The Hardware Research And Design Of Panoramic Vision Of RoboCup Middle Size Soccer Robot

Robot soccer is an exciting research area aiming at driving forward robotics and multi-agent research through friendly competition. Designing a soccer robot is involved in machinery, electronic, automatic, pattern recognition, machine vision and artificial intelligence. The system of soccer robots must be provided with highly real-time and accurate. Vision is one of the important approaches of acquiring environment information, its performance is critical to improve the function of the whole system. Because of having a wide visual field of 360 degree, Panoramic Vision is very popular to robot soccer game.This thesis introduces the research of the mirror of a catadioptric vision system for the middle-size league of RoboCup-The World Cup of Soccer Robots. The target of robot soccer is goals attacking and defense. The target of our design is Aiming at the ball. The traditional omnidirectional mirror induced the radical deformation of balls. This kind of distortion induced the ball is difficult to recognized. So a method is present to design the omnidirectional mirror to rectify the radical deformation of balls in this paper.The paper firstly expatiated some correlative optical knowledge related to panoramic vision, based on which the paper discussed panoramic vision imaging theory deeply.Then we choose several applicable panoramic reflector curve, simulating the panoramic imaging and analysis the radical deformation of balls.On the foundation of this, a method is present to design the omnidirectional mirror to rectify the radical deformation of balls and simulating the panoramic imaging. And the panoramic imaging of the preposed design results is proved that the radical deformation of balls is rectified through this method.