阅读说明：本技术 一种冰壶机器人的投掷方法 (Throwing method of curling robot ) 是由 姜宇 金晶 李丹丹 沈毅 于 2019-08-27 设计创作，主要内容包括：本发明公开了一种冰壶机器人的投掷方法,属于人工智能与控制技术领域。本方法包括：确定大本营内外双方冰壶的数量和位置：获取冰壶比赛场地图像,进行图像校正,并进行冰壶识别、分割与定位,确定大本营内外双方冰壶的数量和位置；设计冰壶比赛己方得分函数St：设冰壶半径为rc,将双方冰壶中心到大本营中心点的距离与大本营半径r做比较,确定大本营内已方冰壶数量为K,对方冰壶数量为H,以及得分St；确定投掷方法：根据当前时刻得分情况St、不同位置双方冰壶的数量,设计冰壶投掷过程中的评价函数,再根据评价函数确定投掷方法。本发明大大降低了冰壶机器人的投掷策略算法的复杂性,为冰壶机器人进一步开展决策与控制提供了依据。(the invention discloses a throwing method of a curling robot, and belongs to the technical field of artificial intelligence and control. The method comprises the following steps: determining the number and the positions of the curling of the inside and the outside of the big book camp: acquiring an image of a curling competition field, correcting the image, identifying, dividing and positioning curling, and determining the number and the positions of curling of both sides inside and outside a large camp; designing a curling game personal score function St: setting the radius of the curling as rc, comparing the distance from the center of the curling to the central point of the grand camp with the radius r of the grand camp, and determining the number of the square curling in the grand camp as K, the number of the opposite curling as H and scoring as St; determining a throwing method: designing an evaluation function in the curling throwing process according to the current time score St and the number of curling at different positions, and determining the throwing method according to the evaluation function. The invention greatly reduces the complexity of the throwing strategy algorithm of the curling robot and provides a basis for the curling robot to further develop decision and control.)

1. a throwing method of a curling robot is characterized by comprising the following steps:

The method comprises the following steps: determining the number and the positions of the curling of the inside and the outside of the big book camp: acquiring an image of a curling competition field, correcting the image, identifying, dividing and positioning curling, and determining the number and the positions of curling of both sides inside and outside a large camp;

step two: designing a curling game personal score function St: setting the radius of the curling as rc, comparing the distance from the center of the curling to the central point of the grand camp with the radius r of the grand camp, and determining the number of the square curling in the grand camp as K, the number of the opposite curling as H and scoring as St;

Step three: determining a throwing method: designing an evaluation function in the curling throwing process according to the current time score St and the number of curling at different positions, and determining the throwing method according to the evaluation function.

2. A curling robot throwing method according to claim 1, wherein step one comprises the steps of:

the method comprises the following steps: acquiring an image of a curling competition field, correcting the image, identifying all curling, and distinguishing the curling into a self curling and an opposite curling;

the first step is: determining the self ice pot center position Pi (Xi, Yi), i (1, …, N) and the opposite ice pot center position pj (xj, yj), j (1, …, N) by taking the major key center point as an origin;

Step one is three: calculating the distance Di from the center of the square ice kettle to the center point of the large book, i is 1, N, wherein D1< D2< … < DN; the distance dj, j from the center of the ice kettle to the center point of the big book is 1, …, n, wherein d1< d2< … < dn.

3. a curling robot throwing method according to claim 1, wherein the second step comprises the following steps:

step two, firstly: comparing the minimum distance D1 from the center of the square curling to the center point of the grand camp with the minimum distance D1 from the center of the opposite curling to the center point of the grand camp, if r + rc < min (D1, D1) or D1 ═ D1, St ═ 0;

step two: if K e {1, …, K } curling sides exist in the grand book, the distances Dk from the central points of the grand book to the curling sides are all smaller than d1, namely Dk < min (r + rc, d1), St is K;

step two and step three: if H epsilon {1, …, H } of ice pots in the large-size camp exist in the opposite side, the distances dh from the central points of the large-size camp are all smaller than D1, namely dh < min (r + rc, D1), St is-H.

4. A throwing method of a curling robot according to claim 1, wherein in step three, specifically, in the red ring and its surrounding area in the center of the big camp, let the number of curling in own side be Ka and the number of curling in the opposite side be Ha; in a white circular area of a middle ring in the large camp, the number of curling on the own side is Kb, and the number of curling on the other side is Hb; in the blue circular areas of the inner and outer circles of the big camp, the quantity of the own curling is Kc, and the quantity of the opposite curling is Hc; the number of curling on one side in the free defense area is Kd, the number of curling on the other side is Hd, the curling from 1 st curling to 4 th curling is taken as the front section of the competition, the curling from 5 th curling to 12 th curling is taken as the middle section of the competition, the curling from 13 th curling to 16 th curling is taken as the end section of the competition during the curling competition,

the third step comprises the following steps:

step three, firstly: in the front stage of the competition, the throwing method of the curling robot is designed by weighting according to the number of curling inside/outside the big camp, and the throwing method evaluation function of the curling robot is designed as follows:

P＝K*W-H*W+K*W+H*W

Wherein, W is weight, W1 ═ W2 ═ 0.34, W3 ═ W4 ═ 0.16, the throwing method of the fore-stage curling robot needs to satisfy the evaluation function P1 ═ 0;

step three: in the middle section of a match, the throwing method of the curling robot is weighted according to the quantity of curling in different areas in the grand camp and the own score condition, and the throwing method evaluation function of the curling robot is designed as follows:

P＝S*W+K*W-H*W+K*W-H*W+K*W-H*W

wherein, W5 ═ W10 ═ W11 ═ 0.1, W6 ═ W7 ═ 0.2, W8 ═ W9 ═ 0.15, the throwing method of the middle stage curling robot in the competition needs to satisfy the evaluation function P2 ═ 0;

step three: at the end of the match, the throwing method of the curling robot is designed according to the own score condition, and the evaluation function of the throwing method of the robot is designed as follows:

P＝S

The throwing method of the curling robot at the back stage of the match needs to meet the requirement that the evaluation function P3> is 2;

step three and four: and selecting a corresponding throwing strategy in the previous stage based on the throwing method evaluation functions in three different stages from the first step to the third step.

Technical Field

The invention belongs to the technical field of artificial intelligence and control, and particularly relates to a throwing method of a curling robot.

background

Curling is an on-ice sport, known as "ice chess", an exercise that requires complex strategies and highly sophisticated control skills. The player needs to make a strategy to take into account the risk and perform a throw that requires fine control skills, depending on the previous throws and the ice condition.

with the development of artificial intelligence and control technology, the intelligent robot has the characteristics of higher and higher decision-making capability and high control precision, and can play curling games and competitions.

the invention carries out curling throwing through the robot with high precision and high repeatability, aims at more than 2 minutes of a single game, establishes a robot throwing method based on the current scores, the field big book, the quantity and the positions of curling of an inner side and an outer side, and brings a new development opportunity for the ginseng robot curling game.

disclosure of Invention

the invention aims to realize a curling robot throwing method which can automatically acquire curling competition field images, identify the number and the positions of curling of two parties according to the images and generate a corresponding throwing method.

the invention is realized by the following technical scheme: a method for throwing a curling robot, the method comprising the steps of:

The method comprises the following steps: determining the number and the positions of the curling of the inside and the outside of the big book camp: acquiring an image of a curling competition field, correcting the image, identifying, dividing and positioning curling, and determining the number and the positions of curling of both sides inside and outside a large camp;

step two: designing a curling game personal score function St: setting the radius of the curling as rc, comparing the distance from the center of the curling to the central point of the grand camp with the radius r of the grand camp, and determining the number of the square curling in the grand camp as K, the number of the opposite curling as H and scoring as St;

step three: determining a throwing method: designing an evaluation function in the curling throwing process according to the current time score St and the number of curling at different positions, and determining the throwing method according to the evaluation function.

further, the first step comprises the following steps:

The method comprises the following steps: acquiring an image of a curling competition field, correcting the image, identifying all curling, and distinguishing the curling into a self curling and an opposite curling;

The first step is: determining the self ice pot center position Pi (Xi, Yi), i (1, …, N) and the opposite ice pot center position pj (xj, yj), j (1, …, N) by taking the major key center point as an origin;

step one is three: calculating the distance Di from the center of the square ice kettle to the center point of the large book, i is 1, N, wherein D1< D2< … < DN; the distance dj, j from the center of the ice kettle to the center point of the big book is 1, …, n, wherein d1< d2< … < dn.

Further, the second step comprises the following steps:

Step two, firstly: comparing the minimum distance D1 from the center of the square curling to the center point of the grand camp with the minimum distance D1 from the center of the opposite curling to the center point of the grand camp, if r + rc < min (D1, D1) or D1 ═ D1, St ═ 0;

Step two: if K e {1, …, K } curling sides exist in the grand book, the distances Dk from the central points of the grand book to the curling sides are all smaller than d1, namely Dk < min (r + rc, d1), St is K;

step two and step three: if H epsilon {1, …, H } of ice pots in the large-size camp exist in the opposite side, the distances dh from the central points of the large-size camp are all smaller than D1, namely dh < min (r + rc, D1), St is-H.

Further, in the third step, specifically, in the red circular ring and the surrounding area thereof in the center of the grand camp, the number of curling irons of the own party is Ka, and the number of curling irons of the other party is Ha; in a white circular area of a middle ring in the large camp, the number of curling on the own side is Kb, and the number of curling on the other side is Hb; in the blue circular areas of the inner and outer circles of the big camp, the quantity of the own curling is Kc, and the quantity of the opposite curling is Hc; the number of curling on one side in the free defense area is Kd, the number of curling on the other side is Hd, the curling from 1 st curling to 4 th curling is taken as the front section of the competition, the curling from 5 th curling to 12 th curling is taken as the middle section of the competition, the curling from 13 th curling to 16 th curling is taken as the end section of the competition during the curling competition,

The third step comprises the following steps:

step three, firstly: in the front stage of the competition, the throwing method of the curling robot is designed by weighting according to the number of curling inside/outside the big camp, and the throwing method evaluation function of the curling robot is designed as follows:

P＝K*W-H*W+K*W+H*W

Wherein, W is weight, W1 ═ W2 ═ 0.34, W3 ═ W4 ═ 0.16, the throwing method of the fore-stage curling robot needs to satisfy the evaluation function P1 ═ 0;

step three: in the middle section of a match, the throwing method of the curling robot is weighted according to the quantity of curling in different areas in the grand camp and the own score condition, and the throwing method evaluation function of the curling robot is designed as follows:

P＝S*W+K*W-H*W+K*W-H*W+K*W-H*W

wherein, W5 ═ W10 ═ W11 ═ 0.1, W6 ═ W7 ═ 0.2, W8 ═ W9 ═ 0.15, the throwing method of the middle stage curling robot in the competition needs to satisfy the evaluation function P2 ═ 0;

Step three: at the end of the match, the throwing method of the curling robot is designed according to the own score condition, and the evaluation function of the throwing method of the robot is designed as follows:

P＝S

the throwing method of the curling robot at the back stage of the match needs to meet the requirement that the evaluation function P3> is 2;

step three and four: and selecting a corresponding throwing strategy in the previous stage based on the throwing method evaluation functions in three different stages from the first step to the third step.

the invention has the following beneficial effects: the invention provides a quantitative index function of the score of the curling match by using the advantage that the robot can quantitatively acquire the information such as the quantity, the position and the like of the curling on the field, and works out the strategy evaluation functions of the curling robot in different throwing stages and the conditions required to be met for winning the match evaluation function, thereby greatly reducing the complexity of the throwing strategy algorithm of the curling robot and providing a basis for the curling robot to further develop decision and control.

Drawings

FIG. 1 is a method flow diagram of a curling robot throwing method of the present invention;

fig. 2 is a schematic view of a curling field.

Detailed Description

the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

referring to fig. 1, the present invention provides a curling robot throwing method, including the steps of:

The method comprises the following steps: determining the number and the positions of the curling of the inside and the outside of the big book camp: acquiring an image of a curling competition field, correcting the image, identifying, dividing and positioning curling, and determining the number and the positions of curling of both sides inside and outside a large camp;

step two: designing a curling game personal score function St: setting the radius of the curling as rc, comparing the distance from the center of the curling to the central point of the grand camp with the radius r of the grand camp, and determining the number of the square curling in the grand camp as K, the number of the opposite curling as H and scoring as St;

Step three: determining a throwing method: designing an evaluation function in the curling throwing process according to the current time score St and the number of curling at different positions, and determining the throwing method according to the evaluation function.

referring to FIG. 1, in the preferred embodiment of this section, step one includes the following steps:

the method comprises the following steps: acquiring an image of a curling competition field, correcting the image, identifying all curling, and distinguishing the curling into a self curling and an opposite curling;

The first step is: determining the self ice pot center position Pi (Xi, Yi), i (1, …, N) and the opposite ice pot center position pj (xj, yj), j (1, …, N) by taking the major key center point as an origin;

step one is three: calculating the distance Di from the center of the square ice kettle to the center point of the large book, i is 1, N, wherein D1< D2< … < DN; the distance dj, j from the center of the ice kettle to the center point of the big book is 1, …, n, wherein d1< d2< … < dn.

Referring to fig. 1, in this preferred embodiment, step two includes the following steps:

Step two, firstly: comparing the minimum distance D1 from the center of the square curling to the center point of the grand camp with the minimum distance D1 from the center of the opposite curling to the center point of the grand camp, if r + rc < min (D1, D1) or D1 ═ D1, St ═ 0;

step two: if K e {1, …, K } curling sides exist in the grand book, the distances Dk from the central points of the grand book to the curling sides are all smaller than d1, namely Dk < min (r + rc, d1), St is K;

Step two and step three: if H epsilon {1, …, H } of ice pots in the large-size camp exist in the opposite side, the distances dh from the central points of the large-size camp are all smaller than D1, namely dh < min (r + rc, D1), St is-H.

Referring to fig. 1-2, in the preferred embodiment of this section, in step three, specifically, in the red circle and its surrounding area in the center of the large camp, the number of curling irons of the own party is Ka, and the number of curling irons of the opposite party is Ha; in a white circular area of a middle ring in the large camp, the number of curling on the own side is Kb, and the number of curling on the other side is Hb; in the blue circular areas of the inner and outer circles of the big camp, the quantity of the own curling is Kc, and the quantity of the opposite curling is Hc; the number of curling on one side in the free defense area is Kd, the number of curling on the other side is Hd, the curling from 1 st curling to 4 th curling is taken as the front section of the competition, the curling from 5 th curling to 12 th curling is taken as the middle section of the competition, the curling from 13 th curling to 16 th curling is taken as the end section of the competition during the curling competition,

the third step comprises the following steps:

Step three, firstly: in the front stage of the competition, the throwing method of the curling robot is designed by weighting according to the number of curling inside/outside the big camp, and the throwing method evaluation function of the curling robot is designed as follows:

P＝K*W-H*W+K*W+H*W

Wherein, W is weight, W1 ═ W2 ═ 0.34, W3 ═ W4 ═ 0.16, the throwing method of the fore-stage curling robot needs to satisfy the evaluation function P1 ═ 0;

step three: in the middle section of a match, the throwing method of the curling robot is weighted according to the quantity of curling in different areas in the grand camp and the own score condition, and the throwing method evaluation function of the curling robot is designed as follows:

P＝S*W+K*W-H*W+K*W-H*W+K*W-H*W

wherein, W5 ═ W10 ═ W11 ═ 0.1, W6 ═ W7 ═ 0.2, W8 ═ W9 ═ 0.15, the throwing method of the middle stage curling robot in the competition needs to satisfy the evaluation function P2 ═ 0;

step three: at the end of the match, the throwing method of the curling robot is designed according to the own score condition, and the evaluation function of the throwing method of the robot is designed as follows:

P＝S

the throwing method of the curling robot at the back stage of the match needs to satisfy the evaluation function P3> being 2.

and step three, providing different throwing method evaluation functions of three different stages in the competition, and finally providing a throwing strategy according to different stage requirements of the evaluation functions.

the invention aims to provide a throwing method of a curling robot, which has strong applicability and can be used as a throwing reference strategy no matter whether the robot throws first or last hand.