Research And Design Of Micro Soccer Robot Vision System

Soccer robot system is a perfect platform in research and application of artificial intelligence. Vision system that is regarded as the eye is an important part in a robot system. The main task of vision system is to obtain the position and angle of objects in the field accurately through image from video collection equipment so that original information is provided for decision-making system. A robot vision system contains the following processes: the obtaining of digtal image, image pre-processing, image segmentation and image identification.The major work of this dissertation is to build up a chromatic soccer robot vision system with real-time performance. Basing on the existing technology in image segmentation and identification, the methods are put forward. The main contribution include:The requirement of vision system in micro-soccer robot is deeply analyzed and video collection equipment is selected for making whole system running normally.For the application environment of soccer robot system, the dissertation analyzed different color spaces, and selected YUV color space as the work space of the vision system, in which the disturb of the change of illumination is minimized. At the same time, the effect that is brought by the shape, color and laying mode of color tag on actual competition are analyzed and a proper color tag is designed. After comparing several typical segmentation ways, the threshold segmentation is used. The result of segmentation is satisfied.In order to reach the purpose of search objects rapidly, it is given that an object search method in which adaptive gridding scan and tracking recognition towards the helix are used simultaneously. Measuring the center by geometry method and moment method are used simultaneously to improve the precision. The actual application shows that these methods can improve real-time performance and precision of recognition.In the last, the software structure and the function of module in our vision system of micro-soccer robot are presented and the design of program interface is discussed in detail in order to give some thoughts for next development.