Studies On The Design Of Omnidirectionally Visional Device For Robocup Middle-Size League Robot

With the overwhelmingly increasing of robotics, RoboCup middle.size league roboticsoccer competition gradually became a Calibration platform for the development of robotics.The relative merits of structural design can directly effect the performance of robot, the wholestructure of robot includes devices for omnidirectional vision, kickoff, dribble, running,control equips, and body etc. Each of them plays an important role, among which,omnidirectional vision device is the key part, which must have high accuracy and real.timecapability to ensure the smoothness of the robot.This paper base on an analysis of the structure of omnidirectional vision for RoboCupmiddle.size soccer robot. Taken the rules of game and some cases in the game intoconsideration, we redesign the structure of omnidirectional vision based on the higher matchperformance.Firstly, we analyze each part of the structures of the middle.size soccer robot, as well asthe functions, principles and the relative merits, on the basis of which, it shows that redesignthe structure of omnidirectional vision is needed.Secondly, in order to get more comprehensive and accurate information, the panoramicreflector was redesigned and optimized. Meanwhile, with the aforesaid work complete, thereflector can get information with reduced distortion from longer distance in horizontaldirection and higher position in vertical direction.Thirdly, several different design solutions were proposed and analyzed, then choose thebest design solution. Study the force analysis and vibration analysis of panoramic structure ina game situation. Through the analysis calculation and optimization of panoramic structure,get a reasonable design of panorama structure.Finally, an improvement scheme in overcoming the defects of panoramic structure wassuggested through Ansys static analysis, modal analysis and transient analysis. At last, thescheme is verified by the experiment.