Yuheng Zhang, Yizhun Peng, Lianchen Zhao, Zhou Zhang, Wanlong Peng
Pages 75-79
Abstract
As a humanoid robot, the humanoid soccer robot integrates artificial intelligence with competitive sports skillfully. It is an intelligent control system which integrates mechanical structure, computer, circuit design, automatic control,decision-making, communication, and other technologies. In recent years, it is a very good research platform in the field of artificial intelligence and robots. This paper designs a humanoid soccer robot based on STM32 processor, and completes the theoretical analysis and experimental verification, the specific work is as follows:Through theoretical analysis and experimental verification, the stability,working parameters and the division and cooperation of STM32 and 51 series single-chip computers of humanoid soccer robot system are analyzed, and determine the final control scheme. STM32 drives the camera to collect information, process images and make decisions. STC12C5A60S2 controls the robot steering gear to complete the corresponding action. Serial communication is used between the two controllers. The peripheral circuit mainly includesOV7725 camera module and TFT-LCD LCD display module.In order to recognize and approach soccer by humanoid soccer robot and kick soccer into the goal, we should design the action programs such as straight walking, left turning,right turning, head scanning course, left translating, right translating and kicking. Reasonable images processing and decision algorithms are also designed. Finally, the control program is developed on Keil software platform for debugging. The experimental results show that the humanoid soccer robot designed in this paper can accurately identify the soccer ball and the goal, and accurately complete the kicking actions, which meets the relevant requirements of the expected design and scheme.
Keywords: Humanoid robot; Dual controller; erial communication; Images processing