Autonomous Soccer Robot Vision System Design

Based on the summarization of the establishment and development of robot soccer competition system, this paper studies and builds JP-Robocup F2000A model which is the Autonomous Robot Soccer System platform. Robot Soccer Competition system is a typical multi-intelligent system. The autonomous soccer robot is a real-time intelligent robot whose research involves several academic theories and techniques and reflects the results of the latest information science and artificial intelligence technology.First, this paper researches the main functional modules of JP-Robocup F2000A-autonomous soccer robot platform, including the design and constitution of the sport subsystem, visual subsystem, decision subsystem and so on. The visual subsystem has a great significance and it is one of the main research module of the autonomous soccer robot Its goal is to provide the required parameters for the robots using the method of image acquisition collection and target recognition in the structured environment stipulated for the robot soccer competition, The hardware of the visual system is totally heterogeneous structure, The input of the visual system adopts WV-CP240 - Panasonic camera, Da 3.5-8mm CG400 image acquisition card and a focal length of the zoom lens, which lay the groundwork for the study of the visual system.In the algorithm part of the visual system, taking into account of the environment in which the robot soccer is, YUV color space is selected for reference space, the image intaked is processed by the method of threshold and the image formation is described by the improved method of Run-length encoding to reduce the storage capacity and accelerate for process. A color sampling module similar to the normal school, used for calculating the threshold of different color is presented in the process of sampling, which makes a good experiment result. The algorithm of path compression and merger based on tree structure is used for image segmentation and the identification In the process of designing the robot localization algorithm the existing location algorithm or technology is analyzed comprehensively and the pinhole camera model and geometric algorithms based on the signs is used achieve orientation of the fully autonomous soccer robot . the characteristics of the algorithm is to get the position of the robot in real-time and rapidly when meet the accuracy requirements.Finally, the software system of the autonomous soccer robot, is studied and designed, which achieved a calibration environment, color sampling, target identification and testing feedback module. The experiment shows that the visual...