摘要
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。
To improving the real-time of robot soccer system for MiroSot Large-League, this paper proposes and constructs its architecture based on the Client and Server model while analysing the principles of controlled robot soccer systems and the charactistics of MiroSot Large-League. Using multithreading technique including kernel synchronization system and windows message mapping and adapting network programming based on the Socket achieve the dual cameras capturing construction and communications between the client and server. Then, this paper proposes the data managing way of multi-buffer so as to transfer data correctly between two PCs and to make the system real-time and consistency.
出处
《电脑知识与技术》
2008年第12期1725-1727,1734,共4页
Computer Knowledge and Technology
关键词
足球机器人
大场地
C/S模式
多线程
多级缓冲
robot soccer
large playground
client-server model
multi-threads
multi-buffers
