors, and the filling colors are different from the colors of the team logos of both parties and the colors of the balls, and as the team member marks of the robot dollies, 11 robot dollies are coded according to the filling color 1, the filling color 2 and the areas where the robot dollies are located. The area B, C, D is the color code of the team member for identifying the car number, and the boundary is used for preventing the color mixing phenomenon of different colors, so when the colors of the two areas are the same, the color mixing phenomenon does not exist, and the boundary in the 3 rd and 6 th small figures can be removed.
The invention discloses a method for identifying a color code structure of a centralized control type soccer robot, which comprises the following steps:
and step one, coding the robot trolley according to different filling colors of the right-angle triangle area B, the right-angle triangle area C and the right-angle triangle area D. And (3) coding the 11 robot dollies according to the filling color 1, the filling color 2 and the areas, wherein the coding conditions are shown in the table 1:
TABLE 1
| Vehicle number | Region B | C region | D region |
| 1 | Filling color 1 | Background color | Background color |
| 2 | Background color | Filling color 1 | |
| 3 | Filling color 1 | Filling color 1 | Background color |
| 4 | Filling color 2 | Background color | Background color |
| 5 | Background color | Filling color 2 | Background color |
| 6 | Filling color 2 | Filling color 2 | Background color |
| 7 | Filling color 1 | Fill color 2 | Background color |
| 8 | Filling color 2 | Filling color 1 | Background color |
| 9 | Filling color 2 | Background color | Filling color 1 |
| 10 | Background color | Filling color 2 | Filling color 1 |
| 11 | Filling color 1 | Background color | Filling color 1 |
According to the coding conditions of table 1, the color scale design of the robot dollies No. 1 to No. 11 is shown in fig. 3.
Determining the position of the robot, dividing the image collected by the vision sensor, scanning at intervals according to a specified step length, searching the team mark seed points, dividing the team mark area by adopting an area growing method, and counting the number N and the coordinates (x) of pixel blocks in the areai,yi) And the central coordinate of the formation mark is obtained according to a gravity center method:
center of formation (x)p,yp) I.e. the robot car centre, and thus the position of the robot car.
Determining the positive direction of the robot, obtaining the slope k of the long axis of the formation mark through fitting according to the obtained pixel point coordinates of the formation mark, and obtaining the slope angle theta of the formation mark, wherein the theta is more than or equal to 0 and less than 180 degrees, and the slope k of the long axis is calculated in the following mode:
k = b/(a-c) (3) wherein,
the slant angle θ of the formation is calculated as follows:
the inclination direction and the positive and negative of the k value of the formation mark in the field determine the positive and negative signs in the formula (7), the center of the formation mark is taken as an original point, the inclination angle theta is an inclination angle of a y axis, and a transformation image coordinate system is shown in figure 4;
the method comprises the steps of further determining the positive direction of the robot trolley according to the condition that the color on the right side of the forward direction of a team logo is unique, determining the scanning pixel range of a triangular window by the vertexes of a left lower rectangular area A, a left upper triangular area, a right lower right upper triangular area 1-4, judging the color of each pixel in the scanning range according to a color threshold, judging the color of the area to be the currently identified pixel color if the number of pixels with the same color exceeds 50% of the total number of the scanned pixels, and when the colors of two triangles 1 and 2 or 3 and 4 on one side of the rectangle are the same, judging the side with the same color to be the right side of the forward direction of the team logo, wherein the color is judged preferentially whether the same color is a background color or not, and if not, judging the color is other colors.
And step four, determining the number of the robot trolley, wherein after the position information is obtained, the area on the right side of the forward direction of the queue mark is a triangular area D, the color of the area D is determined in S03, then the position of the triangular area B, C is determined according to the method in S03, the color of the area is judged, the colors of the triangular areas 1-4 are correspondingly converted into triangular areas B-D, and the number of the robot trolley is judged according to the coding condition in the table 1.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (5)
1. The utility model provides a centralized control formula football robot color code structure which characterized in that: including the color code main part, the color code main part divide into rectangle area A, the regional B of right-angled triangle, the regional C of right-angled triangle, the regional D of right-angled triangle and remaining region, rectangle area A is the formation mark of robot dolly, is located color code main part centre, and the major axis direction is the direction that 45 degrees points of robot positive direction clockwise rotation, the regional B of right-angled triangle and the regional C of right-angled triangle are located respectively the left side below and the upper left side of rectangle area A, the regional D of right-angled triangle is located the regional A of rectangle right-hand, the regional B of right-angled triangle's hypotenuse with the left side of color code main part is parallel, the regional C of right-angled triangle's hypotenuse with the preceding side of color code main part is parallel, the regional D of right-angled triangle's two right-angle sides respectively with the right side and the back of color code main part are parallel, adjacent 2mm of border interval between the regional A of rectangle area A, the regional B of right-angled triangle, the regional C of right-angled triangle and the regional D of right-angled triangle.
2. The color scale structure of a centralized control type soccer robot of claim 1, wherein: the total filling colors of the right-angle triangular area B, the right-angle triangular area C and the right-angle triangular area D are not more than two and are different from the filling color of the rectangular area A.
3. The color scale structure of a centralized control type soccer robot of claim 1, wherein: the filling color of the rectangular area A comprises yellow or blue.
4. The color scale structure of a centralized control type soccer robot of claim 1, wherein: the size of the color patch main body is 7.5cm multiplied by 7.5cm.
5. A method for identifying the color code structure of a centralized-control football robot as claimed in any one of claims 1 to 4, characterized in that: the method comprises the following steps:
s01, coding the robot trolley according to different filling colors of the right-angle triangle area B, the right-angle triangle area C and the right-angle triangle area D;
s02, determining the position of the robot, dividing the image collected by the visual sensor, scanning at intervals according to a specified step length, searching the queue mark seed points, dividing the queue mark area by adopting a region growing method, and counting the number N and the coordinates (x) of pixel blocks in the areai,yi) And the central coordinate of the formation mark is obtained according to a gravity center method:
center of formation mark (x)p,yp) Namely the center of the robot trolley, thereby determining the position of the robot trolley;
s03, determining the positive direction of the robot, obtaining the slope k of the long axis of the formation mark through fitting according to the obtained pixel point coordinates of the formation mark, obtaining the inclination angle theta of the formation mark, wherein theta is more than or equal to 0 and less than 180 degrees,
the slope k of the major axis is calculated as follows:
k＝b/(a-c) (3)
wherein the content of the first and second substances,
the slant angle θ of the formation is calculated as follows:
determining the sign of the formula (7) according to the inclination direction of the formation mark in the field and the positive and negative of the k value, and transforming an image coordinate system by taking the center of the formation mark as an origin and the inclination angle theta as a y-axis inclination angle;
the method comprises the steps of further determining the positive direction of a robot trolley according to the condition that the color on the right side of the positive direction of a team logo is unique, determining the scanning pixel range of a triangular window by the vertexes of a left lower rectangular area A, a left upper triangular area, a right lower right upper triangular area 1-4, judging the color of each pixel in the scanning range according to a color threshold, judging the color of the area to be the currently identified pixel color if the number of pixels with the same color exceeds 50% of the total number of the scanned pixels, and when the colors of two triangles 1 and 2 or 3 and 4 on one side of the rectangle are the same, judging the side with the same color to be the right side of the square of the team logo, wherein the color is preferentially judged to be the background color, and if not, judging to be the other colors; and S04, determining the number of the robot trolley, obtaining position information, determining the area on the right side of the forward direction of the formation mark as a triangular area D, determining the color of the area D in S03, determining the position of the triangular area B, C according to the method in S03, judging the color of the area, correspondingly converting the colors of the triangular areas 1-4 into the triangular areas B-D, and judging the number of the robot trolley according to the coding condition of S01.
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