| Autonomous Robot belongs to the third generation robot, which has some extent intelligence. The intelligence characteristics include independence, adaptability and interactivity. RoboCup soccer robot provides a challenge subject for the development of intelligence robotics, the main object of RoboCup soccer robot is to provide a standard platform through holding all kinds of robot soccer competition, on which many technologies such as machine vision, intelligence control, wireless communication, robotics, artificial intelligence can be tested and integrated. F180 Small Size Soccer Robot is one of the RoboCup competitions, which has the longest history and the most challenging and competitive. The Small Size Soccer Robot system is composed of machine vision subsystem, artificial intelligence subsystem, robot subsystem and wireless communication subsystem. The function of the machine vision subsystem is to acquire the information of the surrounding and identify, locate and tract the target.The desirable characteristics of the machine vision subsystem mainly includes real-time, accurate and adaptability. In order to meet the above criteria, we analyze the structure and desirable characteristics of the machine vision subsystem, present new pattern design, improve the image processing algorithm, integrate global and local processing algorithm, make the algorithm more efficiency, improve Tsai's camera calibration method, integrate global and local color threshold to image segmentation, and can identify and locate the ball and robots more accurately, quickly and robustly, and setup an integrated machine vision subsystem including hardware and software. Through experiments, we proved that this machine vision subsystem meets the desirable characteristics including real-time, accuracy and adaptability. ZJUNlict Small Size Soccer Robot represented Zhejiang University to take part in the international anddomestic RoboCup competitions and got the great achievement. |
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