Research And Development. Robocup Medium-sized Group Of Robot Vision System

As a research subject, robot covers a lot of scientific and technology fields. Especially the automobile robot, which is one of its branches, needs higher technology and has extensive application foreground. Taking Shan Dong University omni-directional mobile RoboCup robots as research objects , this paper has an intensive research into its architecture, vision system ,decision-making system, and control system. The main research work is listed as follow.First, to start with the application background and the development, some related concepts about this subject are introduced, as well as the origin, classification and the temporary situation. Robocup middle-sized robot game today and the domestic and exoteric progresses are also discussed here.Secondly, some introduction about the architecture of a three-wheeled omni-directional RoboCup middle-sized robots are stated, and its main components such as vision system, decision-making system, motion control system and the goal-kicking system are surveyed.Thirdly, a simple description about robot vision is stated, then the detailed discussions about the vision processing of robot vision system are given, including image capture and transform, color image preprocessing, color image segmentation, image recognition and object tracing and so on.Then next, the introduction of the vision system software of middle-sized robots, which designed by author, is given. Based on the detailed discussions of robot vision system, the program designing of vision system, such as image capture, color segmentation/recognition module, physics parameter computation module and the interface of decision-making system module, are introduced. The color segmentation algorithm based on color space threshold, object recognition algorithm based on RLE(Runtime Length Encode) and grid interpolation algorithm used in physics parameter computation are detailed introduced. We propose a very practical object search method that based on memory period.Finally, the conclusion of the research and some fields for extensive research in the future are shown.