摘要
机器人足球赛是一项竞争激烈、对抗性强的高水平比赛,它涉及的技术包括机器视觉、图像处理、人工智能、机电一体化、机器人学、数据融合、局域网通信等。足球机器人系统已经成为人工智能领域许多科研工作者的研究热点之一,这些研究将不断促进机器人技术水平向前发展,并服务于人类社会。本文以RoboCup中型组机器人为研究平台,以RoboCup中型组机器人足球比赛为研究背景,对机器人通信网络系统进行研究与设计,并设计相关实验进行检验,取得了较好的效果。本文研究和设计的主要内容包括：
(1)详细说明RoboCup中型组机器人比赛系统以及机器人系统各部分的组成和原理,并在此基础上分析了机器人系统研究的关键技术：视觉信息处理技术、决策系统相关技术和通信网络系统相关技术。
(2)对有关RoboCup中型组机器人通信的基本原理进行分析,介绍了OSI参考模型、OSI传输层协议TCP和UDP、WLAN技术以及机器人通信系统所使用的无线局域网协议,画出机器人通信网络系统的体系结构图。对RoboCup中型组机器人通信网络系统干扰进行分析,并进行相应的抗干扰分析。
(3)结合RoboCup中型组机器人足球比赛的实际情况,分析RoboCup中型组机器人通信网络系统所需要的功能并画出相应的功能框架图,对所分析的功能进行功能设计并画出相应的流程图。使用Microsoft Visual C++ .NET 2003编写机器人通信网络系统的实例,包括：网络控制端教练机程序和机器人通信子系统程序。
(4)对所编写的教练机程序和机器人通信子系统程序进行实验,验证RoboCup中型组机器人网络通信系统应用软件的可行性,验证通信系统传输信息的可靠性和准确性,实验结果表明本文的理论和设计的软件是可行的,并具有很好的实用性。
The robotic soccer competition is a highly competitive and antagonistic high level competition. The techniques involved in the robot research including machine vision, image processing, artificial intelligence, electromechanical integration,robotics, data fusion, LAN communication etc.The soccer-robot system has become one of the researching focuses in the field of artificial intelligence for many researchers.These research work can constantly boost the development of robotics and give service to our society. This paper based on the soccer-robot and the robotic soccer competition,study and design the communications network system of soccer-robot. The research results also made a good performance through the tests in the robot training.The main contents of this paper are as follows:
(1) This thesis elaborates on the RoboCup middle-size league robotic soccer competition system as well as the composition and principle of soccer-robot system,then brings forward the key technologies in researching on the soccer-robot system:Image acquisition and processing technology, technology about decision-making system, technology of communications network system for soccer-robot.
(2) This thesis analyzes the fundamental about the RoboCup middle-size robot communication, introduce the Open Systems Interconnection reference model,the protocol of its transport layer, the WLAN technology and introduce emphatically about the WLAN communication protocol that the the RoboCup middle-size robot communication system used.Then draw up the structure chart of the communications network system of soccer-robot.This paper also analyzes the interference in the communications network system and expatiate on the anti-jamming messures about the communication network.
(3) Take robotic soccer competitions into consideration,this paper analyzes the functions that the RoboCup middle-size robot communication system should have and draws function diagrams that corresponding to these functions.Then,designs these functions and draws their data flow diagram.After that, uses Microsoft Visual C++.NET 2003 to compile the robot communication network system's example, including:Network control procedure and robot correspondence subsystem procedure.
(4) This paper conducts experiments on the Network control procedure and robot correspondence subsystem procedure of the RoboCup middle-size robot in order to test the feasibility, reliability, interference immunity. The tests showed that the theoretics and software design in this paper are feasible and functional.
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