中型组足球机器人控球系统的设计与实现

针对RoboCup中型组足球机器人在比赛过程中，被动式控球机构不具备断球功能、持球不稳定，以及带球不能进行小角度转弯等问题，将红外传感技术与机电一体化技术应用到中型足球机器人控球机构中，设计了基于Atmegal28的主动式控球机构，通过串口从上位机读取机器人的行进姿态，结合红外传感器探测到的控球区域信息，选择了左右持球臂传动电机的控制方式，实现了比赛过程中机器人的断球、带球转身和持球等关键技术。采用模块化架构理念，设计了DC—DC电源电路、红外传感器电路、空心杯直流电机驱动电路、持球臂机械构件以及系统软件。实验结果表明，中型足球机器人控球系统的输出电压、PWM波、红外探测距离等参数误差均小于2％，RisingSun机器人在实际比赛中的有效控球时间达到了56％。

Design and realization of ball hand system for medium-sized league football robot

Aiming at RoboCup medium-sized league football robot in the process of game, passive handing bali mechanism do not have func- tion of stealing the ball, handing the ball is not stable, and carrying the ball can＇t turn of small angle, the infrared sensor technology and mechatronics technology were applied to medium-sized football robot handing ball mechanism, the active control mechanism based on At- mega128 was designed, via a serial port from a PC to read the robot posture of the travel, combined with infrared sensors information, the drive motor control method of the arm around the ball was selected, to realize key technology including the robot of stealing the ball, the han- ding ball turned and the ball carried in the process of game. Modular architecture concept was adopted to design the DC-DC power supply cir- cuit, infrared sensor circuit, the hollow glass of DC motor drive circuit, arm mechanical components of handing the ball, and system soft- ware. The experimental results show that system parameter of the output voltage, the PWM wave, infrared detection range of medium-sized league football robot, such as error less than 2% , the effective ball-handling time of the Rising Sun robot reaches 56% in the actual game.