Designed And Implemented Of Vision System And Net Control For Omni-robots Of Football

With the platform of researching middle-sized football robot and the background of application in the RoboCup middle-sized robot game, this article has designed and implemented different kinds of functional modules in vision system and net control system for MT-OR omni-robots of football, which have already been used in the RoboCup middle-sized robot football game in the year 2008 and 2009.The main work had been done here is as follows, under the requirement analysis of requests and rules in the RoboCup middle-sized robot football game and the development environment of Visual Studio C++.NET 2003 in Windows XP system, designing and implementing the omni-vision software system and the net control system.Researching through the functions had been implemented, the Omni-vision software system includes omni-vision image capture:image processing and color recognition through the HSI color model space, such as white line, field, football and goal color; this part puts forward the method of designing and implementing the omni-vision software system which is fixing of omni-vision lens error, compass zero location and of pixmap.Similarly, the part of net control system researches the functions of the system, which is transmitting each kind of game instruction through the wireless net to robots who are playing football in the field. The game instructions include:enter the field, exit the field, take the field, game over, set the color of own team, set the color of target goal, set the original location, set the target location, kickoff, free kick, foul ball, spot kick, goal kick, scrimmage, corner kick and so on. This part puts forward the method of designing and implementing the net control system. Also the real time feedback information of the robots which are in the field and the automatic role switch mechanism has been implemented by this net control system.