CN110653832A - Man-machine cooperation football robot decision-making subsystem and working method thereof - Google Patents
Man-machine cooperation football robot decision-making subsystem and working method thereof Download PDFInfo
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- CN110653832A CN110653832A CN201910930218.XA CN201910930218A CN110653832A CN 110653832 A CN110653832 A CN 110653832A CN 201910930218 A CN201910930218 A CN 201910930218A CN 110653832 A CN110653832 A CN 110653832A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000000875 corresponding effect Effects 0.000 claims description 8
- 238000007781 pre-processing Methods 0.000 claims description 5
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- 230000009471 action Effects 0.000 abstract description 17
- 238000012545 processing Methods 0.000 abstract description 2
- 230000003993 interaction Effects 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
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- 238000009826 distribution Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 101100012910 Plasmodium falciparum (isolate FC27 / Papua New Guinea) FIRA gene Proteins 0.000 description 1
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- 238000004458 analytical method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
- A63F7/06—Games simulating outdoor ball games, e.g. hockey or football
- A63F7/0604—Type of ball game
- A63F7/0616—Football or soccer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Abstract
The invention discloses a decision-making subsystem of a man-machine cooperation football robot, which comprises a manual remote control device and a computer; a remote control interface function and a decision subsystem are arranged in the computer; a decision subsystem: calling a decision function according to the current working mode, and allocating roles to the robot; remote interface function: transmitting the read instruction of the manual remote control device to a decision subsystem; manual remote control unit: and sending an instruction to control the working mode of the decision-making subsystem and control the robot distributed to the decision-making subsystem for self control. The invention also discloses a working method of the man-machine cooperation football robot decision subsystem. According to the human-computer cooperation football robot decision subsystem and the working method thereof, artificial remote control and program control are combined in the strategy processing of the decision subsystem, so that the fluency of the action execution of the robot can be ensured, and the interestingness and the entertainment of the system can be improved.
Description
Technical Field
The invention relates to a human-computer cooperation football robot decision-making subsystem and a working method thereof, belonging to the field of artificial intelligence systems.
Background
The soccer robot game enjoys the last 90 th century and is one of the most prospective researches in the fields of automation and robots. The robot football games which are most influenced internationally are mainly FIRA and RoboCup two world cup robot football games, the two games have strict game rules, and the interesting, ornamental and popular science games are integrated, so that a verification method is provided for robotics and artificial intelligence, a platform for technology development is provided, and the fusion of production, study and research in the field of information automation is promoted.
The human-robot cooperation (man-machine cooperation for short) technology refers to that cooperation and cooperation are realized between a human and a robot through a certain specific interface under the support of a certain interaction technology. Various types of application scenes exist in real life, and the application scenes are difficult to be summarized by using a unified mathematical model, for example, the traditional interaction mode using a fixed model is difficult to take certain sudden situations into consideration. By adopting the man-machine cooperation mode, the advantages of human strong random strain and accurate execution of the robot can be complemented, the performance of the robot can be exerted to the maximum extent, and the working efficiency is improved.
The centralized control type football robot system mainly comprises a vision subsystem, a decision subsystem, a communication subsystem and a robot trolley subsystem, and is shown in figure 1. The decision-making subsystem is used for controlling the robot to complete various kicking strategies, and when the decision-making subsystem operates, image information transmitted by the vision subsystem is preprocessed and converted into parameters required by the strategies. On the basis, the competition fields are divided into areas and numbered, and then the formation interpretation function determines the formation and the station position of the robot according to the area numbers. After the formation is determined, the robot is distributed into different roles by role functions at a program end, each role represents the action to be taken by the robot under each situation on the scene, the distribution result is transmitted to the robot on the scene through a robot management program, and the robot starts to execute the corresponding action. In some special situations, the role assignment is not reasonable, the robot may have a role conflict phenomenon, the action given by the role cannot be executed quickly and accurately, and further analysis of the program needs to be waited, which affects the fluency of action execution.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a man-machine cooperation football robot decision-making subsystem and a working method thereof, wherein the man-machine cooperation football robot decision-making subsystem combines artificial remote control and program control in the strategy processing of the decision-making subsystem, can ensure the smoothness of the execution of the actions of a robot and can improve the interestingness and entertainment of the system.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a man-machine cooperation football robot decision-making subsystem comprises a manual remote control device and a computer; a remote control interface function and a decision subsystem are arranged in the computer; a decision subsystem: calling a decision function according to the current working mode, and allocating roles to the robot; remote interface function: transmitting the read instruction of the manual remote control device to a decision subsystem; manual remote control unit: and sending an instruction to control the working mode of the decision-making subsystem and control the robot distributed to the decision-making subsystem for self control.
The robot is provided with a remote control indicator light which is used for indicating the mode state of the corresponding robot.
The working modes comprise an automatic controlled robot switching mode, a manual controlled robot switching mode and a fixed controlled robot mode.
The automatic switching mode of the controlled robot refers to that the decision subsystem automatically selects the robot with the optimal position on the field as a controlled object; the manual switching mode of the controlled robot is that the controlled robot is manually selected through a manual remote control device; the fixed mode of the controlled robot is that the controlled robot is a preset robot and cannot be switched.
: the manual remote control device comprises a direction key and a plurality of function keys, the direction key controls the motion state and the motion direction of the controlled robot, and the function keys control the switching of the working modes.
And the manual remote control device is connected with the USB port of the computer through a signal receiver.
A working method of a human-computer cooperation football robot decision subsystem comprises the following steps:
s01, turning on the power supply of the manual remote control device, plugging the receiver, and connecting the computer host and the receiver;
s02, connecting a manual remote control device on a main program interface of the computer, and selecting a man-machine cooperation mode and a remote control robot object;
s03, starting the game, and preprocessing information by a decision making subsystem;
s04, after the decision-making subsystem obtains the preprocessing information, dividing the area to obtain the area number of the ball;
s05, according to the area number, the decision subsystem gives out the roles needed by all the robots on the current site, and the roles are in one-to-one correspondence with the robots through a scoring function, so that each robot can be only assigned to one role at each moment;
s06, an operator evaluates the situation on the field, operates the manual remote control device to select the robot for remote control, and replaces the role of the controlled robot assigned by the decision subsystem;
s07, calculating the left and right wheel speed command value of each robot at the moment according to the robot role distributed by the decision and the remote control command of the controlled robot;
and S08, the communication subsystem sends the wheel speed command value to each robot to execute corresponding actions.
The invention has the beneficial effects that: the invention provides a decision-making subsystem of a man-machine cooperation football robot and a working method thereof, which analyze the situation on a competition field from the visual angle of a person by remotely controlling the robot by an operator, process the problem of role conflict by depending on the experience of the operator, combine the random strain which is good in the human and the accurate execution of the robot and furthest exert the performance of the robot. In addition, the method meets the reasonability of the hue distribution under the complex condition, optimizes the strategy transmission flow and improves the system response speed and flexibility.
Drawings
FIG. 1 is a prior art frame diagram of a centralized control soccer robot system;
FIG. 2 is a flow chart of the remote handle connection of the present invention;
FIG. 3 is a flow chart of a human-machine cooperation mode in the present invention;
FIG. 4 is a schematic view of a remote control handle of the present invention;
FIG. 5 is a schematic diagram of the position of the character indicating lamp according to 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.
As shown in fig. 3, the present invention provides a human-computer cooperation soccer robot decision-making subsystem, which includes a remote control device, a robot remote control indicator light, a remote control interface function, and a computer decision-making subsystem. The man-machine cooperation decision-making subsystem allows the robot to complete the match through two modes of system control and man-machine cooperation. In the system mode, each robot is assigned different roles by a program algorithm and executes actions according to role functions under the decision subsystem. Under the man-machine cooperation mode, an operator selects the robot through the remote control handle according to the situation on the field, the motion of the robot is controlled, the actions such as attacking and defending are completed, and the role is manually allocated. Through the combined use of the function keys, the remote-controlled robot can complete some complex technical actions, and other robots which are not remotely controlled cooperate with the remote-controlled robot under the control of the decision system to realize the interaction of man-machine cooperation. The selection of the man-machine cooperation mode robot has three modes, namely an automatic mode, a manual mode and a fixed mode. In the automatic mode, the decision system selects the robot with the optimal on-site state position through a program algorithm and automatically switches the current operation object according to real-time change; in the manual mode, an operator needs to manually select a corresponding robot to perform remote control operation, and the robot on the field is controlled through a remote control handle to complete various actions; in the fixed mode, the remote control handle can always control the currently operated robot, and the currently controlled object cannot be switched.
As shown in fig. 4, the present invention includes a remote control handle comprising a direction key 1 and 6 function keys 2. The direction key 1 controls the motion state and the motion direction of the robot 6, the function key 2 controls the switching of the man-machine cooperation mode and the selection of a control object, and the direction key 1 and the function key 2 are mutually combined to control the robot 6 to execute complex technical actions. The specific functions are shown in the attached table 1: the direction key control robot's removal and direction of motion, No. 1 key and A key combination control robot accomplish the vertical stroke action, No. 1 key and B key combination control robot accomplish the action of shooting, handle and No. 1 key combination control robot accomplish pocket ball-sideline and push away the ball action, No. 2 key control robot accomplishes clockwise rotation, No. 3 key control robot accomplishes anticlockwise rotation, No. 4 key control robot is static, the A key, the switching of B key control robot car number.
As shown in fig. 5, the present invention includes a remote control indicator lamp 5, where the remote control indicator lamp 5 is that when entering a human-machine cooperation mode, the indicator lamp of a selected remote-controlled robot is turned on, and when the remote-controlled robot 6 is switched, the state of the remote control indicator lamp 5 is also changed, so that an operator can better observe the current action state of the controlled robot.
Watch 1
| Push-button | Specific function |
| Direction key | Controlling robot movement |
| 1+A | Direct punching |
| 1+B | Shooting door |
| Handle +1 | Ball-holding-side |
| 2 | Rotate clockwise |
| 3 | Rotate counterclockwise |
| 4 | At rest |
| A&B | Robot switching |
As shown in fig. 2, before the competition starts, the operator needs to turn on the power supply of the handle, plug in the receiver and connect the receiver with the USB interface of the host. Before connecting the remote control handle, the number of remote control objects is selected in the main program interface. If a remote control handle is connected, a 'single person remote control' option in a main program interface is selected; if not, a plurality of remote control handles can be connected. The operator clicks the "connect handle" button on the main program interface to confirm whether the connection is successful. If the connection is successful, manual, automatic or fixed collaboration mode selection can be performed, and if the connection is unsuccessful, an error information prompt dialog box pops up. After the connection is successful, clicking the 'prepare' button and the 'start' button in sequence to carry out remote control operation on the handle. Clicking the stop button ends the remote control of the handle. Clicking the exit button, the host exits the remote control main program interface.
After the competition starts, if the operator does not send any remote control command, the decision-making subsystem assigns different roles to each robot through a program algorithm, and the robots execute actions according to role functions written in advance. If the operator operates the remote control handle to carry out man-machine cooperation, the controlled robot is manually and automatically switched or fixed according to a mode selected in the main program in advance, the motion direction and the state of the controlled robot are controlled, a series of actions such as attack, defense and the like are completed, the role setting of the robot completely depends on the judgment of the operator at the moment, and the role and direction information of the corresponding robot is displayed in the main program competition option tab page. The remote control handle supports function keys, and an operator completes some complex technical actions through the combined use of the function keys. Other robots which are not remotely controlled cooperate with the remote control robot under the control of the decision system to realize the interaction of human-computer cooperation, and the whole human-computer cooperation process is shown in the attached figure 3.
The invention also discloses a working method of the decision subsystem of the man-machine cooperation football robot, which comprises the following steps:
turning on a power supply of a remote control handle, plugging a receiver, and connecting a host computer and the receiver;
connecting a remote control handle on a main program interface of the computer, and selecting a man-machine cooperation mode and a remote control object;
step three, the information is preprocessed by the decision making subsystem when the competition starts;
after the decision-making subsystem obtains the preprocessing information, dividing the area to obtain the area number of the ball;
step five, according to the area number, the decision subsystem gives roles required by all robots on the current site, and the roles are in one-to-one correspondence with the robots through a scoring function so as to ensure that each robot can be allocated with only one role at each moment;
step six, an operator evaluates the situation on the field, operates a remote control handle to select the robot for remote control, and replaces the role allocated to the controlled robot by the decision subsystem;
and step seven, calculating the left and right wheel speed command value of each robot at the moment according to the robot role distributed by the decision and the remote control command of the controlled robot.
And step eight, the communication subsystem sends the wheel speed command value to each robot to execute corresponding actions.
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 (7)
1. A human-computer collaboration football robot decision making subsystem, characterized by: comprises a manual remote control device and a computer; a remote control interface function and a decision subsystem are arranged in the computer; a decision subsystem: calling a decision function according to the current working mode, and allocating roles to the robot; remote interface function: transmitting the read instruction of the manual remote control device to a decision subsystem; manual remote control unit: and sending an instruction to control the working mode of the decision-making subsystem and control the robot distributed to the decision-making subsystem for self control.
2. The human-computer cooperative soccer robot decision making subsystem of claim 1, wherein: the robot is provided with a remote control indicator light which is used for indicating the mode state of the corresponding robot.
3. The human-computer cooperative soccer robot decision making subsystem of claim 1, wherein: the working modes comprise an automatic controlled robot switching mode, a manual controlled robot switching mode and a fixed controlled robot mode.
4. The human-computer cooperative soccer robot decision making subsystem of claim 3, wherein: the automatic switching mode of the controlled robot refers to that the decision subsystem automatically selects the robot with the optimal position on the field as a controlled object; the manual switching mode of the controlled robot is that the controlled robot is manually selected through a manual remote control device; the fixed mode of the controlled robot is that the controlled robot is a preset robot and cannot be switched.
5. The human-computer cooperative soccer robot decision making subsystem of claim 3, wherein: the manual remote control device comprises a direction key and a plurality of function keys, the direction key controls the motion state and the motion direction of the controlled robot, and the function keys control the switching of the working modes.
6. The human-computer cooperative soccer robot decision making subsystem of claim 1, wherein: and the manual remote control device is connected with the USB port of the computer through a signal receiver.
7. A working method of a human-computer cooperation football robot decision subsystem is characterized in that: the method comprises the following steps:
s01, turning on the power supply of the manual remote control device, plugging the receiver, and connecting the computer host and the receiver;
s02, connecting a manual remote control device on a main program interface of the computer, and selecting a man-machine cooperation mode and a remote control robot object;
s03, starting the game, and preprocessing information by a decision making subsystem;
s04, after the decision-making subsystem obtains the preprocessing information, dividing the area to obtain the area number of the ball;
s05, according to the area number, the decision subsystem gives out the roles needed by all the robots on the current site, and the roles are in one-to-one correspondence with the robots through a scoring function, so that each robot can be only assigned to one role at each moment;
s06, an operator evaluates the situation on the field, operates the manual remote control device to select the robot for remote control, and replaces the role of the controlled robot assigned by the decision subsystem;
s07, calculating the left and right wheel speed command value of each robot at the moment according to the robot role distributed by the decision and the remote control command of the controlled robot;
and S08, the communication subsystem sends the wheel speed command value to each robot to execute corresponding actions.
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- 2019-09-29 CN CN201910930218.XA patent/CN110653832A/en active Pending
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|---|---|---|---|---|
| US6674259B1 (en) * | 2000-10-06 | 2004-01-06 | Innovation First, Inc. | System and method for managing and controlling a robot competition |
| CN1557676A (en) * | 2004-01-13 | 2004-12-29 | 上海大学 | Semi-independent flight control system of unmanned airship and control method thereof |
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Application publication date: 20200107 |