Analysis And Design Of Intelligent Robot System

Robot Contest has got a lot of attention and welcome in recent years. All colleges take it as an opportunity to provide a good hands-on scientific research platform for the school's robotics enthusiasts and demonstrate the ability of scientific research of school. But as a whole, compare with advanced country our robot technology still has some gaps. Especially for soccer matches robot, as ours visual tracking robot is primarily based on singlechip, so in computing speed and precision still have problems.In this paper, through the FPGA (Field-Programmable Gate Array) and external matching circuit to the camera collected image, and according to their own image processing algorithm to determine the color of image of each frame, so as to realize the purpose of detecting targets. As the FPGA in the computation speed and accuracy has some advantages compared to singlechip, and the good results of the visual processing, so easily approved by everyone.Collected in the FPGA on the image processing and analysis, after that will communicate with the singlechip and handle the results passed to the singlechip, then the singlechip will deal with the results based on the target object's size and distance judgments, if the shape to meet the requirements, was identified as a goal, then based on the image on the screen of the position to judge the distance and direction, the singlechip generate PWM wave to drive steering engine to achieve the target tracking.As the FPGA has the advantage of speed in image processing, it can achieve a continuously judge to each frame, so it can be a continuous sampling and continuous judgments, and then pass through the signal to realize dynamic nature of continuous tracking. This can avoid going to the original location to find the football after the ball has been kicked out during the game. This make sure that the entire process of finding and tracking become more accurately and smoothly, that provides reliable protection for fast close to the target. This paper adopts 18 degrees of freedom, so that can basically meet the imitation. It can achieve walking, turning, shooting etc by a combination of various joints. To meet the various actions required in the contest.