RoboCup小型足球机器人测速系统研究.pdfVIP

第 28 卷第 2期 V o l. 28 N o. 2 2011年2 月 Journal o f M echan ica l E lectrical Eng inee ring F eb. 20 11 RoboCup * 李明雄, 赵 晓, 李晓明 ( , 310018 : R oboCup, ( FPGA FPGA , ( SOPC , N IO S II, FPGA , M , 4 , FPGA N IO S II, , , Quartu s II S mi u lato r, : ; ; M ; ; : TH 824; TP24 : A : 1001- 4 551( 2011 02- 019 8- 04 V elocity m easurem ent system of small size soccer robot in Robocup L IM ingx iong, ZHAO X iao, L I X iaom ing ( F aculty of M echanical Eng ineering A utom a tion, Zhejiang SciT ech U niversity, H ang zhou 310018, Ch ina Abstrac t: In orde r to realize the realtmi e ve lo city m easurem ent for sm all size soccer robo t, a ve loc ity m easurem en t system based on optica l encoder and f ield prog ramm ab le g ate array( FPGA w as designed. FPGA w as se lected as the contro l ch ip and design technique o f system on a prog ramm able ch ip ( SO PC w as u sed by em bedd ing N IO S II processor. Each function modu le w as designed due to the hardw are program m ab le property o f FPGA. M orever, M m ethod w ith h ighaccuracy and highrea ltmi e w as adopted to m easure the speed . Each robot so cce rs four dr iven m o to r can be realtmi e m easured. A nd as a result of the connection o f FPGA and N IOS II in the robo t so cce r, the system w as smi p lif ied and itw as conven ient to m odify and smi ulate the hardw are or upg rade the system. A nd a lso th is ve loc ity m easurem ent w as smi ulated by Quartu s II S mi u la to r. T he s mi u la tion resu lts ve rify the feasibility of the system. K ey word s: socce r robo t; f ie ld prog ramm ab le ga te array( FPGA ; M me thod; optica l