KR20010039349A - A robot control method for robot football program - Google Patents

Abstract

PURPOSE: A robot control method lets a user work out strategy and select appropriate mode needed to set up action of a robot. CONSTITUTION: A robot control method comprises a robot control function execution process, a mode selection process, a mode switching process and a robot role assignment function execution process. The robot control function execution process is to execute robot control functions in order when a vision information of a vision program is periodically renewed. The mode selection process is to select a mode among a Kick_OFF mode, a Penalty_Kick mode, a Free_Kick mode, a Free_Ball mode, a Goalie_Kick mode and a Defence mode when the robot control function is called out. The mode switching process is to judge whether to execute appropriate mode or go on to Defence mode when a mode is selected. The robot role assignment function execution process is to execute robot role assignment function(InitRole()) if the Defence mode is selected in the mode switch process.

Description

A robot control method for robot football program

The present invention relates to a robot control method for a robot soccer game and a storage medium in which the program is stored, and in particular, various modes such as Kick_OFF mode, Penalty_Kick mode, Free_Kick mode, Free_Ball mode, Goalie_Kick mode, Defense mode, etc. in the robot control program. When the robot soccer game is prepared, the user predicts the situation in advance and prepares a strategy, and then selects the required mode and sets the motion of the robot so that the motion of the robots can be controlled by the user's strategy. will be.

In general, micro-robot football uses three robots per team, a stadium measuring about 170m × 130m (including a goal), and a CCD camera and a PC installed about two meters high in the stadium for receiving image information in the stadium.

The game is played in 5 minutes of the first and second half, and a 10 minute rest period is provided between the first and second half, whereby the robot can be replaced or tactics changed.

The robot has a power supply, a driving device, a microcontroller, a communication module, and the like, and communication with the outside is possible only wirelessly. Each team's computer can wirelessly give its own robot all information about the ball's position, robot's position, speed and direction, operations and tactical commands, but remote control by humans is not permitted. A human can only send commands to the robot at the start, stop and restart of a race.

The robot soccer system basically consists of three robots, a vision system, communication equipment and a host computer. The host computer obtains image information about the robots and the ball position from the vision system and calculates the appropriate tactics according to the situation. Deliver to the robot. The vision system used to locate objects in the stadium consists of a color CCD and a vision mode for processing image signals. It is simply regarded as the robot's external visual sensor.

However, in the related art, various robot control programs are not developed when playing a soccer game using a robot, and thus, it is difficult for a user to control the robot by a strategy he devised and enjoy the game.

In order to solve the above problems, the robot control program provides various modes such as Kick_OFF mode, Penalty_Kick mode, Free_Kick mode, Free_Ball mode, Goalie_Kick mode, Defense mode, and the like, and the user predicts the situation in advance during the robot soccer game. The purpose of the present invention is to provide a robot control method that enables the soccer game by controlling the operation of the robots by the strategy woven by the user by selecting the appropriate mode and then directly selecting the required mode.

As a technical idea for achieving the object of the present invention, in the robot control method for controlling the operation of the robot using a robot control program mounted in the vision program of the host computer,

A robot control function executing step of executing the robot control function sequentially when the vision information of the vision program is periodically improved; A mode selection process of selecting a predetermined mode from among a plurality of modes including a kick_off mode, a penalty_kick mode, a free_kick mode, a free_ball mode, a goalie_kick mode, and a defense mode when the robot control function is called; A mode switching process of determining whether to execute a corresponding mode or to switch to a defense mode when a predetermined mode is selected; When the Defense mode is selected in the mode switching process, an invention including a robot role designation function execution process for executing the robot role designation function (InitRole ()) is presented.

1 is a block diagram illustrating a robot soccer system.

2 is a flowchart showing the position of the robot control program.

3 is a flowchart showing the inside of a game function.

4 is a flowchart illustrating a robot control method according to the present invention.

Hereinafter, with reference to the accompanying drawings for the configuration and operation of the embodiment of the present invention will be described in detail.

The present invention provides a robot control method for controlling the operation of a robot using a robot control program mounted in a vision program of a host computer.

A robot control function executing step of executing the robot control function sequentially when the vision information of the vision program is periodically improved;

A mode selection process of selecting a predetermined mode from among a plurality of modes including a kick_off mode, a penalty_kick mode, a free_kick mode, a free_ball mode, a goalie_kick mode, and a defense mode when the robot control function is called;

A mode switching process of determining whether to execute a corresponding mode or to switch to a defense mode when a predetermined mode is selected;

When the defense mode is selected in the mode switching process, the robot role specifying function (InitRole ()) is executed.

In addition, the present invention is a process of determining whether to execute the speed control function (Velocity ()) and position control function (Position ()) or to go back to the defense mode when the Kick_OFF mode of the plurality of modes is selected after determining the current situation It will include.

In addition, the speed control function Velocity () is a function for transmitting a PWM value, and the position control function Position () is defined as a function for moving the robot to a specified position.

In addition, the position control function Position () also includes a process of finally executing the speed control function Velocity ().

In addition, the present invention, if one of the Penalty_Kick mode, Free_Kick mode, Free_Ball mode or Goalie_Kick mode is selected, after determining the current situation to execute the shoot function (Shoot ()) and goalkeeper function (Goalie ()) or again defense mode This will include determining whether to proceed.

In this case, the shooting function (Shoot ()) is a function that the robot kicks the ball in the forward direction, and the goalkeeper function (Goalie ()) is defined as a function of controlling the movement of the goalkeeper.

In addition, the robot role designation function InitRole () includes an attack function Attack (), a defense function Defend (), and a goalkeeper function Goalie ().

At this time, the attack function (Attack ()) is a function that has a strategy of attacking two robots, the defense function (Defend ()) is defined as a function that determines the movement of the two defenders robots.

In addition, the attack function Attack () is composed of a kick function Kick () and a position shift function (Position ()), and the kick function Kick () is again a shot function (Shoot ()) and a position. It is composed of a movement function (Position ()).

Referring to the operation of the present invention having the configuration as described above are as follows.

The present invention relates to a method for controlling a robot in a robot soccer system. Before describing the process of the robot control method, the schematic concept of the robot soccer system will be described with reference to FIG. 1.

First, image information of robots and balls on the stadium is transmitted to the host computer through the camera. Using this information, the host computer knows the robot's position, angle, and ball position. The host computer uses the newly found information to calculate the position and speed at which each robot moves.

After calculating these things, the robot is ordered. In FIG. 1, the repeater may be omitted. Commands from the host computer are sent to the infrared module (or repeater) via wired communication.

Data delivered to the infrared module (information from the host computer) is wirelessly transmitted to the robot. Data delivered to the infrared module (commands from the host computer) is transmitted wirelessly to the robot.

Data delivered to the infrared module (commands from the host computer) is transmitted wirelessly to the robot. Robots receive this data and move on it. The robot's location, angle, and ball's location information is transmitted back to the host computer through the camera.

The host computer again sets up the command data to move the robots according to the strategy with the information of the newly changed objects and sends these commands back to the infrared module. The robot soccer system repeats this process.

The soccer robot system as described above can know the position and angle of the robot required for the soccer game using vision information mounted in the memory of the host computer.

That is, the host computer calculates data to be transmitted to the robot control program using vision information, and the calculated data is transmitted to the robot through wireless communication. Therefore, the robot receives the data sent from the host computer to control the motor.

Since the vision information is improved every 33ms, the robot can be controlled 30 times per second and this can be enough to play soccer.

Now, let's take a closer look at the process of robot control program.

First, the robot control program exists inside the vision program, which updates the coordinate values of the robot every 33ms as shown in FIG.

That is, if the vision information is newly improved every 33ms, the robot control function is executed sequentially.

At this time, when the user presses the Start button, the communication flag is turned on and the Grame () function in the robot control function is called. The robot control function is My_Strategy (), and there is a Game () function inside this function.

When the Game () function is called, the user

According to a given situation, the program is divided into various states as shown in FIG. 3.

The user can select one of Kick_OFF Mode, Penalty_Kick Mode, Free_Kick Mode, Free-Ball Mode, Goalie_Kick Mode, and Defense Mode.

In this case, the Kick_OFF mode is a mode that is performed when the game starts and a goal is scored, and the Penalty_Kick mode is a mode that is used when a penalty kick to the opponent.

In addition, the Free_Kick mode is a mode used when a free kick in the opponent's goal post, the Goalie_Kick mode is a mode used when kicking the ball toward the opponent in the goal area of his side.

In addition, the Free-Ball mode is a mode applied when the free ball state. All other uses Defense mode, including when a opponent penalizes a penalty or a free kick.

The processing performed when each of the above modes is selected by the user is as follows.

First, when the Kick_OFF mode is selected, once the conditions of the robot and the ball are determined, the first robot kicks the ball with the velocity control function (Velocity ()) and the second robot is designated with the position control function (Position ()). To be in position.

In this case, the speed control function is a function for transmitting a PWM value, the position control function is a function for moving the robot to a specified position.

When the ball starts to move, the user decides the condition again and then selects Defense mode.

In addition, once the Free_Kick mode is selected by the user, the robot may kick the ball using the position control function when the first robot kicks the ball after determining the condition of the robot and the ball. Use the function (Goalie ()) to move to the goalkeeper.

After the user judges the situation again and selects Defense mode, the mode changes to Defense mode.

In addition, when the Penalty_Kick mode, the Free-Ball mode or the Goalie_Kick mode is selected, the user may determine the situation again and decide whether to execute the shooting function (Shoot ()) and the goalkeeper function (Goalie ()) or move to the defense mode.

In this case, the shooting function is a function for the robot to kick the ball forward, and the goalkeeper function is a function for the goalkeeper's movement.

On the other hand, if the defense mode is selected by the user again, the robot role designation function (InitRole ()) is executed. Inside this function, the attack function (Attack ()), the defense function (Defend ()) and the goalkeeper function (Goalie ()) are executed. ) Exists.

At this time, the attack function (Attack ()) is a function that has a strategy of attacking two robots, the defense function (Defend ()) is a function that determines the movement of the two defenders robots.

If the attack function (Attack ()) or the defense function (Defend ()) is executed by the user's selection and the attack or defense action is performed by the robot, the user again judges the current situation and if it is advantageous to attack the attack function (Attack ()) and goalkeeper function (Goalie ()) are executed, otherwise the defensive function (Defend ()) and goalkeeper function (Goalie ()) are executed.

At this time, the attack function Attack () consists of a kick function Kick () and a position shift function (Position ()), and the kick function Kick () is again a shoot function (Shoot ()) and a position. It consists of a position function (Position ()), and the function most appropriate to the current situation is selected by the user's situation judgment and selection.

Finally, the speed control function is finally called.

The game proceeds as the above process is repeated. If the user presses the Stop button to end the game, the communication flag is turned off and the game ends.

As can be seen from the above description, the present invention provides a robot control method for controlling the operation of a robot using a robot control program mounted in a vision program of a host computer.

A robot control function executing step of executing the robot control function sequentially when the vision information of the vision program is periodically improved;

A mode selection process of selecting a predetermined mode from among a plurality of modes including a kick_off mode, a penalty_kick mode, a free_kick mode, a free_ball mode, a goalie_kick mode, and a defense mode when the robot control function is called;

A mode switching process of determining whether to execute a corresponding mode or to switch to a defense mode when a predetermined mode is selected;

When the Defense mode is selected in the mode switching process, the robot role designation function executing the robot role designation function (InitRole ()) is performed.

In the game of robot soccer, the user predicts the situation and prepares a strategy, and then selects the required mode and sets the motion of the robot to control the motion of the robot by the strategy created by the user. Can be.

Claims (10)

In the robot control method for controlling the operation of the robot using a robot control program mounted in the vision program of the host computer, A robot control function executing step of executing the robot control function sequentially when the vision information of the vision program is periodically improved; A mode selection process of selecting a predetermined mode from among a plurality of modes including a kick_off mode, a penalty_kick mode, a free_kick mode, a free_ball mode, a goalie_kick mode, and a defense mode when the robot control function is called; A mode switching process of determining whether to execute a corresponding mode or to switch to a defense mode when a predetermined mode is selected; And a robot role specifying function executing the robot role specifying function (InitRole ()) when the defense mode is selected in the mode switching process. The method of claim 1, wherein when the Kick_OFF mode is selected from among the plurality of modes, a process of determining whether to execute the speed control function Velocity () and the position control function Position () after the current situation is determined or to switch back to the defense mode is performed. Robot control method comprising a. The robot control according to claim 2, wherein the speed control function Velocity () is a function for transmitting a PWM value, and the position control function Position () is defined as a function for moving the robot to a specified position. Way. The robot control method according to claim 3, wherein the position control function (Position ()) also includes a step of finally executing a speed control function (Velocity ()). The method of claim 1, wherein when one of the Penalty_Kick mode, the Free_Kick mode, the Free_Ball mode, or the Goalie_Kick mode is selected, the current function is determined and the shot function (Shoot ()) and the goalkeeper function (Goalie ()) are executed. A robot control method and a recording medium storing the program, characterized in that it comprises a process of determining whether to go to the mode. The method of claim 5, wherein the shoot function (Shoot ()) is a function that the robot kicks the ball in the forward direction, the goalkeeper function (Goalie ()) is characterized in that it is defined as a function to control the movement of the goalkeeper Robot control method. The robot control method according to claim 1, wherein an attack function Attack (), a defensive function Defend (), and a goalkeeper function Goalie () exist inside the robot role designation function InitRole (). Way. The method of claim 6, wherein the attack function (Attack ()) is a function that has a strategy of attacking two robots, the defense function (Defend ()) is defined as a function that determines the movement of the two defenders robots Robot control method. The method of claim 6, wherein the attack function (Attack ()) is composed of a kick function (Kick ()) and a position movement function (Position ()), the kick function (Kick ()) is again a shoot function (Shoot ()) ) And a position movement function (Position ()). The attack function (Attack ()) and the goalkeeper function (Goalie ()) is executed if it is advantageous to attack after judging the situation, and the defensive function (Defend ()) and the goalkeeper function in the opposite case. Robot control method characterized in that (Goalie ()) is executed.