CN1879926A - Method for carrying out teleoperation robot football match based on internet - Google Patents
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Abstract
A method for remotely operating a robot football match based on the Internet. It is divided into a competition site and an operation site which are connected through the Internet; the robot football match information is collected by a camera on the match scene, the scene video image and match information data are transmitted to an operator end through a video computer and a control computer, and meanwhile, the command of the operator end is received to control the movement of the football robot; the video information is received by the video receiving and sending device in the operation site, the competition information of the football robot is received by the network forecasting module, the network state is detected, the forecasting result is displayed to an operator by the image reconstruction module, the operator combines the forecasting result with the operation command issued by the joystick according to the feedback information, the operation command is converted into the left and right wheel speeds of the football robot by the command conversion module, and then the speeds are transmitted to the control computer. The invention provides a new technical approach for expanding the popularity and the interest of the robot football by integrating the teleoperation technology into the robot football match.
Description
Technical field
The present invention relates to distant field operation and robot soccer technology, specifically a kind of method of carrying out the teleoperation robot football match based on the internet based on the internet.
Background technology
In the research field of internet teleoperation robot, characteristics such as the random delay of internet and delay variation have all brought a lot of problems for stability, the transparency of system.In addition, based on the internet the distant operation of multirobot and teleoperation robot also there is a lot of research work to the operation of dynamic object.In recent years, robot soccer has received increasing concern as a typical problem of robotics.Foundation is based on the teleoperation robot football match system of internet, to robot sensing's technology, the alert and resourceful exercise performance of robot, multi-robot coordination, robot action variation, the research of the aspects such as real-time of communication and motion can both be played and promote and facilitation.
In the teleoperation robot football match based on the internet, the operand football of robot is in the middle of the motion all the time, a plurality of robots need cooperate by cooperation, football kicked opponents' goal and stop the other side's attack, this has the good real time performance and the transparency with regard to requiring to the operation of robot, can effectively capture dynamic object and operate, also corresponding coordination strategy will be arranged between the multirobot simultaneously.Set up and study such system, important Research Significance and practical value are arranged.But the report that does not also have this respect at present.
Summary of the invention
For addressing the above problem, the purpose of this invention is to provide a kind of method of carrying out the teleoperation robot football match based on the internet.
The concrete technical scheme of the present invention is: system is divided into in-situ match and operation site two parts, links to each other by the internet between two parts, application network Socket carries out communication; On the one hand, place information in the in-situ match part camera acquisition robot soccer game, the Soccer robot pose, information such as the position of ball, and respectively live video image and information for the game data are sent to operator's end by video computer and control computer, wherein the video computer becomes data signal with the analog signal conversion of video image, digital video signal is delivered to the video reception transmitter through the internet, also receive the operation video of operator's end simultaneously, show output; The control computer extracts the pose of Soccer robot from video image, obtain the position signalling of ball, deliver to the network prediction module through the internet, simultaneously, receive the order and the information of operator's end, and pass through the motion of Soccer robot in the wireless serial Communication Control competition area; On the other hand, the operator of operation site receives the video feed information of in-situ match video computer by the video reception transmitter, receive the pose and the detection network state of Soccer robot by the network prediction module, the network prediction module will predict the outcome and be shown to the operator through the image reconstructed module, the operator is according to feedback information operate game bar, issue operational order, operational order is sent to the control computer then in conjunction with predicting the outcome, being converted to the left and right wheels speed of Soccer robot by command conversion module; Operator's operating process sends to the video computer of in-situ match by camera collection through the video reception transmitter;
Described command conversion module flow process is: at first read the joystick status information, with robot pose and prediction of speed increment and angular speed prediction increment, judge azimuth coverage then, as its scope greater than 1/4 π and less than 3 π/4, then speed is changed to-the adjustable constant of Y/, calculates the left and right wheels speed of angular speed predicted value and Soccer robot; Sending the left and right wheels velocity information when program does not finish returns after control computer and reads the joystick status information; Otherwise, judge that azimuth coverage whether more than or equal to 3 π/4 and smaller or equal to 5 π/4, is, then speed is put-the adjustable constant of X/, calculates the left and right wheels speed of angular speed predicted value and Soccer robot; Sending the left and right wheels velocity information when program does not finish returns after control computer and reads the joystick status information; Otherwise, whether judge the azimuth angle theta scope more than or equal to 5 π/4 and smaller or equal to 7 π/4, if then speed is put the adjustable constant of Y/, calculate the left and right wheels speed of angular speed predicted value and Soccer robot; When program does not finish, return and read the joystick status information; Otherwise, put-the adjustable constant of X/ to speed, calculate the left and right wheels speed of angular speed predicted value and Soccer robot; Sending the left and right wheels velocity information when program does not finish returns after control computer and reads the joystick status information; When EP (end of program), withdraw from;
Described network prediction module is used to predict the attained pose of robot, sets the threshold value n1 of time delay, n2, and n3, the relation of judgement network delay τ and threshold value is calculated corresponding prediction of speed increment and angular speed prediction increment; Idiographic flow is: at first real-time detection network state, read the pose of Soccer robot and speed, the angular speed of Soccer robot eve then, calculate the pose predicted value by formula, set initialization threshold value n1, n2, n3, when time delay value during, the prediction of speed increment is put Δ v more than or equal to n1, smaller or equal to n2
1, angular speed prediction increment is put π/m1; When time delay value during, the prediction of speed increment is put Δ v more than or equal to n2, smaller or equal to n3
2, angular speed prediction increment is put π/m2; When time delay value during, the prediction of speed increment is put Δ v more than or equal to n3
3, angular speed prediction increment is put π/m3, otherwise the prediction of speed increment is put 0, and angular speed prediction increment puts 0, returns the detection network state and prolongs value;
Described image reconstructed module flow process is: in the operator interface therewith pitch of drawing, carry out Coordinate Conversion then, read the pose data of the Soccer robot that network transmits in real time, utilize the graphical user interface function on the place of operator interface therewith, to reconstruct the motion state of robot;
Described control method based on incident with the operation computer as planner, the control command of output is extremely controlled to picture through the control computer, controlled movable information to picture is fed back to control computer input, after comparing with the control command of planner output, pass to control computer as controller; The signal of choosing control computer, video computer is a remote information source, transmits as non-time exercise parameter with the information of remote information source, and the information of control computer, video computer is delivered to planner, forms a complete reciprocal process.
The principle of the invention is: the structural model of setting up the real racetrack system is provided, adopt client (operation site)/server (in-situ match) pattern, offer operator's field data by the position of transmitting image scene and robot and ball, operator's operate game bar issue control command, by command conversion module with the input of joystick is converted into the left and right wheels speed of Soccer robot according to the network prediction module, transmit order and feedback data by the internet then, to finish robot soccer game.
The present invention has the following advantages:
1. the present invention can set up the teleoperation robot football match system based on the internet, set up such system, to the dynamo-electric system in research internet and robot sensing's technology, the alert and resourceful exercise performance of robot, multi-robot coordination, robot action variation, the aspects such as real-time of communication and motion can both play and promote and facilitation.
2. employing the present invention, the teleoperation robot football match system that sets up based on the internet also has important social benefit.Adopt the mode of distant operation to carry out robot soccer game, the property participated in directly is strong, simple, antagonism is fierce, have very strong interest, and with the internet as media, more people is participated in the robot soccer game, strengthen robot soccer game popularizing in ordinary populace, promote popular especially teenager the interest of robot.
Description of drawings
Fig. 1 is the block diagram of system of the present invention.
Fig. 2 is the schematic diagram of 3 pairs 3 robot soccer games of one embodiment of the invention.
Fig. 3 is the flow chart of command conversion module.
Fig. 4 is the flow chart of network prediction module.
Fig. 5 is the flow chart of image reconstructed module.
Fig. 6 is the control method block diagram based on incident.
The specific embodiment
Embodiment 1
Figure 1 shows that the block diagram of setting up teleoperation robot football match system based on the internet.System is divided into in-situ match and operation site two parts, links to each other by the internet between two parts, and application network Socket carries out communication.On the one hand, place information in the in-situ match part camera acquisition robot soccer game, the Soccer robot pose, information such as the position of ball, and respectively live video image and information for the game data are sent to operator's end by video computer and control computer, wherein the video computer adopts video card (commercial product) that the analog signal conversion of video image is become data signal, by videoconference program (commercial product) digital video signal is delivered to the video reception transmitter through the internet; Also receive the operation video of operator's end simultaneously, show output; The control computer extracts the pose of Soccer robot and the position signalling of ball by IMP (commercial product) from video image, deliver to the network prediction module through the internet; Simultaneously, receive the order and the information of operator's end, and pass through the motion of Soccer robot in the wireless serial Communication Control competition area.The operator of operation site receives the video feed information of match live video computer by the video reception transmitter, by the pose and the detection network state of network prediction module reception Soccer robot, the network prediction module will predict the outcome and be shown to the operator through the image reconstructed module; On the other hand, the operator of operation site is according to feedback information operate game bar, issue operational order, and operational order is sent to the control computer then in conjunction with predicting the outcome, being converted to the left and right wheels speed of Soccer robot by command conversion module; Operator's operating process sends to the video computer of in-situ match by the USB camera collection through the video reception transmitter.
Wherein since with the internet as transmission channel, the feedback information that the operator receives and the operational order of issue all compensate by network status module.Receive live video except using the video reception transmitter, go back the application image reconstructed module according to the Feedback for Robot pose, the position of ball and network state have been carried out image reconstruct to in-situ match, and handled easily the person play.Described network prediction module, command conversion module, video reception transmitter, image reconstructed module all are stored in the operation computer as program.
Fig. 2 is the schematic diagram of the distant operation robot soccer competition of 3 couple of setting up according to the system shown in Figure 1 block diagram 3 system.On-the-spot end is 3 pairs 3 robot soccer competition place and a corresponding match facility.Camera acquisition in-situ match video and competition data information are installed in the top, competition area, video camera (passes through image pick-up card with the control computer respectively, commercial product) and the video computer (pass through video card, commercial product) links to each other, two computers are connected respectively on the internet, carry out communication with operator's end.The control computer is equipped with wireless serial to be carried out to robot in order to send order, and the operation computer of operator's end links to each other with the internet, and the joystick that respective number is installed on the computer is used for producing control command.
Fig. 3 is the flow chart according to the command conversion module in the system that Fig. 1 set up.Idiographic flow is: at first read joystick status information X (for the value of joystick trunnion axis), Y (being the value of joystick vertical axis), R (being the value of joystick rotating shaft), and robot pose (azimuth angle theta) and prediction of speed increment Delta v and angular speed prediction increment Delta ω, then, judge the azimuth angle theta scope, as its scope greater than 1/4 π and less than 3 π/4, then v puts-Y/20, calculates the left and right wheels speed v of angular speed predicted value ω and Soccer robot
lAnd v
RrWhen not finishing, program sends left and right sides wheel speed v
lAnd v
rInformation reads the joystick status information to controlling to return behind the computer; Otherwise, judge that the azimuth angle theta scope whether more than or equal to 3 π/4 and smaller or equal to 5 π/4, is, then v puts-X/20, calculates the left and right wheels speed v of angular speed predicted value ω and Soccer robot
lAnd v
rWhen not finishing, program sends the left and right wheels speed v
lAnd v
rInformation reads the joystick status information to controlling to return behind the computer; Otherwise, whether judge the azimuth angle theta scope more than or equal to 5 π/4 and smaller or equal to 7 π/4, if then v puts Y/20, calculate the left and right wheels speed v of angular speed predicted value ω and Soccer robot
lAnd v
rWhen program does not finish, return and read the joystick status information; Otherwise, put-X/20 to v, calculate the left and right wheels speed v of angular speed predicted value ω and Soccer robot
lAnd v
rWhen not finishing, program sends the left and right wheels speed v
lAnd v
rInformation reads the joystick status information to controlling to return behind the computer; When EP (end of program), withdraw from.
Wherein: the present embodiment command conversion module reads the input X of joystick, Y, and the azimuth angle theta of R and robot calculates speed v and angular velocity omega according to formula (1), (2), then the predicted value Δ v of stacking network prediction module and Δ ω:
ω＝2πnR/1000 (2)；
Calculate the left and right wheels speed of robot and send to the control computer by formula (3) at last, carry out by network.
N in the formula (2) is that rotating speed is the adjustable control amount.D is the distance between the left and right wheels of Soccer robot.
As shown in Figure 4, the network prediction module is used to predict the attained pose of robot, sets the threshold value n1 of time delay, n2, n3, the relation of judgement network delay τ and threshold value is used different formula and is calculated corresponding prediction of speed increment Delta v and angular speed prediction increment Delta ω; Idiographic flow is: at first real-time detection network state, read the pose of Soccer robot and speed, the angular speed of Soccer robot eve then, calculate the pose predicted value by formula, set initialization threshold value n1, n2, n3, when time delay value during, the prediction of speed increment is put Δ v more than or equal to n1, smaller or equal to n2
1, angular speed prediction increment is put π/m1; When time delay value during, the prediction of speed increment is put Δ v more than or equal to n2, smaller or equal to n3
2, angular speed prediction increment is put π/m2; When time delay value during, the prediction of speed increment is put Δ v more than or equal to n3
3, angular speed prediction increment is put π/m3, otherwise the prediction of speed increment is put 0, and angular speed prediction increment puts 0, returns detection network state time delay value.
Though present embodiment initialization threshold value n1, n2, the adjustment of n3 network state, the triadic relation is n1＜n2＜n3; Prediction of speed increment Delta v
1, Δ v
2, Δ v
3Can be-5 ,-10 ,-15, the triadic relation is: Δ v
3＜Δ v
2＜Δ v
1M3, m2, m1 are 10,15,20, and the triadic relation is m1＜m2＜m3.
As shown in Figure 5, utilize image reconstructed module flow process to be: in the operator interface therewith pitch of drawing, carry out Coordinate Conversion (Soccer robot place Coordinate Conversion is operation computer screen coordinate) then, corresponding real racetrack place, read the pose data X of the Soccer robot that network transmits in real time, Y, θ, utilize Windows GUI function (graphical user interface function) on the place of operator interface therewith, to reconstruct the motion state of robot, make that the operator's is more convenient to operate.
Described image reconstruction module is a complementary functional module, adopts this module heat can be more intuitively and dedicates the operator to.
As shown in Figure 6, based on the control method of incident with the operation computer as planner, the control command of output is extremely controlled to picture through the control computer, controlled movable information to picture is fed back to control computer input, after comparing with the control command of planner output, pass to control computer as controller; The signal of choosing control computer, video computer is a remote information source, transmit as non-time exercise parameter with the information of remote information source, the information of control computer, video computer is delivered to planner, form a complete reciprocal process (that is: incident unit).Be controlled wherein, by the control computer control to picture with Soccer robot.
Application can guarantee the stability and reliability of system and the transparency of operation so that the control procedure of system reaches and the reciprocal process of environment all has the time independence based on the control method of incident.
Adopt the inventive method, set up teleoperation robot football match system based on the internet, to the dynamo-electric system in research internet and robot sensing's technology, the alert and resourceful exercise performance of robot, multi-robot coordination, robot action variation, the aspects such as real-time of communication and motion can both play and promote and facilitation.Foundation also has important social benefit based on the teleoperation robot football match system of internet, adopt the mode of distant operation to carry out robot soccer game, the property participated in directly is strong, simple, antagonism is fierce, has very strong interest, and with the internet as media, more people is participated in the robot soccer game, strengthen robot soccer game popularizing in ordinary populace, promote popular especially teenager the interest of robot.The present invention also provides new approach for Robotics universal simultaneously for the distant operation based on the internet provides good research platform.
Claims (10)
1. method of setting up teleoperation robot football match system based on the internet is characterized in that: system is divided into in-situ match and operation site two parts, links to each other by the internet between two parts, application network Socket carries out communication; On the one hand, place information in the in-situ match part camera acquisition robot soccer game, the Soccer robot pose, the positional information of ball, and respectively live video image and information for the game data are sent to operator's end by video computer and control computer, simultaneously, receive the order and the information of operator's end, and pass through the motion of Soccer robot in the wireless serial Communication Control competition area; On the other hand, the operator of operation site receives the video feed information of in-situ match video computer by the video reception transmitter, receive the pose and the detection network state of Soccer robot by the network prediction module, the network prediction module will predict the outcome and be shown to the operator through the image reconstructed module, the operator is according to feedback information operate game bar, issue operational order, operational order is sent to the control computer then in conjunction with predicting the outcome, being converted to the left and right wheels speed of Soccer robot by command conversion module.
2. according to the described method of carrying out the teleoperation robot football match based on the internet of claim 1, it is characterized in that: by the video computer with the method that the control computer is sent to live video image and information for the game data operator's end respectively be: the video computer becomes data signal with the analog signal conversion of video image, digital video signal delivered to the video reception transmitter through the internet, also receive the operation video of operator's end simultaneously, show output; The control computer extracts the pose of Soccer robot from video image, obtain the position signalling of ball, delivers to the network prediction module through the internet.
3. according to the described method of carrying out the teleoperation robot football match based on the internet of claim 1, it is characterized in that: wherein operator's operating process can send to the video computer of in-situ match by camera collection through the video reception transmitter.
4. according to the described method of carrying out the teleoperation robot football match based on the internet of claim 1, it is characterized in that: described command conversion module flow process is: at first read the joystick status information, with robot pose and prediction of speed increment and angular speed prediction increment, judge azimuth coverage then, as its scope greater than 1/4 π and less than 3 π/4, then speed is changed to-the adjustable constant of Y/, calculates the left and right wheels speed of angular speed predicted value and Soccer robot; Sending the left and right wheels velocity information when program does not finish returns after control computer and reads the joystick status information; Otherwise, judge that azimuth coverage whether more than or equal to 3 π/4 and smaller or equal to 5 π/4, is, then speed is put-the adjustable constant of X/, calculates the left and right wheels speed of angular speed predicted value and Soccer robot; Sending the left and right wheels velocity information when program does not finish returns after control computer and reads the joystick status information; Otherwise, whether judge the azimuth angle theta scope more than or equal to 5 π/4 and smaller or equal to 7 π/4, if then speed is put the adjustable constant of Y/, calculate the left and right wheels speed of angular speed predicted value and Soccer robot; When program does not finish, return and read the joystick status information; Otherwise, put-the adjustable constant of X/ to speed, calculate the left and right wheels speed of angular speed predicted value and Soccer robot; Sending the left and right wheels velocity information when program does not finish returns after control computer and reads the joystick status information; When EP (end of program), withdraw from.
5. according to the described method of carrying out the teleoperation robot football match based on the internet of claim 4, it is characterized in that: described adjustable constant is the integer between 1～1000.
6. according to the described method of carrying out the teleoperation robot football match based on the internet of claim 1, it is characterized in that: described network prediction module is used to predict the attained pose of robot, set the threshold value n1 of time delay, n2, n3, judge the relation of network delay τ and threshold value, calculate corresponding prediction of speed increment and angular speed prediction increment; Idiographic flow is: at first real-time detection network state, read the pose of Soccer robot and speed, the angular speed of Soccer robot eve then, calculate the pose predicted value by formula, set initialization threshold value n1, n2, n3, when time delay value during, the prediction of speed increment is put Δ v more than or equal to n1, smaller or equal to n2
1, angular speed prediction increment is put π/m1; When time delay value during, the prediction of speed increment is put Δ v more than or equal to n2, smaller or equal to n3
2, angular speed prediction increment is put π/m2; When time delay value during, the prediction of speed increment is put Δ v more than or equal to n3
3, angular speed prediction increment is put π/m3, otherwise the prediction of speed increment is put 0, and angular speed prediction increment puts 0, returns the detection network state and prolongs value.
7. according to the described method of carrying out the teleoperation robot football match based on the internet of claim 6, it is characterized in that: wherein initialization threshold value n1, n2, n3 are the constant greater than 0, and the triadic relation is n1＜n2＜n3; Prediction of speed increment Delta v
1, Δ v
2, Δ v
3For less than 0 constant, the triadic relation is: Δ v
3＜Δ v
2＜Δ v
1M1, m2, m3 are the adjustable constant greater than 1, and the triadic relation is m1＜m2＜m3; Calculating pose predicted value formula is: x=x+v τ cos θ, y=y+v τ sin θ, θ=θ+ω τ.
8. according to the described method of carrying out the teleoperation robot football match based on the internet of claim 1, it is characterized in that: described image reconstructed module flow process is: in the operator interface therewith pitch of drawing, carry out Coordinate Conversion then, read the pose data of the Soccer robot that network transmits in real time, utilize the graphical user interface function on the place of operator interface therewith, to reconstruct the motion state of robot.
9. according to the described method of carrying out the teleoperation robot football match based on the internet of claim 8, it is characterized in that: described Coordinate Conversion is that Soccer robot place Coordinate Conversion is operation computer screen coordinate.
10. according to the described method of carrying out the teleoperation robot football match based on the internet of claim 1, it is characterized in that: described control method based on incident with the operation computer as planner, the control command of output is extremely controlled to picture through the control computer, controlled movable information to picture is fed back to control computer input, after comparing with the control command of planner output, pass to control computer as controller; The signal of choosing control computer, video computer is a remote information source, transmits as non-time exercise parameter with the information of remote information source, and the information of control computer, video computer is delivered to planner, forms a complete reciprocal process.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102122204A (en) * | 2011-01-17 | 2011-07-13 | 北京邮电大学 | Distributed force sense synchronous sensing method and system |
| CN101692180B (en) * | 2009-10-13 | 2012-01-04 | 江苏科技大学 | Remote-control robot packet loss compensating system and implement method thereof |
| CN103092199A (en) * | 2011-11-01 | 2013-05-08 | 镇江华扬信息科技有限公司 | Intelligent decision-making system of soccer robot |
| CN105068679A (en) * | 2015-07-22 | 2015-11-18 | 深圳多新哆技术有限责任公司 | Method and device for regulating position of virtual object in virtual space |
| CN109828568A (en) * | 2019-02-15 | 2019-05-31 | 武汉理工大学 | Ball gait optimization method is sought to the NAO robot of RoboCup match |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102085663B (en) * | 2010-12-22 | 2012-11-14 | 中国科学院深圳先进技术研究院 | Remote operating system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100338493B1 (en) * | 1999-10-30 | 2002-05-30 | 윤덕용 | Football robot communication system using IR module |
| CN2428191Y (en) * | 2000-06-16 | 2001-05-02 | 高大志 | Robot football-match amusement device |
| US20110039021A1 (en) * | 2003-05-07 | 2011-02-17 | Thord Persson | Marking of large surface with visual presentations |
| CN1539602A (en) * | 2003-10-30 | 2004-10-27 | 上海交通大学 | Remote controlled tri-wheel type robot for fight face to face |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101692180B (en) * | 2009-10-13 | 2012-01-04 | 江苏科技大学 | Remote-control robot packet loss compensating system and implement method thereof |
| CN102122204A (en) * | 2011-01-17 | 2011-07-13 | 北京邮电大学 | Distributed force sense synchronous sensing method and system |
| CN102122204B (en) * | 2011-01-17 | 2012-07-18 | 北京邮电大学 | Distributed force sense synchronous sensing method and system |
| CN103092199A (en) * | 2011-11-01 | 2013-05-08 | 镇江华扬信息科技有限公司 | Intelligent decision-making system of soccer robot |
| CN105068679A (en) * | 2015-07-22 | 2015-11-18 | 深圳多新哆技术有限责任公司 | Method and device for regulating position of virtual object in virtual space |
| CN109828568A (en) * | 2019-02-15 | 2019-05-31 | 武汉理工大学 | Ball gait optimization method is sought to the NAO robot of RoboCup match |
| CN109828568B (en) * | 2019-02-15 | 2022-04-15 | 武汉理工大学 | NAO robot ball-searching gait optimization method for RoboCup game |
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