MiroSot大场地足球机器人系统的软件体系结构研究

为提高MiroSot大场地(11vs11)足球机器人系统的实时性,在分析集控式足球机器人系统的原理以及大场地项目特点的基础上,建立了大场地足球机器人系统的客户机/服务器(C/S)模式体系结构。该体系结构通过采用内核同步机制、消息映射等多线程技术和基于Socket的网络通讯技术实现了双摄像头的采集结构和客服模式的双机通信。其次,提出多级缓冲区的数据管理方式,保证了系统处理数据以及客户机与服务器之间传递数据的实时性和一致性。

Study on Software Architecture of Robot Soccer System for MiroSot Large-League

To improving the real-time of robot soccer system for MiroSot Large-League,this paper proposes and constructs its architecturebased on the Client and Server model while analysing the principles of controlled robot soccer systems and the charactistics of MiroSotLarge-League. Using multithreading technique including kernel synchronization system and windows message mapping and adapting net-work programming based on the Socket achieve the dual cameras capturing construction and communications between the client and serv-er. Then,this paper proposes the data managing way of multi-buffer so as to transfer data correctly between two PCs and to make the sys-tem real-time and consistency.