Humanoid Soccer Robot

.:: Soccer Robot Playground ::.

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Robocup Rules

According to the PDF file taken from the official RoboCup website, we have to design the competition field dynamically, that is, we should not have any problem displaying it on any screen with any resolution.

Installation

install necessary libraries for python with these command :

• for install opencv library

  pip install opencv-python

• for install numpy library

  pip install numpy

Land proportions according to RoboCup rules

Land ratios for KidSize Robot with Python programming language :

fieldLength = 9 * meter2Pixel
fieldWidth = 6 * meter2Pixel
goalDepth = 0.6 * meter2Pixel
goalWidth = 2.6 * meter2Pixel
goalHeight = 1.2 * meter2Pixel
goalAreaLength = 1 * meter2Pixel
goalAreaWidth = 3 * meter2Pixel
penaltyMarkDistance = 1.5 * meter2Pixel
centerCircleDiameter = 1.5 * meter2Pixel
borderStripWidth = 1 * meter2Pixel
penaltyAreaLength = 2 * meter2Pixel
penaltyAreaWidth = 5 * meter2Pixel

windowWidth = fieldWidth + 2 * borderStripWidth
windowLength = fieldLength + 2 * borderStripWidth
penaltyRadius = int(0.075 * meter2Pixel)
robotSize = int(0.27 * meter2Pixel)
radius = int(1.5 / 2 * meter2Pixel)

Land ratios for AdultSize Robot with Python programming language :

fieldLength = 14 * meter2Pixel
fieldWidth = 9 * meter2Pixel
goalDepth = 0.6 * meter2Pixel
goalWidth = 2.6 * meter2Pixel
goalHeight = 1.8 * meter2Pixel
goalAreaLength = 1 * meter2Pixel
goalAreaWidth = 4 * meter2Pixel
penaltyMarkDistance = 2.1 * meter2Pixel
centerCircleDiameter = 3 * meter2Pixel
borderStripWidth = 1 * meter2Pixel
penaltyAreaLength = 3 * meter2Pixel
penaltyAreaWidth = 6 * meter2Pixel

windowWidth = fieldWidth + 2 * borderStripWidth
windowLength = fieldLength + 2 * borderStripWidth
penaltyRadius = int(0.075 * meter2Pixel)
robotSize = int(0.27 * meter2Pixel)
radius = int(1.5 / 2 * meter2Pixel)

Create a Empty Ground

Source Code :

Ground = np.zeros((windowWidth, windowLength, 3), np.uint8)

Ground[:] = (0, 150, 0)

# Points corresponding to the quadrant of the Ground
pointA = (borderStripWidth, borderStripWidth)
pointB = (borderStripWidth + fieldLength, borderStripWidth)
pointC = (borderStripWidth + fieldLength, borderStripWidth + fieldWidth)
pointD = (borderStripWidth, borderStripWidth + fieldWidth)

cv2.line(Ground, pointA, pointD, (255, 255, 255), 2, 8, 0)
cv2.line(Ground, pointB, pointC, (255, 255, 255), 2, 8, 0)
cv2.line(Ground, pointC, pointD, (255, 255, 255), 2, 8, 0)
cv2.line(Ground, pointA, pointB, (255, 255, 255), 2, 8, 0)

#-----------------Middle Line---------------
pointMiddlelineA = (borderStripWidth + fieldLength//2, borderStripWidth)
pointMiddlelineB = (borderStripWidth + fieldLength//2, borderStripWidth + fieldWidth)
cv2.line(Ground, pointMiddlelineA, pointMiddlelineB, (255, 255, 255), 2, 8, 0)

Create a Empty Ground & Penalty Mark Distance

The coordinates of each point for this section are as follows:

Penalty Area Length & Width

The coordinates of each point for this section are as follows:

Goal Area Length & Width

The coordinates of each point for this section are as follows:

Goal Depth & Width

The coordinates of each point for this section are as follows:

Center Circle Diameter

The coordinates of each point for this section are as follows:

Final Shape

After all of that you should see something like this:

Developers 👨🏻‍💻

_{.:: Amir M. Parvizi ::.}

_{.:: Mohammad Reza Sheikh Ahmadi ::.}

System & Hardware 🛠

⚙️ Things I use to get stuff done

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