CN112666873A - Robot competition referee system and control method thereof - Google Patents
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Abstract
The invention relates to the field of robots, in particular to a robot competition judgment system and a control method thereof. The system comprises: the system comprises a striking sensing unit, a full-field positioning unit, a data transmission unit and an upper computer; a plurality of hit to hit and to hit the induction element and install respectively on robot and fort in the place, whole location unit sets up on the robot in the place, it is a plurality of hit to hit induction element and whole location unit and pass through data transmission module with judge system host computer. The technical scheme of the invention realizes the real-time communication between the states of each robot and the game props in the game and the judgment system in a wireless mode, and the functions of score display and automatic penalty judgment are realized. The state and position information of all the robots on the field can be sensed in real time, and the scoring conditions of the robots of both sides are recorded, counted and displayed, so that the phenomena of erroneous judgment and missing judgment of manual judgment are reduced, and the fairness and the appreciation of the competition are effectively improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot competition judgment system and a control method thereof.
Background
In recent years, various types of robot competitions have come up endlessly. The competition forms of robots are roughly divided into two types: task type and competitive type. The competitive events attract more and more colleges to participate in the competition due to high comprehensive robot technology, rich robot types, fierce confrontation forms and changeable competition scenes, and competition students need to perform comprehensive competition in the aspects of technical implementation, strategy cooperation, team cooperation and the like.
In order to increase the interest of the competitive game, the scoring form of the competitive game rule mostly adopts an 'attack blood reduction' mode in an electronic competitive game, and the blood reduction function is realized by contacting and hitting the opposite robot in the game. Because the number of the match robots on the field is large and the scoring points are scattered, an automatic judging system is needed, the state and position information of all the robots on the field can be sensed in real time, and the scoring conditions of the robots of both sides can be recorded, counted and displayed simultaneously, so that the phenomena of erroneous judgment and missing judgment of manual judgment are reduced, and the fairness and the appreciation of the match are better realized.
Disclosure of Invention
The invention discloses a robot competition referee system and a control method thereof, which aim to solve any problem in the prior art such as the problem or other potential problems.
In order to solve the technical problems, the technical scheme of the invention is as follows: a robotic competition referee system, the system comprising: the system comprises a striking sensing unit, a full-field positioning unit, a data transmission unit and an upper computer;
the hitting sensing unit is used for detecting whether the robot or the fort is hit by effective physical hitting or not and recording and uploading hitting data;
the whole-field positioning unit is used for realizing robot positioning and giving corresponding instructions to the robots according to rules by detecting the relative distance between the robots or between the robots and field props;
the data transmission unit is used for sending the real-time state information of the robot and the fort on the field to the upper computer of the judging system,
and the upper computer is used for collecting the state information of each unit on the field, and displaying, automatically timing and automatically judging whether the competition is successful or not in real time.
Further, the striking sensing units are respectively arranged on the robot and the fort in the field, the whole field positioning unit is arranged on the robot in the field,
the plurality of striking sensing units and the full-field positioning unit are connected with the upper computer of the judgment system through the data transmission module.
Further, the striking sensing unit comprises a pressure sensor or an acceleration sensor, a microcontroller and an LED array display unit,
the pressure sensor or the acceleration sensor is connected with the microcontroller, and the microcontroller is in control connection with the LED array display unit.
Further, the LED array display unit comprises an LED display array, an LED driving subunit and an LED control subunit,
the LED display device comprises an LED display sub-unit, a microcontroller, an LED drive sub-unit, an LED display array and an LED display sub-unit, wherein the LED control sub-unit is connected with the microcontroller, the LED drive sub-unit is connected with the LED control sub-unit, and the LED display array is connected with the LED drive sub-unit;
the LED display array comprises 2 groups of LED display units.
Further, the full-field positioning unit comprises: the UWB positioning module, the positioning microcontroller and the communication interface;
the UWB positioning module is connected with the positioning microcontroller, and the positioning microcontroller is connected with the striking sensing unit through the communication interface.
Further, the data transmission unit is an ultra-low power consumption serial port-to-WiFi module.
Further, the striking force sensing range of the striking sensing unit is 5-16 g.
Another object of the present invention is to provide a method for controlling a referee robot competition, which specifically comprises the following steps:
s1), starting the system, setting competition rules on the upper computer,
s2) the upper computer collects the position information of all robots in the field through the whole field positioning unit, and gives corresponding function instructions to the robots in the field according to the rules by detecting the relative distance between the robots or between the robots and the field props,
s3) the robot in the field acts according to the received function instruction, the striking sensing units arranged on the robot and the prop detect whether the robot or the prop is effectively struck physically in real time,
s4) the data transmission unit sends the real-time state information of the robot and the prop on the field to the upper computer of the judgment system, and the upper computer displays, automatically times and automatically judges whether the match is successful or not in real time according to the received information.
Further, the data transmission unit transmits data by using a UDP protocol.
The technical scheme of the invention realizes the real-time communication between each robot and the game prop state in the game and the judgment system in a wireless mode, and the functions of score display and automatic penalty judgment are realized. The state and position information of all the robots on the field can be sensed in real time, and the scoring conditions of the robots of both sides are recorded, counted and displayed, so that the phenomena of erroneous judgment and missing judgment of manual judgment are reduced, and the fairness and the appreciation of the competition are effectively improved.
Drawings
FIG. 1 is a logic block diagram of a referee system for robot competition according to the present invention.
FIG. 2 is a flow chart of a control method of a robot competition referee system according to the present invention.
Fig. 3 is a schematic circuit diagram of an LED array display unit according to the present invention.
FIG. 4 is a schematic circuit diagram of a full field positioning module of the present invention.
Fig. 5 is a schematic view of a communication configuration interface of the upper computer according to the present invention.
FIG. 6 is a schematic view of a race control interface of the host computer of the present invention.
Fig. 7 is a schematic diagram of a screen display interface of the upper computer of the present invention.
In the figure:
1. the system comprises a field, 2 a robot, 3 props, 4 striking sensing units, 4-1 a microcontroller, 4-2 pressure sensors, 4-3 acceleration sensors, 4-4 LED array display units, I LED display arrays, II LED driving subunits, III LED control subunits, 5 full field positioning units, 5-1 communication interfaces, 5-2 positioning microcontrollers, 5-3 UWB positioning modules, 6 data transmission units and 7 an upper computer.
Detailed Description
The technical solution of the present invention is further explained with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the present invention is a robot competition referee system, comprising: the system comprises a striking sensing unit 4, a full-field positioning unit 5, a data transmission unit 6 and an upper computer 7;
the hitting sensing unit 4 is used for detecting whether the robot 2 or the prop 1 (fort) is hit effectively and physically, and recording and uploading hitting data;
the full-field positioning unit 5 is used for realizing the positioning of the robots 1 and giving corresponding instructions to the robots 1 according to rules by detecting the relative distance between the robots or between the robots 1 and the props 3 in the field 2;
the data transmission unit 6 is used for sending the real-time state information of the robot 1 and the props 3 (forts) on the field to the upper computer 7 of the judging system,
and the upper computer 7 is used for collecting the state information of each unit on the field, and displaying, automatically timing and automatically judging whether the competition is successful or not in real time.
The striking sensing units 4 are respectively arranged on a robot 2 and a prop 3 (fort) in the field 1, the whole field positioning unit 5 is arranged on the robot 2 in the field 1,
the striking sensing units 4 and the full-field positioning unit 5 are connected with the upper computer 7 through the data transmission module 6 (as shown in fig. 2).
The striking sensing unit 4 comprises a pressure sensor 4-2, an acceleration sensor 4-3, a microcontroller 4-1 and an LED array display unit,
the pressure sensor 4-2 and the acceleration sensor 4-3 are both connected with the microcontroller 4-1, and the microcontroller 4-1 is in control connection with the LED array display unit 4-4.
The LED array display unit 4-4 comprises an LED display array I, an LED driving subunit II and an LED control subunit III,
the LED driving subunit II is connected with the LED display array I;
the LED display array I comprises 2 groups of LED lamps.
The full field localization unit 5 includes: a UWB positioning module 5-3, a positioning microcontroller 5-2 and a communication interface 5-1;
the UWB positioning module 5-3 is connected with the positioning microcontroller 5-2, and the positioning microcontroller 5-2 is connected with the striking sensing unit 4 through the communication interface 5-1.
The data transmission unit 6 is an ultra-low power consumption serial port-to-WiFi module.
The striking force sensing range of the striking sensing unit 4 is 5-16 g.
The robot 2 is a wheeled robot.
As shown in fig. 2, a method for controlling a referee robot competition system specifically includes the following steps:
s1), setting competition rules on the upper computer 7,
s2), the upper computer 7 collects 5 position information of all robots in the field through the whole field positioning unit, and gives corresponding function instructions to the robots 2 in the field according to rules by detecting the relative distance between the robots 2 or between the robots 2 and the props 3 of the field 1,
s3) the robot 2 in the field 1 acts according to the received function instruction, the striking sensing units 4 arranged on the robot 2 and the prop 3 detect whether the robot 2 or the prop 3 is effectively and physically struck in real time, and record and upload the judgment result,
s4) the data transmission unit 6 sends the real-time state information of the robot 2 and the prop 3 on the field to the upper computer 7, and the upper computer 7 displays, automatically times and automatically judges whether the match wins or falls in real time according to the received information.
The principle of the invention is as follows: the confrontation of the robot in the ROBOTAC game is that the striking mechanism of the robot directly carries out physical attack, and the whole striking force of the robot needs to be detected, so that the scheme of an acceleration sensor is selected to detect whether the robot is physically struck.
A striking sensing unit: the device is arranged on a wheeled robot and a field plateau and is used for effectively detecting the physical striking action of the robot or fort, and the sensing range of striking force is 5-16g (g is 9.8m/s 2);
a full field positioning unit: the positioning device is arranged on a robot, can realize the positioning of the plane coordinates in a range of 150 square meters on a competition field, endows the robot with special functions according to rules by detecting the relative distance between the robots or between the robots and field props, and has the positioning precision of less than 150 mm;
a data transmission unit: transmitting the real-time state information of the on-site robot and the fortress to a judge system in a wireless mode, wherein the communication is required to be stable, the sampling period is less than 10ms, and the delay time is less than 200 ms;
an upper computer: and collecting the state information of each unit on the field, and displaying, automatically timing and automatically judging whether the match is successful or not in real time by the client.
The impact force is measured, two schemes of a pressure sensor or an acceleration sensor are generally selected, a threshold value is preset, signals generated by effective impact force are extracted, and whether the sensing module receives effective impact or not is judged. As the confrontation of the robot in the ROBOTAC game is the direct physical contact of the execution mechanism of the robot, the impact force on the whole robot needs to be detected, and therefore, the scheme of an acceleration sensor is selected to detect the impact force.
The acceleration sensor selects a 3-axis ADXL345 digital accelerometer, has the characteristics of small size (3mm multiplied by 5mm multiplied by 1mm, LGA packaging), high resolution (13 bits at the maximum), variable measuring range, high sensitivity (3.9 mg/LSB at the maximum) and various motion state detection and flexible interrupt modes in the acceleration sensor, supports standard I2C or SPI digital interfaces, and is provided with 32-level FIFO storage. An STM32F103C8T6 embedded microcontroller is selected as a main control chip to collect and process signals, and processed data is judged whether to meet the effective striking condition.
An STM32F103C8T6 embedded microcontroller is selected as a main control chip to acquire accelerometer data and extract data signal characteristics, and the extracted data signals are judged whether to meet the triggering condition that the robot is successfully hit by the machine.
When the striking sensing module confirms that the robot is attacked by one effective physical attack, the striking sensing device can display that the robot is attacked by one effective attack by changing the display state of the display unit formed by the LED array of the striking sensing device.
As shown in fig. 3, wherein i is an LED display array, which is divided into two colors of red and blue LED lamps, when the prop is used, the color of the lamp can be selected to distinguish the two robots of the array, ii is an LED driving subunit, the LED is driven by a triode, iii is a 12V voltage signal of the control subunit of the LED lamp, which realizes the control of the 3.3V voltage signal of the microcontroller to the lighting through an optical coupler, and realizes the isolation of the controller and the drive to protect the microcontroller to a certain extent.
The display unit can set the displayed striking times according to the rule requirements of the competition, and the power of the whole robot system is cut off after the designated times are reached, so that the robot loses the running capability. The control of the power supply of the robot system is realized by serially connecting high-power MOS (metal oxide semiconductor) tubes in the robot power supply circuit, and meanwhile, a current detection chip is also serially connected to monitor the current used by the robot system in order to limit the overall power of the robot, so that the overcurrent protection function of the current of the robot system is realized, and the realization mode of limiting the overall power of the robot is also provided for competition.
The UWB positioning module is developed based on a DWM1000 chip, the DW1000 chip integrates an antenna, the size is small and exquisite, the positioning precision can reach 10cm, the data transmission rate can reach 6.8Mb/s, the communication distance is 300 meters, and the density of tags can reach 11000 within a radius of 20 meters.
And the data processing and exchange are controlled by another STM32F103C8T6 microcontroller, and the distance measurement data result is communicated with the striking sensing device through a serial port. A schematic diagram of the full field positioning module circuit is shown in fig. 4.
The UWB positioning module comprises a UWB positioning module and a peripheral circuit thereof, the microcontroller chip circuit model number of the positioning tag is STM32F103c8t6, the microcontroller chip circuit model number of the positioning tag is III, the program downloading and debugging interface is III, and the positioning tag and the striking sensing unit communication interface is IV.
The UWB positioning module and the microcontroller of the positioning tag are communicated through a standard SPI interface, the positioning tag and the striking sensing module are exchanged through a TTL level serial communication mode, and the positioning tag and the striking sensing module are matched with the function definition of a prop where the positioning tag is located through data exchange, so that the prop effect in a match can be enriched, for example, attack addition is carried out, and a robot which loses the mobility can be reactivated by other robots and the like.
The WiFi star network can ensure that a plurality of data nodes form a communication network, and rapid and accurate data transmission can be achieved, so that the WiFi is selected as a communication mode of data transmission in the design.
The design adopts an ultra-small USR-C215 ultra-low power consumption serial port-to-WiFi module, and the hardware of the WiFi module is integrated with an MAC (media access control), a base frequency chip, a radio frequency transceiver unit and a power amplifier; and the network system supports a WiFi protocol and can realize the networking function of UART equipment.
The WiFi data transmission module is integrated into the striking sensing device, the WiFi module can be automatically connected to a special wireless routing network of a game prop judgment system when a game starts through a configured WiFi communication module connecting address, each prop is distinguished through a built-in data transmission format, the game prop automatically sends self state data to the network in real time after being connected to the judgment system network through WiFi, and the game prop is used for an upper computer display end computer in the network to take and is displayed on a large stage screen of a game site.
Because the data transmission amount in each match is small and low delay is required, a udp (user data program) protocol is adopted for data transmission. Connection does not need to be established before UDP sends data, best effort delivery is provided, the real-time performance is strong, and the sending rate of the host computer cannot be influenced by congestion in the network. The UDP protocol data format of the present design is shown in table 2.
TABLE 2 judge system data transmission UDP protocol data format
It can be seen that the data contains 13 bytes, such as a frame header, a frame trailer, a device number, a red and blue packet, and hit data. Wherein:
target address: distinguishing a data transmission target, namely, sending the data to an upper computer;
grouping: grouping of props, which is used for distinguishing the props on the field and the props under the field, and shielding the prop information under the field in the match to reduce interference;
batch: is used for distinguishing the version of the prop,
and (3) checking the value: the data check value calculation mode is as follows: source device number + team + function + value + target device number + group + batch)% 255.
The host computer has 3 functions: communication configuration, competition control and screen display.
(1) Communication arrangement
Wired and wireless WiFi communication modes can be configured on the communication configuration interface. As shown in fig. 5.
The communication configuration interface of the upper computer can be configured with two communication modes, the area I is the selection of wired serial data input, and the port number of a serial port, the baud rate of communication, a check bit, a data bit and a stop bit can be selected. The area II is a WiFi communication option, and can select the communication modes of UDP and TCP, the computer port number and the communication IP address. The region iii is an operation state presentation region.
(2) Race control
The tournament control interface may manually control various content not yet displayed in the tournament, as shown in FIG. 6.
The area I is the equipment selection direction and is used for selecting the group of props used by the match robots on the field and screening the data interference caused by the fact that the props carried by the match waiting robots are connected to the props system router. And the switching of the projection mode of the large screen in the area II can control the display to be full screen, non-full screen, display or hiding, switch the background camera lens and select and display the data information of the game. The area III is a manual competition control area, and can manually select two parties of a competition, add or subtract points for each party and select a quick win. And an area IV for controlling the process of the competition. And prompting the operation information of the area V.
(3) On-screen display
The large screen on the side of the venue in the game displays the game information as shown in fig. 7. The information display interface display content comprises a score I and countdown display area, a school name and school badge display area II, a robot and fortress state display area III, an energy default area 3, and a competition information display area IV.
The robot competition referee system and the control method thereof provided by the embodiment of the application are described in detail above. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
As used in the specification and claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (9)
1. A robotic competition referee system, the system comprising: the system comprises a striking sensing unit, a full-field positioning unit, a data transmission unit and an upper computer;
the hitting sensing unit is used for detecting whether the robot or the fort is hit by effective physical hitting or not and recording and uploading hitting data;
the whole-field positioning unit is used for realizing robot positioning and giving corresponding instructions to the robots according to rules by detecting the relative distance between the robots or between the robots and field props;
the data transmission unit is used for sending the real-time state information of the robot and the fort on the field to the upper computer of the judging system,
and the upper computer is used for collecting the on-site striking sensing unit, the whole-site positioning unit and the state information, and displaying, automatically timing and automatically judging whether the match is successful or not in real time.
2. The robotic race referee system of claim 1, wherein a plurality of the hit sensing units are mounted on the robot and fort, respectively, within a field, the full-field positioning unit is provided on the robot within the field,
the striking sensing units and the full-field positioning unit are connected with the upper computer of the judge system through the data transmission module.
3. The robotic competition referee system of claim 2, wherein the impact sensing unit comprises a pressure sensor or, an acceleration sensor, a microcontroller, and an LED array display unit,
the pressure sensor or the acceleration sensor is connected with the microcontroller, and the microcontroller is in control connection with the LED array display unit.
4. The robotic competition referee system of claim 3, wherein the LED array display unit comprises an LED display array, an LED drive subunit, and an LED control subunit,
the LED display device comprises an LED display sub-unit, a microcontroller, an LED drive sub-unit, an LED display array and an LED display sub-unit, wherein the LED control sub-unit is connected with the microcontroller, the LED drive sub-unit is connected with the LED control sub-unit, and the LED display array is connected with the LED drive sub-unit;
the LED display array comprises 2 groups of LED display units.
5. The robotic race referee system according to claim 2, wherein the full-field positioning unit comprises: the UWB positioning module, the positioning microcontroller and the communication interface;
the UWB positioning module is connected with the positioning microcontroller, and the positioning microcontroller is connected with the striking sensing unit through the communication interface.
6. The robotic race referee system as claimed in claim 2, wherein the data transmission unit is an ultra-low power serial to WiFi module.
7. The robotic race referee system of claim 2, wherein the striking force perception range of the striking sensing unit is 5-16 g.
8. A control method for referee robot competition is characterized by comprising the following steps:
s1), starting the system, setting competition rules on the upper computer,
s2) the upper computer collects the position information of all robots in the field through the whole field positioning unit, and gives corresponding function instructions to the robots in the field according to the rules by detecting the relative distance between the robots or between the robots and the field props,
s3) the robot in the field acts according to the received function instruction, the striking sensing units arranged on the robot and the prop detect whether the robot or the prop are effectively struck physically in real time, and record and upload the judgment result,
s4) the data transmission unit sends the real-time state information of the robot and the prop on the field to the upper computer of the judgment system, and the upper computer displays, automatically times and automatically judges whether the match is successful or not in real time according to the received information.
9. The control method according to claim 8, wherein the data transmission unit performs data transmission using UDP protocol.
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| CN113189908A (en) * | 2021-04-29 | 2021-07-30 | 深圳市工匠社科技有限公司 | Control circuit, control method and robot competition equipment |
| CN113188645A (en) * | 2021-04-29 | 2021-07-30 | 深圳市工匠社科技有限公司 | Impact recognition method, device, equipment, storage medium and competition equipment |
| CN113189908B (en) * | 2021-04-29 | 2023-12-29 | 深圳市工匠社科技有限公司 | Control circuit, control method and robot athletic equipment |
| CN113676401A (en) * | 2021-08-20 | 2021-11-19 | 深圳市创客工场科技有限公司 | Communication method and event field control device |
| CN113793492A (en) * | 2021-08-20 | 2021-12-14 | 深圳市创客工场科技有限公司 | Communication method and event field control device |
| CN113676401B (en) * | 2021-08-20 | 2024-03-01 | 深圳市创客工场科技有限公司 | Communication method and event field control device |
| CN113793492B (en) * | 2021-08-20 | 2024-05-03 | 深圳市创客工场科技有限公司 | Communication method and event field control device |
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