CN107617220B - Intelligent football robot control system and control method - Google Patents
Intelligent football robot control system and control method Download PDFInfo
- Publication number
- CN107617220B CN107617220B CN201710796527.3A CN201710796527A CN107617220B CN 107617220 B CN107617220 B CN 107617220B CN 201710796527 A CN201710796527 A CN 201710796527A CN 107617220 B CN107617220 B CN 107617220B
- Authority
- CN
- China
- Prior art keywords
- robot
- signal
- football
- worm
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000012545 processing Methods 0.000 claims abstract description 50
- 210000003127 knee Anatomy 0.000 claims abstract description 46
- 230000000007 visual effect Effects 0.000 claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000006698 induction Effects 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 91
- 230000005484 gravity Effects 0.000 claims description 17
- 239000013078 crystal Substances 0.000 claims description 6
- 239000003990 capacitor Substances 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 230000000670 limiting effect Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 210000002683 foot Anatomy 0.000 description 30
- 230000008569 process Effects 0.000 description 21
- 238000013461 design Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 16
- 230000000694 effects Effects 0.000 description 13
- 230000008901 benefit Effects 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 9
- 210000002414 leg Anatomy 0.000 description 9
- 230000006870 function Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 210000000629 knee joint Anatomy 0.000 description 6
- 238000004422 calculation algorithm Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 238000004088 simulation Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 230000008485 antagonism Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000005094 computer simulation Methods 0.000 description 3
- 210000004394 hip joint Anatomy 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- 210000000544 articulatio talocruralis Anatomy 0.000 description 2
- 244000309466 calf Species 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000003116 impacting effect Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000036961 partial effect Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 101100012910 Plasmodium falciparum (isolate FC27 / Papua New Guinea) FIRA gene Proteins 0.000 description 1
- 241001323319 Psen Species 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010141 design making Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000003707 image sharpening Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention provides an intelligent football robot control system and a control method, wherein the intelligent football robot control system comprises a visual induction system, a pressure sensing system, a central processing unit and a travelling mechanism, wherein the central processing unit drives the knees and the following parts to move towards the direction for providing the pressure signals preferentially according to the pressure signals of the pressure sensing system; the central processing unit controls the foot robot to move according to a first signal, a second signal and a third signal provided by the visual induction system according to the distance between the football and the robot; the robot ball-carrying running device is simple in structure, easy to manufacture, flexible to move, low in cost, simple to operate, and capable of smoothly completing running with balls, avoiding impact of opponents and the like.
Description
Technical Field
The invention relates to a control system and a control method of an intelligent football robot, in particular to a control system and a control method which realize blind movement through intelligent control and can simulate continuous ball-carrying movement of a person, and intelligent start, stop, save electricity and the like.
Background
The highly specialized and intelligent football robot is now available and applied to world football robot games, and has strong ornamental value and interestingness in the FIRA International robot Association and ROBOTCUP International robot football world cup games. The robot participating in the anti-football game needs to have flexible movement joints, a brain for commanding movement and a powerful intelligent control device. Robots manufactured to currently mimic the motion of a human joint are particularly coordinated and matched between football control and a plurality of and among them, which is very awkward, since the robot itself does not have much perception and flexible mechanical movement capabilities, especially the motion control of the joint is accompanied by a series of commands.
In the ROBOTCUP international robot football world cup game, one type is that each person controls a robot, football cooperation among teams is realized through control of the person, the robot is required to control football through a remote controller or an intelligent handle, the process is still that the intelligent activities and limb actions of the person participate in the robot football large game, the game motion of the person is realized, and the ornamental value is not great enough. In addition, in controlling a soccer robot, there is often a collision that allows collision between robots, which requires high flexibility and impact resistance of the robots, even very fast reaction speed. In the existing upgraded football robot game, the robot is required to be fully and intelligently controlled, and a player of the football robot is not required to participate in the football robot game, so that high requirements are provided for the robot to move at a high speed, accurately position other robots on a court and the like. Therefore, a joint of a football robot capable of being flexibly and automatically controlled is needed, and under the condition that other detection signals give out instructions, a stepping motor capable of rotating at high speed and sensitively is adopted to drive the football robot to realize the match of the football robot according to the control.
The prior art discloses a humanoid robot lower limb structure with a double-spherical hip joint mechanism and 7-degree-of-freedom legs, wherein the hip joint has 3 degrees of freedom, the ankle joint has 3 degrees of freedom, the knee joint has 1 degree of freedom, the hip joint adopts a double-spherical mechanism, namely six rotation axes are intersected at one point, so that when the knee joint and the ankle joint do not act, the humanoid robot realizes waist functions without increasing joints, the flexibility of the robot is greatly improved compared with the flexibility of the robot in the previous patent document, but the degree of freedom is increased, so that the robot is controlled by the control of the legs of the humanoid robot in a mode that more chip calculation parts are operated and more sensors are needed, and the control instruction is very complex. Another robot leg mechanism disclosed in the prior art comprises a base and a motion platform, wherein the base is connected with the motion platform through a transmission mechanism; the transmission mechanism comprises a motor fixed on the base and a motion unit connected with the motor; the motion unit comprises a first motion unit capable of enabling the robot leg mechanism to swing backwards and a second motion unit capable of enabling the motion platform to be pressed down or lifted up; the first motion unit comprises a supporting rod with the top end fixed on the base, and is connected with the first motor, the first screw rod mechanism and a first fixed long rod hinged with the motion platform; the first fixed length rod comprises a straight rod part and a convex block part protruding outwards, the supporting rod is hinged with the straight rod part, and the first screw rod mechanism is hinged with the convex block part; the second unit comprises a second screw rod mechanism connected with a second motor and a second fixed length rod hinged with the motion platform, and the second screw rod mechanism is hinged with the second fixed length rod; the robot has the advantages of simple structure, strong bearing capacity, small volume and good processing and assembling manufacturability, and has certain advantages in the countermeasure, and the robot has the advantages of no knee joints on the legs, inflexible movement performance, very clumsy in the control process and inadaptability to the conventional football countermeasure.
In the prior art, a robot football dynamic decision device and a method thereof based on an ant colony algorithm are disclosed in China patent 2014102998879, and based on superiority of a human football tactics idea and high efficiency of the ant colony algorithm in searching an optimal path in a dynamic environment, the robot football dynamic decision device and the method thereof based on the ant colony algorithm are provided, and the robot tactics task effect is taken as feedback by analyzing and refining the situation and state of a competition field, and a strategy which is most suitable for the current situation is made in a mode of decision, evaluation and re-decision, but the algorithm still achieves blinding and intellectualization of a football robot.
The invention relates to a leg structure of a flexible joint of a humanoid robot, which adopts a stepping motor or a control motor to control the movement of the joint, strictly controls the advance and retreat of the steps of the robot under the corresponding movement proportion, and the control of the motor is realized under the corresponding control structure and operation mode, so that the flexible movement and avoidance of impact in the antagonism of the football robot can be ensured, and a sensor at the head can obtain good visual effect, generate better space judgment and football tracking capability, can complete intelligent control under a simple structure, even generate information sharing with other football robots to complete team cooperation, and the robot adopts a new structural design, is easy to manufacture and has low cost. Compared with the similar intelligent robots, the intelligent robot has the advantages that knee joints imitating human activities and the following parts are adopted to drive one roller in a double-driving mode, so that the driving speed is high, the robot is flexible in activity and quick in response; the design of the impact platform is optimized, and long-time ball movement can be realized; the blind design is adopted, and the reaction is flexible; the visual system and the pressure sensing system are used for simultaneous monitoring, and a priority signal setting mode is selected according to the distance setting monitoring between the football and the robot, so that blind movement and automatic control are realized; the adoption of a good motor control circuit can realize multi-motor linkage control, realize rapid reaction of the football robot, and the like.
Disclosure of Invention
An intelligent football robot control system comprises a visual sensing system, a pressure sensing system, a central processing unit and a running mechanism, and is characterized in that the running mechanism comprises a knee part, a lower part of the knee part and a foot part, wherein the knee part is used for realizing gravity center movement, the foot part is used for realizing body movement, a pressure sensing device of the pressure sensing system is arranged on a first impact platform and a third impact platform, the pressure sensing device provides a pressure signal, and the central processing unit drives the knee part, the lower part of the knee part and the lower part of the knee part to move in a direction for providing the pressure signal preferentially according to the pressure signal; the camera device arranged between the first striking platform and the third striking platform and the camera device of the robot head provide the visual information for the central processing unit; the visual induction system provides a first signal, a second signal and a third signal according to the distance between the football and the robot, and the foot part is controlled to move according to the first signal, the second signal and the third signal; the foot moving member employs a multi-motor synchronous control mode.
The invention aims to provide a robot structure which has the advantages of simple structure, easy manufacture, flexible movement, low cost and simple operation, adopts good joint design, installation cooperation between stepping motors, motor control, information acquisition, excellent computer algorithm and the like, overcomes the defects of difficult operation, inflexibility and incapability of accurately controlling during running, and achieves the effects of running with balls, avoiding impact of opponents and the like in the prior art.
Drawings
Fig. 1 is a schematic view of the structure of the knee and the lower part of the knee of the soccer robot according to the present invention.
Fig. 2 and 3 are schematic partial cross-sectional views of the knee and lower leg rotation members of the soccer robot of the present invention.
Fig. 4 is a schematic view of a portion of a soccer robot.
Fig. 5 is a schematic diagram of a control circuit of the soccer robot of the present invention.
Fig. 6 is a schematic view of a football robot of the invention imaging a mirror surface of a vision system.
Fig. 7 is a frame diagram of a vision control system of the soccer robot of the present invention.
Fig. 8 is a schematic diagram of a network diagram of a control system of the soccer robot of the present invention.
Fig. 9 is a schematic diagram of a vision system and control of the soccer robot of the present invention.
Fig. 10 is a schematic diagram of a motor control circuit of the soccer robot of the present invention.
Detailed Description
As shown in fig. 1, the invention is a football robot, which comprises an induction system, a control system, a central processing unit and a running mechanism, wherein the running mechanism mainly comprises knees and parts below the knees, which simulate human activities, the knees and the parts below the knees comprise a flexible shell 123, a first impact platform 1, a driving assembly 2 (comprising 21, 22 and 23), worms (comprising three worm rods (a lower worm 120, an upper worm 121 and a middle worm 123) from top to bottom), a second working platform 4, a turbine 5 (comprising turbines 51 and 52), a third impact platform 6 and a first working platform 7, and the parts (a worm wheel, a worm, a driving assembly, a first working platform, a second working platform and the like) between the first impact platform 1 and the third impact platform 6 form a gravity center tilting device of the robot, so that the quick start of the robot is accelerated.
The robot is characterized in that a pair of 1-shaped upper supporting arms (a first pair of upper supporting arms) are fixed on the first impact platform 1, a T-shaped first supporting frame is installed between the pair of upper supporting arms, a first worm 120 is installed on the first supporting frame, the first worm 120 is connected with a lower driving assembly 23, the lower driving assembly 23 drives the first worm to rotate, and the first worm 120 drives a first worm wheel 52 to rotate. The first worm wheel 52 drives the first worm wheel shaft 32 to rotate, the first worm wheel 52 and a first pair of lower support arms which support the second working platform 4 in a 1 shape are fixedly installed on the first worm wheel shaft 32, and the second working platform 4 rotates left and right along with the rotation of the first lower support arms, so that the robot can shake left and right.
The middle worm 122 is driven by the driving component 22, the middle worm 122 is mounted on a second support frame with an inverted T shape, the second support frame is fixedly mounted on the second working platform 4, a pair of second support arms (not numbered and shown) with a 1 shape are simultaneously mounted on the second working platform 4, the second support arms and the second support frame with the T shape are arranged on the second working platform in a cross shape, and the height of the second support arms with the 1 shape is higher than that of the second support arms with the T shape. The support frame in the shape of the Chinese character '1' is provided with a second worm wheel shaft 31 which rotates on the support frame in the shape of the Chinese character '1' to drive the double-arm second pair of lower support arms supporting the first working platform 7 to rotate so as to drive the body of the robot to tilt forwards or backwards.
The both ends of upper portion worm 121 pass through the bearing to be fixed on L type bearing support 30, upper portion worm 121 can rotate clockwise or anticlockwise relative support, wherein upper portion worm 121 is keeping away from upper portion drive assembly 21's one end and is connected at bearing support 30, third striking platform 6 is connected on bearing support 30 upper portion, first work platform 7 is connected to bearing support 30 lower part, drive second worm wheel 51 through planetary bevel gear structure (not shown in the figure) between upper portion worm 121 and the worm wheel 5 and rotate, for quick response, wherein upper portion worm 121 and middle part worm 122 can drive worm wheel 51 simultaneously and rotate, guarantee timely and the accuracy of rotation. The second worm wheel 51 rotates clockwise and anticlockwise to drive the second turbine shaft 31 to rotate, two double-arm supporting arms on the second turbine shaft support the first working platform 7, and the second worm wheel rotating direction corresponds to the front and the back of the robot, which is also one of important measures for ensuring the robot to move forward and backward rapidly.
The drive assemblies 21, 22, 23 comprise a drive motor, a motor frame and motor control means, which enable rotational movement about three axes X, Y, Z; wherein the signals of the motor control device are controlled according to the signals of the induction system (the signals of the vision system and the signals of the sensor), and the specific control modes are independently described below.
The first impact platform 1 and the third impact platform 6 are rounded square, and in each direction pressure sensors are mounted, the sensors 111 on the first impact platform 1 and the sensors 311 on the third impact platform 6 are pressure sensors, which may be common sensing electronic components. The number of sensors is typically set according to the size of the impact platform and the number of sensors by the central processor, which is used as a reference for computer programming in the data processing of the central processor. The pressure sensors 111, 311 can sense the force and direction of the football striking, wherein the direction of motion after the football striking is judged by the force and direction of the striking, and the central processing unit can make a command for driving the foot to move under the condition that the visual sensing system does not give a command, and the command is transmitted to the rotating wheel of the foot to make corresponding motion, and the specific operation mode is described in a later driving circuit.
When the football hits the first impact platform and the third impact platform in the sports, elastic deformation can occur, wherein the deformation process reflects the stress, the football is in the initial stage of impact, the movement speed of the football is gradually reduced in the compression deformation process, after the speed is reduced to 0, the football is expanded and deformed, the ball is gradually recovered, the football in the deformation does the opposite movement, and the larger the deformation is, the faster the speed of popping out is. According to the invention, the deformation process of the football is fully utilized, when the pressure sensor reaches the maximum pressure, the central processing unit drives the robot to move according to the pressure direction, so that the robot moves before the football is visually seen to change, and the robot can be more sensitive than other robots which only rely on visual movement in response speed, and fully imitates a football player with inspiration.
The outer shell 123 is a flexible pleat material that is connected between the first impact platform 1 and the third impact platform 6. The casing 123 encloses all the device components between the first impact platform 1 and the third impact platform 6, so that the knee rotating component is not affected by the impact of the football during rotation, and the actions of placing other football robots in football, such as falling down, are guaranteed, and a safety protection effect is achieved for the movement between the first impact platform 1 and the third impact platform 6. In particular, the flexible material can prevent the circuit for controlling the driving part from being impacted, and the faults such as signal errors or short circuits and the like are generated, so that the situation that the common football robot suddenly fails after being impacted in the countermeasure is overcome.
The first impact platform 1 is the square of fillet, and the angle of forward direction is the fillet that has the radian, and the radian of fillet is very little, in order to be convenient for control, fillet department no longer sets up the sensor. The third impact platform 6 is also a rounded square, the positive angle is a rounded angle with radian, the radian of the rounded angle is very small, and for convenience in control, the rounded angle is no longer provided with a sensor. Since the width of the round angle with the radian is the largest, the ratio of the probability of striking by the round angle with the radian and the opponent to the probability of striking by the football is approximately 11:1 as shown in experimental data; in computer simulations, even though the probability of a collision between football robots far exceeds the probability of a collision with football in some experiments, the probability of the third collision platform 6 striking other football robots is greater than the probability of the first collision platform 1 striking other football robots, since the arrangement of other football robots is usually intermediately larger. The first impact platform 1 or the third impact platform 6 which is approximately square ensures that the third impact platform 6 can be used for impacting other football robots in the antagonism of football matches, and more first impact platforms can be used for impacting football; the area of the third impact platform 6 is thus slightly larger than the area of the first impact platform 1. In the simulated countermeasure experiments, the football robot designed in the above way can better meet football countermeasure and goal.
In another embodiment of the invention, the third impact platform 6 is designed to be thicker than the first impact platform 1, approximately 2 times the thickness of the first impact platform. The size of the area of the upper surfaces of the first impact platform 1 and the third impact platform 6 is slightly different, and the side length of the periphery of the first impact platform 6 is only 2-5 cm longer than that of the periphery of the third impact platform 1; the difference between the two is only that the thickness of the impact surface is also different, and the other aspects are the same. The distance between the first striking platform 1 and the third striking platform 6 is smaller than the diameter of the football, the robot is specified in the small group play rules to be of a size with the diameter smaller than 18 cm and the height smaller than 15 cm, the football is prevented from being clamped between the two, and the position of striking the football is ensured to be on the first striking platform 1 or the third striking platform 6. The area of the second platform 4 is smaller than that of the first striking platform 1 or the third striking platform 6, and the football does not strike the second platform during bouncing or aerial walking. This design ensures that the football hits only the first impact platform 1, or both the first impact platform 1 and the third impact platform 6, or only the third impact platform 6.
When the first impact platform 1 and the third impact platform 6 are impacted, as the area of the third impact platform 6 is larger than that of the first impact platform, most football can be preferentially contacted with the third impact platform 6 under probability, so that the football moves forward and downward in the motion direction, and the robot is favorable for controlling the football to advance; the robot with ball motion is realized. This design is a function not available with previous soccer robots.
Fig. 1 is a schematic view showing the general structure of the whole lower part of a soccer robot according to another embodiment of the present invention. In a further embodiment, for some aggressive robots, the outer shell 123 of the knee rotating part is a two-section stainless steel outer shell, ensuring that it is not stuck in opposition, this design making the robot's legs more like a person's legs. The robot foot part in fig. 1 is approximately rectangular, and the protective cover is placed outside the roller and moves by the inner roller, so that the robot is more like a human being. The structure of the robot foot part is described below. The knee rotating part adopts the turbine worm system transmission, and the knee rotating part utilizes the advantages of large single-stage transmission ratio, compact structure, stable transmission, no noise, self-locking function and the like of the turbine worm transmission, thereby greatly improving the space utilization rate and reducing the mechanism quality, and further achieving the purpose of reducing the burden of a driving device.
The walking mechanism also comprises a foot part of the robot, which is a main part of the walking of the driving robot, and comprises a roller 101, a stepping motor 103, a universal joint 104, a protective cover 102 and the like, wherein the foot part of the robot is arranged below the first impact platform 1 of the football robot. The robot foot part is provided with four rollers 101, which are arranged below the first impact platform 1, respectively, and when seen directly from above, the first impact platform 1 is not exposed, three of which are shown in fig. 2. That is, in football, it is ensured that no football hits the rollers. The upper surface of each roller 101 is driven by a stepping motor 103, a universal joint 104 is connected with the stepping motor 103 and the first impact platform 1, four rollers are designed on four corners of the first impact platform 1, and driven by the stepping motor 103, the rollers 101 can be simultaneously driven to rotate (the rollers are all wheels) to drive a football robot to move towards one direction, and the football robot usually impacts football in sports or impacts football on other football robots, so that after football is in sports, the football is impacted on the first impact platform 1 or the third impact platform 6, so that the football is in sports. Since the force of striking the football by the current football robot is not large, and the football in the football game of the robot is much smaller than the general football, most football activities strike the first striking platform 1. The shield 102 is mounted on the side of the universal joint 104 for shielding the universal joint 104, the stepping motor 103, and a part of the wheel 101. In a preferred embodiment, a portion of the vision sensing system may be mounted within the hood, the vision sensing system observing the direction of motion of the soccer ball and directly making a drive command to the stepper motor 103. In the invention, the central processing unit is in the signal that the vision induction system gives, when football is in the court and not in the net, the signal that the central processing unit gives is football robot and is close to football, let football advance to the net of opponent constantly under the striking of robot. That is, the action of simulating the action of the football player with the ball is completed by the instruction of the central processor. The stepper motor can be replaced by a brushless direct current motor with better control performance, but the replacement can obviously raise the cost.
In another embodiment, the first impact platform 1 and the third impact platform 6 are made of light-weight and high-strength materials, and the protective cover is made of high-strength alloy materials, such as aluminum alloy; the roller uses the omnidirectional wheel, can make football robot keep self gesture unchanged in the motion process, and the roller is equipped with crashproof dog, can effectually prevent the failure and the deformation of omnidirectional wheel because of the collision in the antagonism.
In another embodiment of the invention, the height h of the foot member 1 Slightly smaller than the height h of the football 2 Is a factor of (∈5-1)/2, superimposed on the thickness h of the first impact platform 1 3 Half of the time, i.e. the height h=h of the centre of the first impact platform 1 from the ground 1 +h 3 /2＝(√5-1)h 2 When the football hits the first impact platform 1, the gravity center of the football is arranged below the foot part, so that the stress direction of the football is inclined downwards to the ground, the robot can ensure that the football is always nearby and not far away from the football robot, when the running speed of the football robot is set, the speed and the angle of the football leaving the first impact platform 1 can be definitely determined through the sensors in the experiment of computer simulation by establishing a mathematical model according to the stress of the football and the elasticity coefficient of the football, and the solving, verifying, re-analyzing, modifying assumption of the mathematical model and the data are relatively determined in the iteration of solving because parameters are relatively less.
In a simulated football game, the probability of a football striking the first striking platform 1, or striking both the first striking platform 1 and the third striking platform 6, or striking only the third striking platform 6, is substantially stabilized at 27:2:1. The statistical probability gives the central processing unit the choice of giving priority to the specific motor, so that the stepping motor 103 is preferentially driven instead of other transmission mechanisms as long as the football hits the first impact platform 1, ensuring the synchronization of the football robot and the football. If the determination made is erroneous, an adjustment is made based on the position of the soccer ball given by the vision sensing system.
Fig. 2 and 3 are schematic partial cross-sectional views of knee and calf turning parts, the robot knee and calf turning parts of the invention simulate human activities, a multi-stage gear mechanism is adopted, the following modeling is conducted in simulation experiments, and the following modeling is helpful for understanding the invention.
The input quantity of the motion of the rotating part is respectively theta 1 ，θ 2 And theta 3 Output is psi 1 ，ψ 2 Sum phi 3 Wherein the motion input amounts of the rotation of the upper worm 121 are respectively θ 1 The lower bevel gear is driven to rotate to drive the worm wheel 51 to rotate, and the supporting arm fixed on the second turbine shaft rotates along with the shaft, so that the output quantity is psi 1 Such input is given by the corresponding drive motor, while the output is given by the variation of the lower worm wheel 51 corresponding to the upper worm 121, which corresponds to the uppermost gear structure in fig. 2. The same structure allows the motion input component θ of the intermediate worm 122 2 The output of the second worm gear shaft of the corresponding turbine 51 is ψ 2 The method comprises the steps of carrying out a first treatment on the surface of the The lower worm wheel 120 corresponds to an input value θ 3 The output of the corresponding turbine is psi 3 . These corresponding variations are achieved by a specific differential formula, which simulates a calculated formula under a large amount of experimental data. The transmission route of the knee and lower leg rotating part is as follows: motion input quantity theta 1 Spur gear z for separately realizing knee rotation part 1 Rotation ψ about the machine base axis 1 Motion input quantity theta 2 By the amount of movement L of the worm 2 Driven spur gear movement z 2 And spur gear movement z 1 Turbine movement z 5 Transmitting motion to planetary bevel gear motion z 6 The method comprises the steps of carrying out a first treatment on the surface of the Input quantity theta 3 By worm movement L 3 Driven spur gear movement z 3 And spur gear movement z 2 Turbine movement z 10 Transmitting motion to planetary bevel gear motion z 11 The motion transmission turbine is given to the differential mechanism to realize the rotation psi of the knee rotating part 2 Sum phi 3 Two output movements of the knee bending are made. Fig. 4 is a schematic view of a portion of a soccer robot.
Based on the establishment of a laboratory simulation formula of the structure, a motion relation formula of input quantity and output quantity:
ψ 1 ＝θ 1 ……(3.111)
ψ 2 ＝1/2(θ 2 -θ 1 )z 1 z 2 z 5 z 6 /L 2 ……(3.112)
ψ 3 ＝1/2[(θ 3 -θ 2 )z 3 z 2 z 10 z 11 /L 3 -1/4(θ 2 -θ 1 )z 1 z 2 z 5 z 6 /L 2 ]……(3.113)
the matrix formula of the robot leg transformation is as follows:
R＝R[ψ 1 (θ 1 ),ψ 2 (θ 2 ),ψ 3 (θ 3 )]
the following is a part of the data of the simulation calculation in the laboratory for understanding the robot movements.
Calculating a generalized rateIs a generalized primary power F θ1 Is that
Calculating a generalized rateIs a generalized primary power F θ2 Is that
Calculating a generalized rateIs a generalized primary power F θ3 Is that
Then, calculate the corresponding generalized rateIs>Calculating a generalized rate from (4-11) substituted known data>Induced generalized inertial force->Is that
Calculating a generalized rateIs>The method comprises the following steps:
calculating a generalized rateIs>The method comprises the following steps:
the obtained generalized main power F θ1 ～F θ3 And generalized inertial forceSubstituting the formula (4-13) to obtain a kinetic equation of the robot:
solving (4-13) to obtain the driving moment of the joint as follows:
according to the actual working requirements of the football robot, the maximum angular acceleration and the maximum angular velocity of the knee joints 1-3 are set. The inertial parameter of the connecting rod can be automatically calculated in Solidworks software, the known value is substituted into (4-14), and the driving moment tau of each joint is obtained through numerical simulation 1 ～τ 3 . Meanwhile, the driving moment of each joint is obtained by software simulation, and the comparison shows that the numerical simulation result and the software simulation result have no obvious difference, so that the dynamics equation established in the section is correct.
Blind design
The invention uses the common mathematical modeling software SAS in the modeling process, the software can be realized under the condition of not complex programming, MATLAB software is also used in the experiment, the data analysis of the implementation mode is simple without the data analysis of the SAS, and the experimental effect of the two is better than that of other robots because the robot is arranged better, and the robbery and ball-carrying effects of the football robot are better. The central processing unit can command the stepping motor 103 of the foot part of the robot to respond quickly when in collision, and give a communication signal to the stepping motor 103 every time, so that the stepping motor 103 rotates for two or more weeks to drive the roller to rotate for at least one circle, and the robot moves in advance. The blind design of the robot shows that the signal given by the pressure sensor is superior to the visual signal collected in the visual sensing system in another invention point of the invention. If the pressure is from a football, the trajectory of the motion following the football is easily understood and easily implemented by software programming. However, in the process that the first impact platform 1 and the third impact platform collide simultaneously, the sensor signal on the first impact platform 1 is set to be higher than the sensor signal on the third impact platform, the signal of the first impact platform is preferentially executed, and the stepping motor drives the tube wheel to move in a serpentine manner towards the football direction. Only the third striking platform strikes the other robot, the signals given by the vision sensing system are given priority over the execution of the signals given by the vision sensing system, depending on the position of the football given in the vision sensing system. The judgment of the signal is based on the design that the football is taken as the first-level target, the football is caught up, the football is carried, the football is impacted, other obstacles are avoided, and the long-time ball control is met to the greatest extent, but the entanglement with other football robots is avoided.
Fig. 5 is a schematic diagram of a control circuit of the soccer robot of the present invention. The figure clearly shows the control principle and process below the knee of the soccer robot. The visual signal provided by the visual signal device in the visual sensing system is transmitted to a Central Processing Unit (CPU) of the football robot, and the CPU can be composed of S7-200 and an upper computer and can also be other control devices in the prior art; in the embodiment, if the first impact platform of the football robot receives the stress of the front pressure sensor, the pressure sensor sends an electric signal to the central processor, the central processor sends a forward movement signal to the upper driving component, and the motor 411 in the upper driving component moves clockwise to drive the second worm wheel to rotate, so that the upper body of the robot tilts forward; meanwhile, the visual sensing system judges that the distance between the football and the robot is within a football distance, namely the pressure brought by the football; the vision sensing system sends a first signal to the central processing unit, and the central processing unit makes a first driving signal for driving a motor in the middle driving assembly according to the first signal, so that the middle driving assembly also drives the second worm wheel, the football robot rapidly tilts forward, the center of gravity moves forward, and the football robot can collide with the front obstacle in time and move forward along with the football; the central processing unit sends driving signals to the foot parts 401, 402, 403 and 404 of the driving robot according to the first signals and the pressure sensor signals, the stepping motor is started to drive the rollers to rotate, and the robot moves forwards.
In the first embodiment, the control method of the football robot may adopt a mode of simultaneous control of pressure signals and visual signals, and the specific method is as follows: step 1, starting a control system, and respectively receiving signals from a visual sensing system and a pressure sensing system;
step 2, judging that the signal is a pressure sensing signal; if the pressure sensing signal exists, starting a driving assembly to drive the part above the knee of the football robot to incline towards the pressure direction, so that the first blind movement of the robot is realized; temporarily disabling said drive assembly if said pressure sensing signal is absent;
meanwhile, judging whether the received visual signal is a second signal, wherein the second signal represents that the distance between the robot and the football is more than 2 football diameters; if the second signal is the second signal, the driving component sends a third driving signal, and drives the gravity center of the robot to incline towards the direction of the football according to the direction of the visual signal, so that the second blind movement of the robot is realized; simultaneously, the central processing unit sends a 3 rd starting signal to the foot part to drive the robot to move to the football position;
step 3, if the first signal is not the second signal, immediately judging whether the first signal is the first signal, wherein the first signal represents that the distance between the robot and the football is within 1 football diameter; the first signal is used for continuously starting the driving assembly, keeping the gravity center continuously moving towards the pressure direction, and simultaneously sending a 1 st starting signal to the foot part to drive the robot to integrally move towards the direction from the pressure;
Step 4, if not the first signal, it is necessarily a third signal, the third signal representing that the distance from the robot to the football is a distance of 1-2 football diameters, and the robot foot part is not started.
The invention uses PLC to realize the multi-motor control of the variable frequency speed regulator, and the specific control mode is specifically introduced later. In the driving process of the specific embodiment of the other embodiment, the four sides of the robot are provided with the pressure sensors, after the first impact platform of the football robot receives the stress of the pressure sensors at the front part, the pressure sensors send electric signals to the central processor, the central processor sends forward movement signals to the upper driving assembly, the motor 411 in the upper driving assembly moves clockwise to drive the second worm wheel to rotate, so that the effect of forward tilting of the upper body of the robot is caused, and the effect is favorable for keeping balance in the countermeasure of the robot and is not knocked over; if the visual sensing system judges that the distance between the football and the robot is more than two football distances, namely the pressure caused by other impact is probably collision with other football robots; the vision sensing system sends a second signal to the central processing unit, and the central processing unit makes a second driving signal for driving a motor in the middle driving assembly according to the second signal, so that the middle driving assembly drives the second worm wheel to transfer in the opposite direction, and simultaneously, the motor of the upper driving assembly is stopped, the football robot rapidly stops tilting forwards, the center of gravity moves backwards, and the center of gravity of the robot is kept vertical to the ground; the central processing unit does not make driving signals for driving the robot foot parts 401, 402, 403 and 404 temporarily according to the second signals and the pressure sensor signals, the stepping motor stops, the roller stops rotating, and the robot keeps in-situ.
In the driving process, the first impact platform and the third impact platform of the football robot have no pressure signal input, the visual sensing system judges that the distance between the football and the robot is more than two football distances, and the central processing unit sends a third driving signal to the middle driving component or the lower driving component according to the signal (the second signal) provided by the visual sensing system, so that the body above the knee of the robot is inclined towards the direction of the football or the football movement direction; meanwhile, the central processing unit sends a 3 rd starting signal to the foot parts 401, 402, 403 and 404 of the robot, the stepping motors in the foot parts 401, 402, 403 and 404 are started, the rollers rotate along with the inclination direction of the robot body, and the football robot moves towards the football position direction or the football motion direction. The manner of steps that the central processing unit can execute,
step 1, receiving signals of a visual sensing system and a pressure sensing system;
step 2, judging whether the pressure sensing signal is a pressure sensing signal or not; the pressure sensing signal is used for starting a driving motor of the upper driving assembly to drive the part above the knee of the football robot to incline towards the pressure direction, so that the first blind movement of the robot is realized; not the pressure sensing signal, the upper drive assembly is not driven.
Step 3, judging whether the signal is a signal of a visual induction system or not, and preferentially judging whether the signal is a second signal, namely whether the length of the football robot from the football is more than 2 football diameters or not;
step 4, in step 3, the second signal of the visual induction system is used, and the central processing unit judges whether a pressure sensing signal exists or not;
step 4.1, sending a third driving signal to the middle driving component or the lower driving component without a pressure sensing signal, and according to the direction of the visual signal, causing the body above the knee of the robot to incline towards the direction of the football or the football movement direction so as to realize second blind movement; simultaneously, the central processing unit sends a 3 rd starting signal to the foot part of the robot, the roller rotates along with the inclination direction of the body of the robot, and the football robot moves towards the football position direction or the football motion direction.
And 4.2, sending a second driving signal to the middle driving component by the central processing unit, so that the middle driving component drives the second worm wheel to transfer in the opposite direction, simultaneously stopping the motor of the upper driving component, quickly keeping the gravity center of the football robot vertical to the ground, and keeping the robot in place to realize the fight state, namely staring guard in the football.
Step 5, in step 3, instead of the second signal of the visual sensing system, the central processor immediately judges whether the distance between the football and the robot is within a football distance, i.e. is the first signal,
the first signal is a first driving signal for driving a motor in the middle driving assembly by the central processing unit according to the first signal, so that the middle driving assembly also drives the second worm wheel, the football robot rapidly tilts forward, the center of gravity moves forward, and the football robot can timely collide with the front obstacle and move forward along with the football; and the central processing unit sends a 1 st starting signal to the foot part of the driving robot according to the first signal and the pressure sensor signal, and the whole football robot moves forwards.
And if the signal is not the first signal, whether a pressure sensing signal exists or not is not judged any more, the central processing unit starts the middle or lower driving component to move towards the football direction, the 2 nd starting signal is sent to the foot part of the driving robot, and the whole football robot moves towards the football position, so that the football robot is ensured to carry out the football motion.
In the design, considering that in step 5, the distance between the middle football and the robot is 1-2 football distances, namely, when a third signal is provided, when the opposite robot contacts with the first or third collision platform, in this case, no matter whether a pressure sensing signal is generated, the central processing unit directly sends a driving signal to the middle or lower driving component to drive the middle or lower driving component to quickly move towards the football direction or the football moving direction, and when necessary, the central processing unit can drive the upper driving motor to drive the signal to realize that the center of gravity is more quickly inclined towards the football direction or the football moving direction, and continuously send pulse width starting signals to foot parts of the robot, so that the lower stepping motor or the permanent magnet brushless motor is ensured to quickly finish starting, the shortest speed is ensured to reach the football position, and the football is controlled.
Visual system
Because the image information is a main source of the robot perception environment, the design requirement of the vision system is relatively high, firstly, the requirement of the observation range is that the observation range of the vision subsystem is 16mX12m according to the actual competition field, and the environment of the whole field can be observed. Secondly, the requirement of positioning accuracy is that the positioning information output by the vision subsystem directly influences the data fusion and the processing of the decision subsystem, if the positioning error is large, the action and the walking route of the robot are wrong, finally, the real-time requirement is realized, and only the system with quick positioning can accurately reflect the situation on the field, and the response of the robot is also quick.
The invention adopts a visual servo conceptual system in the prior art, utilizes visual information to control the relative positions and postures (position and orientation) between the knee joint and the parts below the knee and a target object (football), wherein cameras are respectively arranged on four sides of the robot, at least two cameras are arranged between the head of each side and a first impact platform and a third impact platform, and simultaneously utilizes a hybrid mode of eye-in-hand and eye-to-hand and information provided by a pressure sensor, thereby realizing three servo control modes based on position, image and hybrid vision.
The camera arranged between the first impact platform and the third impact platform is installed in a overlooking mode, so that the sight distance of the camera is ensured to be in the position of 2 football diameters, the position of the football is particularly beneficial to judging, namely, the football is in the shooting range of the camera, the control mode in the step 5 can be directly started, the central processing unit directly sends a driving signal to the middle part or the lower part driving component to drive the camera to rapidly move in the football direction or the football moving direction, and pulse width starting signals are continuously sent out to the foot part of the robot, the starting of the stepping motor or the permanent magnet brushless motor below is ensured to be rapidly completed, the shortest speed is ensured to reach the football position, and the football is controlled. The imaging basic principle of the single camera is that the reflection mirror reflects incident light to the camera lens to form an image by the CCD chip, a limiting formula of reflection to plane imaging is given on the basis of optical path analysis, and the invention indicates that under the single viewpoint condition, the pixel point of the panoramic image can be projected to a certain plane at any distance from the viewpoint to form a plane projection image, the obtained image is not different from the image obtained by the common camera, and the observation visual angle is larger, so that the image analysis and the image processing can be carried out by using the common projection image processing method. The vision of the invention is panoramic vision, which mainly comprises a combined equal-proportion omnidirectional reflector, a quartz glass lens cone, a digital camera, a camera mounting seat and an adjusting mechanism. The whole set of equipment can be installed and fixed after being adjusted, so that the phenomena of loosening, shifting and the like affecting the calibration parameters of the omnidirectional vision system can not occur in the using process, and the equipment is completely suitable for the requirements of vigorous countermeasure of medium-sized group games.
Fig. 6 is a schematic view of a football robot of the invention imaging a mirror surface of a vision system. According to the requirements of the football robot match on a vision system, a horizontal geometric mirror is adopted in the shooting mode, the horizontal geometric mirror refers to that the distance relation between a horizontal plane and corresponding points in the formed image is linear, and a mirror imaging schematic diagram is shown in fig. 5. The incident light path at the point in fig. 5 is imaged by specular reflection on the camera CCD at a distance x from the optical axis.
The included angle between the phi-reflected light and the vertical line; an angle between the θ -mirror normal and the vertical;
phi-angle of incidence; y (t) -specular bus equation;
f-camera focal length; h-distance between the image plane and horizontal ground.
The specular bus equation Y (t) can be given by the following model.
d＝ax+b，a＞＞b 1-(2)
Substituting the formulas 1- (2), 1- (3) and 1- (4) into the formula 1- (1) to obtain a differential equation, and obtaining a numerical solution of a mirror surface bus equation Y (t) by adopting a numerical solution; through the calculation mode, the calculation of the football distance and the robot distance is realized, and t (x) can be obtained.
The visual sensing system adopts visual feedback to complete the tracking task of the remote moving football, the tracking speed is 5 m/s, the fixed camera stereoscopic vision system with the frequency of 60HZ is used for tracking, and the setting is made on the basis of the prior art. Because the robots on the football field move more, in order to prevent interference shooting, a camera self-calibration method which does not need to calibrate a reference object and only uses the constraint relation between parameters of the camera is adopted, and the method is a KRUPPA windproof self-calibration method, and also uses a quadric surface self-calibration method and an active vision self-calibration method in experiments. These self-calibration methods are not themselves innovations of the present invention, which are directed to combining such vision systems with control systems to achieve a rapid response of the soccer robot. The camera installed on the head collects the image information of football, analyzes and processes the image in real time, calculates the position and the posture of football, processes the information and transmits the information to the Central Processing Unit (CPU), and the central processing unit controls the driving assembly and the foot part according to the information provided by the vision system and the motion mode of the football robot and the position of the football robot, so that the football robot can finish the motion at high speed. The vision system of the invention has the main functions of acquiring image information with a certain distance from a robot, such as the image information of a goal, a court, a white line, other robots and a ball with a certain distance from the robot, and processing the information to acquire the position information of a target object, such as the position information of the robot, other robots and the ball with a certain distance from the robot.
Fig. 7 is a frame diagram of a vision control system of the soccer robot of the present invention. The vision control device transmits signals to the processor, the processor controls and controls the driving assembly and the foot parts to move, wherein the control process causes the environment change of the football robot, the football robot is photographed by a camera of the CCD camera and timely transmitted to the image processor, and the image processor transmits signals to the vision control device to form a closed vision control loop.
Fig. 8 is a schematic diagram of a network diagram of a control system of the soccer robot of the present invention. The design of the image control adopts a control system hardware interface design based on PCI chips, a motion control card and an image acquisition card are adopted to realize communication with a central processing unit CPU of the football robot through PCI bus design, an image connecting standard is adopted between a CCD camera and the image acquisition card, the motion control card converts a control instruction of the football robot into a speed signal of a motor and transmits the speed signal to a motor driving controller, and provides a position feedback signal, meanwhile, an I/O port of the motion control card receives an electric signal fed back by an external sensor to complete working instructions such as initial setting and adjustment, and a specific operation mode can be realized by a control person in the field through a circuit signal relation diagram given in the figure. It should be noted that, the control device of the vision system and the football robot adopt a parallel running mechanism, the two modules do not interfere with each other, and the cache resources provided in the system can be fully utilized to realize the coordination and stable work of the whole robot system. Fig. 9 is a schematic diagram of a vision system and control of the soccer robot of the present invention.
After the robot image is acquired in fig. 9, in the embodiment, the control circuit controls the motor to move through image acquisition. The PCI bus is used for transmitting information, wherein the control bus PCI is respectively connected with the motion control card PCI7358 and the image acquisition card PCI1426 in parallel, and the two chips are easy to realize control programming control due to the good peripheral circuit design characteristics. The image is acquired by a CCD camera and is directly transmitted to an image acquisition card PCI1426, and in the image acquisition process, the acquisition of a trigger signal is realized by tracking the football in motion. When the football is stationary, the football is in an incomplete tracking state, and the control of light is cut off at the moment, so that electricity is saved. The signals acquired by the images are transmitted to a control component CPU through a PCI bus, the control component transmits the signals to a motion control component (motion control card) through the control bus, and the motion control card controls a servo control motor to realize the control of a visual system component. In the invention, a proximity switch is introduced in the control of a servo motor, after a football is contacted closely, the central processing unit drives the knee and the parts below the knee to move preferentially according to the pressure signal, and particularly when the first impact platform and the third impact platform continuously transmit pressure sensing signals, namely the distance between the football robot and the football is smaller than the distance between the football robot and the football diameter, the proximity switch closes the signal input of a vision system and directs the football robot to move according to the pressure sensing signals; other designs may be implemented by those skilled in the art according to the above schematic diagrams, and will not be described again.
The problems of smooth denoising, image sharpening and the like of the camera are carefully considered in the computer simulation of the vision control module, and the method has the advantages that the problems of image definition reduction and the like caused by the reasons are basically avoided in the acquired images because the tracking at a lower speed is adopted in the image processing, and the football speed is 5 m/s, so that the tolerance is relatively good.
Motor control
The control technology of a single motor is very perfect, and in the football robot, a plurality of motors are needed, and the motors can cooperate to complete an action, for example, the motor 21 in the upper driving component and the motor in the middle driving component 22 cooperate to realize the selection of the 2 nd worm wheel, realize the position adjustment of the third collision platform, namely complete the position change of the body above the knee of the robot. In the invention, the driving of the knee and the parts below the knee can be respectively completed by the motors without any relation, so that the robot is required to control a plurality of motors to realize the coordinated operation, the requirements of the robot on ball carrying, defending and the like can not be met in the movement of the football robot aiming at the control of one motor, and the plurality of motors are required to be controlled to realize the better coordinated operation. Wherein the upper driving part motor is set in the knee and the lower part of the knee to be the master motor, the rotating speed of the system is determined, the middle driving part motor is set as the slave motor, and the speed of the slave motor is aligned to the master motor.
In fig. 8, a case of a plurality of motors is shown, and a plurality of motors can be connected to the broken line portion. The first impact platform 1 of the football robot is provided with 4 identical parts below, the main part of the driving robot walking is provided with a motor as a main motor in the foot part of the robot, the rotating speed of the system is determined, and the other three motors are driven motors, and the speeds of the driven motors are aligned to the main motor. The motor control system adopts a multi-motor synchronous control network, adopts Siemens S7-200PLC as a main control unit and is connected with the frequency converter through RS-485 bus communication. The two frequency converters 1 and 2 respectively control a main motor and a slave motor, the two motors are provided with rotary encoders for feeding back rotating speeds, the rotary encoders feed back rotating speed signals to the frequency converters and feed back rotating speed signals to the PLC at the same time, and the PLC performs data processing according to the fed back rotating speed signals and obtains an actual rotating speed and a compensation value obtained according to the actual rotating speed. The upper computer monitoring software is connected to the network through the RS-485 bus to realize the connection of the network, can monitor the state of the lower computer, realize data exchange and send out corresponding instructions. In the synchronous control network of a plurality of motors, three slave motor structures are adopted, and the multi-motor control network is described in the prior art.
In the multi-motor synchronous control system, in order to ensure the normal operation of production equipment, the motors are required to operate in a coordinated manner, so that the rotating speeds or linear speeds of the motors always keep a certain proportional relationship. The coordination control is that in a multivariable control system, a certain control method is adopted to enable the control processes of controlled quantities to be mutually matched and coordinated, so that a certain coordination relation is kept among variables, the PLC is used for realizing the multi-motor control of the variable frequency speed regulator, the volume is small, the weight is light, the starting current is low, the PLC programmable controller is provided with rich input and output interfaces, the software programming can be realized, the appropriate adjustment program can be carried out according to the movement rule of the other robot on the football court, and the characteristic of sensitivity to the other robot is realized. The PLC programmable controller comprises a CPU module, an I/O port module, a power module, programming equipment and other modules, and a system is also provided with a host computer, a control interface, a digital/analog expansion module, a communication module and other special modules. These hardware structures are not exclusive of the invention per se, but rather how the motor control therein can implement the functions of the robot.
The motors in the upper drive assembly in combination with the control system for the motors in the middle drive assembly can be used for control of four motors in the robot foot assembly. Taking two motor controls as an example, the control system includes: the system comprises two motors, frequency converters and a PC, wherein the motors are two motors, the frequency converters adopt two Siemens MM series frequency converters to control the frequency conversion speed regulation of the motors, the motors with small power of 0.12 Kw to 11Kw are controlled, and all the frequency converters are controlled by an S7PLC through an RS485 serial communication port by using a USS protocol, so that the control performance of the system is enhanced, and the wiring and debugging time of the system are reduced. The PC adopts S7-200 programming software STEP7.
Fig. 10 is a schematic diagram of a motor control circuit of the soccer robot of the present invention. The specific motor control chip adopts a 51-model singlechip comprising a 4K byte FLASH memory and is provided with 32 bidirectional I/O ports. The control schematic diagram, wherein the main function of the singlechip is to receive the dial value obtained from the dial, and then interrupt the dial by a key, so that the software program starts to start running. The power controllers U4, U5 and U7 are respectively connected with the control switches Q1-Q3 and the pins 4 and 6 of the three control transistors to realize power control; and then, transmitting time sequence pulses of the stepping motor through ports P1.0, P1.1 and P1.2 to form a pulse power supply control circuit, distributing the pulses through a software program by photoelectric isolation, amplifying pulse signals output by the singlechip through power through the IGBT driving module so as to drive the stepping motor, and respectively connecting three pull-up resistors at chip control pins P1.0, P1.1 and P1.2 to enable the power required by motor operation to be achieved, thereby controlling the motor to normally operate.
The circuit is connected to an on signal of an external program storage through a PSEN (29), and the signal is derived from a control signal generated after the PLC comprises a CPU module and is a visual signal given to the CPU. In fig. 9, K1, K2 are connected to P2.7 and P2.5, respectively. R1 and R2 are pull-up resistors and are connected with a 5V power supply. The pass NAND gate 74LS00 connects with the NOT gate 74LS04 to the INT0 interrupt. This connection forms a switch control circuit. In the working state, two parallel 30PF capacitors (C4 and C5) are connected in parallel with an external crystal oscillator formed by a crystal oscillator (X1), wherein the frequency of the crystal oscillator is 12Hz; two ends are respectively connected to pins XTAL1 and XTAL2 of the clock circuit to form the crystal oscillator circuit. In the running process, a high-level signal is output, then a low-level signal is input after a certain time delay, and then a certain time delay is carried out, so that the process is circulated. Therefore, the pulse period can be changed by changing the delay time, and the frequency of the motor in normal operation determines the pulse period. The P2 ports (21-28) are quasi-bidirectional I/0 ports.
In the running process of the stepping motor, the rotating direction of the motor is controlled according to the change of the energizing sequence or the energizing mode of the winding. For a three-phase six-beat working mode: and (3) normal phase rotation: a→ab→b→bc→c→ca. And (5) reverse rotation: CA→C→CB→B→BA→A. Such control sequences are common in motor control, and conventional control sequences are used for stepping motor control of the soccer robot. P0 port corresponds to pin 39-32: a bi-directional I/O port; ports 1-8 are quasi-bidirectional universal I/0 ports; the pins of the four input ends U9B, U9A, U2F, U E are connected through the first four pins of the pins P0.0-P0.7 to form a common pin, and the four pins of the controller switches 8, 4, 2 and 1 which are connected in parallel form a six-phase buffer with open collector and high voltage output, and the six-phase buffer is used for selecting a dial plate and can absorb large current. 8. 4, 2, 1 and the common pin, wherein the four 1K resistors R17, R18, R19, R20 play a role in current limiting.
The circuit connected by the XTL1 and the XTL2 forms an oscillating circuit and is composed of parallel capacitors C4 and C5 and an inductor X1, wherein the capacitors are connected in parallel and then grounded. The control mode realizes the function of stopping power off, can realize automatic power off in the process that the football robot does not move, can greatly reduce the weight of a power supply, realizes the characteristic of quick starting of the football robot weight device, and can be very well prevented from interception and robbery of the opposite party.
The system program is as follows:
/>
/>
the invention is not limited to any particular choice or combination of technical solutions, advantages and features disclosed in the present patent, and those skilled in the art may consider that various combinations, modifications and simple modifications of the technical solutions, advantages and features set forth in the present patent constitute the technical solutions disclosed in the present patent.
Claims (6)
1. An intelligent football robot control system comprises a visual induction system, a pressure sensing system, a central processing unit and a running mechanism, and is characterized in that the running mechanism comprises a knee part, a lower part of the knee part and a foot part, wherein the knee part is used for realizing gravity center movement, the foot part is used for realizing body movement, a pressure sensing device of the pressure sensing system is arranged on a first impact platform and a third impact platform, the pressure sensing device provides a pressure signal, and the central processing unit drives the knee part, the lower part of the knee part and the lower part of the knee part to move in the direction for providing the pressure signal preferentially according to the pressure signal; the camera device arranged between the first impact platform and the third impact platform and the camera device of the robot head provide visual signals to the central processing unit; the visual induction system respectively provides a first signal, a second signal and a third signal according to the distance between the football and the robot, the foot part controls the foot part to move according to the first signal, the second signal and the third signal, the first signal represents the distance between the robot and the football is within 1 football diameter, the second signal represents the distance between the robot and the football is above 2 football diameters, and the third signal represents the distance between the robot and the football is 1-2 football diameters;
The knee and the following knee components include: the device comprises a first impact platform, a third impact platform and a gravity center tilting device, wherein the gravity center tilting device comprises a worm, a worm wheel, a driving assembly, a first working platform and a second working platform, and the worm comprises a lower worm, a middle worm and an upper worm; the worm gear comprises a first worm gear and a second worm gear; the driving assembly comprises an upper driving assembly, a middle driving assembly and a lower driving assembly, and the area of the third impact platform is larger than that of the first impact platform and is positioned above the first impact platform;
the first impact platform is fixedly provided with a first pair of upper supporting arms, a T-shaped first supporting frame is arranged between the first pair of upper supporting arms, a first worm is arranged on the first supporting frame and connected with a lower driving assembly, the lower driving assembly drives the first worm to rotate, the first worm drives a first worm wheel to rotate, the first worm wheel drives a first worm wheel shaft to rotate, a first worm wheel and a first pair of lower supporting arms for supporting a second working platform are fixedly arranged on the first turbine shaft, and the second working platform rotates left and right along with the rotation of the first lower supporting arms, so that the robot can shake left and right;
The middle worm is driven by a middle driving component, the middle worm is mounted on a second support frame in an inverted T shape, the second support frame is fixedly mounted on a second working platform, a second pair of support arms are simultaneously mounted on the second working platform, the second pair of support arms and the second support frame in the T shape are arranged on the second working platform in a cross shape, a second worm wheel shaft is mounted on the second pair of support arms, and the second worm wheel shaft rotates to drive a second pair of lower support arms supporting the first working platform to rotate so as to drive the body of the robot to tilt forwards or tilt backwards;
the two ends of the upper worm are fixed on a bearing bracket through bearings, the upper worm rotates clockwise or anticlockwise relative to the bracket, one end of the upper worm far away from the upper driving assembly is connected with the bearing bracket, the upper part of the bearing bracket is connected with a third impact platform, the lower part of the bearing bracket is connected with a first working platform, a second worm wheel is driven to rotate through a planetary bevel gear structure between the upper worm and the worm wheel, the second worm wheel can drive a second turbine shaft to rotate through clockwise and anticlockwise rotation, two pairs of supporting arms on the second turbine shaft support the first working platform, and the rotation direction of the second worm wheel corresponds to the front and the back of the robot;
The first impact platform and the third impact platform are round-corner square, and the pressure sensing system is installed on the first impact platform and the third impact platform in each direction; the upper drive assembly, the middle drive assembly and the lower drive assembly each comprise: the motor control device is used for driving and controlling the motor according to signals of the induction system.
2. The intelligent soccer robot control system of claim 1, wherein the foot part adopts multi-motor synchronous control, and comprises a master motor and three slave motors which are respectively connected with a frequency converter, wherein a control circuit of the master motor comprises a pulse power control circuit for controlling power supply time sequence, a switch control circuit for adjusting motor operation, a crystal oscillator circuit for ensuring stable motor driving, and a motor time sequence control circuit with an open-collector high-voltage output six-phase buffer; the crystal oscillator circuit is connected with a clock circuit pin and consists of two parallel capacitors and an inductor, wherein the capacitors are connected in parallel and then grounded; a pull-up resistor is connected between the pulse power supply control circuit and the chip control pin; and the motor time sequence control circuit is respectively connected with the current limiting resistor.
3. The intelligent soccer robot control system of claim 2, wherein the visual sensing system comprises a motion control device and an image acquisition device which are connected with the central processing unit through a PCI bus, the motion control device comprises a motion control card and a motion signal acquisition circuit thereof, and the image acquisition device comprises an image acquisition card, a peripheral image, a light source and a trigger signal.
4. The intelligent soccer robot control system of claim 3, wherein the pressure signal controls the upper driving assembly, the middle driving assembly and the lower driving assembly through the central processing unit, respectively, to drive the center of gravity of the robot to move in a pressure direction.
5. A control method of an intelligent soccer robot applied to the control system of an intelligent soccer robot as claimed in any one of claims 1 to 4, comprising:
step 1, starting a control system, and respectively receiving signals from a visual sensing system and a pressure sensing system;
step 2, judging whether the signal has a pressure sensing signal or not; if the pressure sensing signal exists, starting a driving assembly to drive the part above the knee of the football robot to incline towards the pressure direction, so that the first blind movement of the robot is realized; temporarily disabling said drive assembly if said pressure sensing signal is absent;
Meanwhile, judging whether the received visual signal is a second signal, wherein the second signal represents that the distance between the robot and the football is more than 2 football diameters; if the second signal is the second signal, the driving component sends a third driving signal, and drives the gravity center of the robot to incline towards the direction of the football according to the direction of the visual signal, so that the second blind movement of the robot is realized; simultaneously, the central processing unit sends a 3 rd starting signal to the foot part to drive the robot to move to the football position;
step 3, if the first signal is not the second signal, immediately judging whether the first signal is the first signal, wherein the first signal represents that the distance between the robot and the football is within 1 football diameter; if the first signal is the first signal, continuously starting the driving assembly, keeping the gravity center continuously moving towards the pressure direction, and simultaneously sending a 1 st starting signal to the foot part to drive the robot to integrally move towards the direction from the pressure;
step 4, if not the first signal, it is necessarily a third signal, the third signal representing that the distance from the robot to the football is a distance of 1-2 football diameters, and the robot foot part is not started.
6. The control method of claim 5, wherein the robot foot assembly is controlled synchronously with multiple motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710796527.3A CN107617220B (en) | 2017-09-06 | 2017-09-06 | Intelligent football robot control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710796527.3A CN107617220B (en) | 2017-09-06 | 2017-09-06 | Intelligent football robot control system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107617220A CN107617220A (en) | 2018-01-23 |
| CN107617220B true CN107617220B (en) | 2023-12-01 |
Family
ID=61089545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710796527.3A Active CN107617220B (en) | 2017-09-06 | 2017-09-06 | Intelligent football robot control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107617220B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7451940B2 (en) * | 2019-10-31 | 2024-03-19 | セイコーエプソン株式会社 | Control method and calculation device |
| CN111055289B (en) * | 2020-01-21 | 2021-09-28 | 达闼科技（北京）有限公司 | Method and device for calibrating hand and eye of robot, robot and storage medium |
| CN111487972B (en) * | 2020-04-24 | 2024-04-26 | 深圳市优必选科技股份有限公司 | Kicking gait planning method and device, readable storage medium and robot |
| CN214808291U (en) * | 2020-09-30 | 2021-11-23 | 深圳华锐互动科技有限公司 | Ball game training board subassembly |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010039352A (en) * | 1999-10-30 | 2001-05-15 | 윤덕용 | Football robot control system usind TR module |
| EP1103451A2 (en) * | 1999-11-25 | 2001-05-30 | Sony Corporation | Legged mobile robot and method and apparatus for controlling the operation of a robot |
| JP2002307340A (en) * | 2001-04-19 | 2002-10-23 | Sony Corp | Leg type mobile robot and control method thereof |
| CN1394660A (en) * | 2002-08-06 | 2003-02-05 | 哈尔滨工业大学 | Full-automatic football robot and its intelligent control system |
| CN1730135A (en) * | 2005-06-16 | 2006-02-08 | 上海交通大学 | Control system of intelligent perform robot based on multi-processor cooperation |
| CN1811644A (en) * | 2006-03-07 | 2006-08-02 | 北京大学 | Automatic positioning method for intelligent robot under complex environment |
| CN101229826A (en) * | 2008-02-28 | 2008-07-30 | 清华大学 | Lower limb mechanism of biped robot |
| CN101290519A (en) * | 2008-03-27 | 2008-10-22 | 上海交通大学 | Small-sized chevron-shape emulated soccer ball robot remote monitering system based on 3G network |
| CN201719826U (en) * | 2009-12-14 | 2011-01-26 | 中国地质大学（武汉） | Soccer robot device based on DSP2407 microprocessor control |
| CN102306026A (en) * | 2010-08-02 | 2012-01-04 | 重庆大学 | Perception system of soccer robot |
| CN103217903A (en) * | 2013-04-07 | 2013-07-24 | 南京邮电大学 | Method for kicking ball at all directions by humanoid soccer robot based on double-balance control mechanism |
| JP2014217899A (en) * | 2013-05-07 | 2014-11-20 | 矢継 正信 | Universal joint having insert structure |
| CN204261328U (en) * | 2014-11-13 | 2015-04-15 | 吴金 | A kind of intelligent distant control Soccer robot |
| CN204723760U (en) * | 2015-07-03 | 2015-10-28 | 北京信息科技大学 | A kind of Soccer robot Omni-mobile platform |
| CN105108757A (en) * | 2015-09-09 | 2015-12-02 | 三峡大学 | Wheeled soccer robot based on smartphone, and operation method thereof |
| CN105126350A (en) * | 2015-07-03 | 2015-12-09 | 北京信息科技大学 | Integrated soccer robot structure |
| CN106005092A (en) * | 2016-07-14 | 2016-10-12 | 浙江大学 | Leg mechanism for serial-parallel hybrid human-simulated soccer robot |
| CN207342200U (en) * | 2017-09-06 | 2018-05-11 | 滨州学院 | A kind of intelligent soccer robot |
-
2017
- 2017-09-06 CN CN201710796527.3A patent/CN107617220B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010039352A (en) * | 1999-10-30 | 2001-05-15 | 윤덕용 | Football robot control system usind TR module |
| EP1103451A2 (en) * | 1999-11-25 | 2001-05-30 | Sony Corporation | Legged mobile robot and method and apparatus for controlling the operation of a robot |
| JP2002307340A (en) * | 2001-04-19 | 2002-10-23 | Sony Corp | Leg type mobile robot and control method thereof |
| CN1394660A (en) * | 2002-08-06 | 2003-02-05 | 哈尔滨工业大学 | Full-automatic football robot and its intelligent control system |
| CN1730135A (en) * | 2005-06-16 | 2006-02-08 | 上海交通大学 | Control system of intelligent perform robot based on multi-processor cooperation |
| CN1811644A (en) * | 2006-03-07 | 2006-08-02 | 北京大学 | Automatic positioning method for intelligent robot under complex environment |
| CN101229826A (en) * | 2008-02-28 | 2008-07-30 | 清华大学 | Lower limb mechanism of biped robot |
| CN101290519A (en) * | 2008-03-27 | 2008-10-22 | 上海交通大学 | Small-sized chevron-shape emulated soccer ball robot remote monitering system based on 3G network |
| CN201719826U (en) * | 2009-12-14 | 2011-01-26 | 中国地质大学（武汉） | Soccer robot device based on DSP2407 microprocessor control |
| CN102306026A (en) * | 2010-08-02 | 2012-01-04 | 重庆大学 | Perception system of soccer robot |
| CN103217903A (en) * | 2013-04-07 | 2013-07-24 | 南京邮电大学 | Method for kicking ball at all directions by humanoid soccer robot based on double-balance control mechanism |
| JP2014217899A (en) * | 2013-05-07 | 2014-11-20 | 矢継 正信 | Universal joint having insert structure |
| CN204261328U (en) * | 2014-11-13 | 2015-04-15 | 吴金 | A kind of intelligent distant control Soccer robot |
| CN204723760U (en) * | 2015-07-03 | 2015-10-28 | 北京信息科技大学 | A kind of Soccer robot Omni-mobile platform |
| CN105126350A (en) * | 2015-07-03 | 2015-12-09 | 北京信息科技大学 | Integrated soccer robot structure |
| CN105108757A (en) * | 2015-09-09 | 2015-12-02 | 三峡大学 | Wheeled soccer robot based on smartphone, and operation method thereof |
| CN106005092A (en) * | 2016-07-14 | 2016-10-12 | 浙江大学 | Leg mechanism for serial-parallel hybrid human-simulated soccer robot |
| CN207342200U (en) * | 2017-09-06 | 2018-05-11 | 滨州学院 | A kind of intelligent soccer robot |
Non-Patent Citations (1)
| Title |
|---|
| 机器人足球――智能机器人的新领域;高大志等;《机器人》;19980718(第04期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107617220A (en) | 2018-01-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107617220B (en) | Intelligent football robot control system and control method | |
| CN103019024B (en) | Real-time accurate surveying and analysis table tennis rotary system and system operation method | |
| CN107968915A (en) | Underwater robot camera pan-tilt real-time control system and its method | |
| JP4582222B2 (en) | Information processing system | |
| CN106426200A (en) | Table tennis robot and control method thereof | |
| CN103076045A (en) | Head posture sensing device and method | |
| CN109333506A (en) | A kind of humanoid intelligent robot system | |
| CN214772018U (en) | AR interaction explosive-handling robot | |
| US11498223B2 (en) | Apparatus control systems and method | |
| Friedmann et al. | Versatile, high-quality motions and behavior control of a humanoid soccer robot | |
| CN107498556A (en) | A kind of ping-pong robot bus control system and control method | |
| CN102306026B (en) | Perception system of soccer robot | |
| Behnke et al. | See, walk, and kick: Humanoid robots start to play soccer | |
| CN207342200U (en) | A kind of intelligent soccer robot | |
| CN101436061B (en) | Competing type network robot chess-playing system | |
| CN107685788B (en) | Football robot | |
| CN205835362U (en) | A kind of imitation Supreme Being robot | |
| CN207345971U (en) | A kind of Soccer robot | |
| CN107315349B (en) | Ball hitting motion control method of robot | |
| CN114082167A (en) | Fighting training robot and training system | |
| Behnke et al. | Toni: A soccer playing humanoid robot | |
| Laue et al. | An entertainment robot for playing interactive ball games | |
| Behnke et al. | Using handheld computers to control humanoid robots | |
| Acosta-Calderon et al. | A modular architecture for humanoid soccer robots with distributed behavior control | |
| Acosta Calderon et al. | A distributed embedded control architecture for humanoid soccer robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |