Research Of Communication System To Humanoid Robot Based On Global Vision

Robot soccer, as an advanced research platform of multi-agent and distributed artificial intelligence, contains many key technology in the future, and is a typical multidisciplinary research. Humanoid robot that is sophisticated technology of robot always has been the highest level of robot research by robot researchers.The research target of robot soccer is that the team of fully autonomous humanoid robots can win against the human world soccer champion team by the year 2050.In this paper the semi-autonomous robot ROBONOVA-I is used in 3 vs 3 humanoid robot soccer. The vision system is the global vision system used to MiroSot, and the communication system is the bluetooth wireless communication system.The primary study contents are as follows:The new project of the color tag is designed.The original color tag is improved and the design scheme based on circular color tag is adopted.The arithmetic of the project is easy and efficiency of that is high, meanwhile, the result is interfered less by the perimeter color of the color tag.This paper adopts the method of the centre of gravity to calculator the robot'position and motion direction.The bad effect from the humanoid robot rock is eliminated.The paper divides the site to escape the wide range of rock; in the same subarea, the robot'tilt angle is gotten by measuring the chang from the area of the color tag'circle, and the tilt direction is meansured when two opposite sides of length from the board of the color tag changes, therefore the accurate coordinate is got. The experiment proves that the method is effect to eliminate the impact from the robot rock, and the locating accuracy is higher.The modules circuit for send and receive is designed. Firstly, after comparing variety of the wireless communication, the bluetooth wireless communication is considered as the communication system of the robot.Then the interfering resource of the existing communication systems are analyzed and managed. Finally the transceiver nRF2401 is selected as the main memory, and the bluetooth wireless hardware circuit is designed based on the nRF2401 chip.Based on the bluetooth chip nRF2401, the wireless communication protocols is designed.Firstly, the nRF2401 is initialized.Secondly the program of the wireless transceiver is compiled. Finally the programe communicating is compiled with pc after researching the serial communication protocol. The experiment and outcome of the race proves that that the communication system is feasible.The paper researchs and designs the vision system and the wireless communication system of the robot, which is used to FIRA semi-autonomous robots soccer match , at last,we gained the fourth in the Ninth FIRA World Cup competition for the trial in china in changchun city by the above fruits.