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1、MechanicalAndElectricalDescriptionWithSoftwareFlowChart1HardwareStructureThenewrobotsofourteamis50cm×50cmwith40kilograms.Theoriginalrobotwasmademanuallyin2004.Thefirsttwowheelsrobotwasmademanuallybytheteamin2006.Thenin2007wemadealarge-scaletransformationtoit,andadvancedthevisualpartsandmotordri
2、verpartsoftherobot.Sotheeffectoftheimageandthespeedofrobotwereupgraded.(Fig.1and2)In2008,ourfirstOmni-directionalthreewheelsrobotwasfinishedwhichwasalsomademanually.(Fig.3)Thisrobotwasmoreflexible.In2009,ourrobotwasadvancedandnewrobotwasborn.In2010,Weuseadvancedvisionsystemandelectronicsystem.(
3、Fig.4)Fig.1Fig.2Fig.3Fig.4Thestructureofhardwaresystem(Fig.5)Fig.5Whenwemadetherobot,weputanOmni-directionalwheel,a160wDCelectricmachineryandapro-MotionBDMC3606SHServoDrivertogethertomakeaMachineryServoDriver.AndplacedthemontheevenlyEquilateraltrianglerobotmachinechassis.Theangleoftheadjacentmo
4、toraxisis120degrees.SotheconnectionbetweentheMachineryServoDriverissimplerandeasiertoreplace,removeorfix.(Fig.6and7)Fig.6Fig.72ElectricalStructureInournewrobot,weusedtheElectromagneticdrivemodeandtheLeveragetomaketheshootingAgencies(Fig.8).InordertoimprovethedrivingforceofElectromagnet,wedesign
5、edaseriesofStep-upcircuits,setthe24Vto380V,andstoredthepowerinaCapacitorarray.Fig.8Accordingtothedataoftheexperiment,whentheShootingAgencieshittheball,theheightoftheballisabout2metersandthemaximumdistanceisabout10meters.WetriedusetheIGBTtechnologytocontroltheenergyandachievethepurposeofhittingt
6、heball.ThecameraoftherobotisPointGrey,whichinterface:1394,imageresolution:640*480,framerate:60fps.(Fig.9)Fig.93SoftwareSystem3.1VisionInthepartofrobotvision,weuseHSVtodescribetheframe.WiththedistributionpixelsofH,itjudgesthecolorofobjects.Thecomputergivetheresultofthebinary.Thefootballisred,the
7、fieldisgreen,thefieldlineislightblueandtheobstaclesarepurple.(Fig.10,Fig.11)Fig.10(HISColorSpace)Fig.11(TheobjectscolorinOmni-directionalVisionSystem)Theflowchartofvisionsysteminsoftware:(Fig.11)Fig.123.2SelfPositioningOurrobotsel
