RoboCup中型组机器人比赛规则(MSLR).

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2013中国机器人大赛RoboCup标准平台组技术挑战赛比赛规则

Technical Challenges for the RoboCup2013Standard Platform League CompetitionRoboCup SPL Technical CommitteeMarch29,20131IntroductionThere are three technical challenges that will be held at the RoboCup2013Standard Platform League Competition.These are:•The Open Challenge(Section2)•The Passing Challenge(Section3)•The Drop-In Player Challenge(Section4)The team with the top score in a challenge will receive25points,each position thereafter will receive1less point;i.e.1st=25pts,2nd=24pts,3rd=23pts...25th= 1pts.In the case of a draw,each team will receive the average of the points allocated to these positions;e.g.if three teams tie for2nd,they will receive(24+23+22)/3=23 points.Teams not competing in a challenge will receive0points.If a team competes in a challenge,but fails to score a point(or receive a vote),they will also receive0 points.The team with the highest total score after all challenges is deemed the overall challenge winner.All challenges will use the2013ﬁeld and the2013rules will apply.Each challenge will be performed in a two hour time slot,where the time slots of each challenge will not overlap.2The Open ChallengeThis challenge is designed to encourage creativity within the Standard Platform League, allowing teams to demonstrate interesting research in theﬁeld of autonomous systems. Each team will be given three minutes of time on the RoboCupﬁeld to demonstrate their research.Each team that wishes to compete in this challenge must send a short,one page document describing their demonstration to the technical committee by May27,2013. Teams who do not submit this description by the deadline will not be allowed to com-pete in this challenge.These descriptions will be posted on the website before the competition.1The winner will be decided by a vote among all the SPL teams.In particular:•The demonstration should be strongly related to the scope of the league.Ir-relevant demonstrations,such as dancing and debugging tool presentations,are discouraged.•Each team may use any number of Aldebaran NAO robots.Teams must arrange for their own robots.•Teams have three minutes to demonstrate their research.At most one additional minute may be used for initial setup.Any demonstration deemed likely to require excessive time may be disallowed by the technical committee.•Teams may use extra objects on theﬁeld as part of their demonstration.Robots other than the NAOs may not be used.•The demonstration must not mark or damage theﬁeld.Any demonstration deemed likely to mark or damage theﬁeld may be disallowed by the technical committee.•The demonstration may not modify the NAO robots.•The demonstration may use off-board sensors or actuators,as long as the NAO is still the focus of the challenge.This is the only challenge in which off-board sensors or actuators are allowed.•The demonstration may use off-board computing power connected over the wire-less LAN.This is the only challenge in which off-board computation is allowed.•The demonstration may use off-board human-computer interfaces.This is the only challenge in which off-board interfaces,apart from the Game Controller, are allowed.The winner will be decided by a vote among the SPL teams using a Borda count (/wiki/Borda_count).Each SPL team will vote for their top10teams in order(excluding themselves).Teams are encouraged to eval-uate the performance based on the following criteria:technical strength,novelty,ex-pected impact and relevance to RoboCup.At a time decided by the designated ref-eree,within one hour of the last demonstration if not otherwise speciﬁed,the captain of each team will submit his or her team’s rankings byﬁlling out an online form at http://goo.gl/vIVTr.Any points awarded by a team to itself will be disre-garded.The points awarded by the teams will be summed,and the team with the highest total score shall be the winner.3The Passing ChallengeThis challenge is intended to encourage teams to develop passing skills.In this chal-lenge,each team will be required to provide three robots,all robots must be in the same2colored uniform(the decision on the color of the uniforms can be made by each team). Each robot will placed on theﬁeld inside a circle of radius35cm(Figure1).The center of the circles will be no closer then80cm and no further then250cm apart.The triangle formed by the circles will not be equilateral,i.e.the distances between robots will be different.The circles may be marked with a felt-tip marker(such that they are invisible to the robots)or with white tape(such that they may be visible to the robots).Figure1:An example placement of the robots for the passing challenge.The location of the circles will be made available on the morning of the challenge. It will be the responsibility of each team to make sure they have set the correct points.Ten minutes before the challenge is scheduled to start,participating teams must provide the three robots participating in the challenge to the Technical Committee (switched off).Before the challenge,each robot will be booted and put into the penalized state. The GameController will conﬁgure the robots to team color blue.Once each robot has been placed inside a circle,they will be placed into the‘set’state for15seconds. The robots will then be placed into‘playing’and given three minutes to pass the ball around.A pass will be regarded as successful when:•The passing robot kicks the ball from inside its circle and•the catching robot stops/controls the ball inside its circle.Stops/control will be left to the referee’s discretion.Examples are:–The ball comes to a complete stop.–The robot is capable of kicking the ball from one circle to another withoutthe need for stopping the ball.A pass will be deemed partially successful if:•The passing robot kicks the ball from inside its circle and3•the catching robot touches the ball inside the circle but the ball then travels out-side the circle.A pass is deemed unsuccessful if:•Either robot makes contact with the ball when the ball is outside a circle or•the ball exits theﬁeld.A robot is deemed to be inside a circle if part of one foot is inside the circle.The ball is inside the circle if some part of the ball is inside the circle.The line is regarded as inside the circle.Robots may pass the ball between each other in any order,but will be rewarded for passing to a different robot then that which passed to it.Scoring of the challenge will be as follows:•3pts For a successful non‘return’pass that directly follows a successful pass reception.•1pt For a successful pass.•0.5pt For a partially successful pass.For example,if robot2starts with the ball and successfully passes to robot3,one point will be awarded.Then if robot3successfully passes to robot1,three points will be awarded.If robot1then successfully passes back to robot3,one point will be awarded.If robot3then successfully passes to robot2,three points will be awarded.If robot2then has a partially successful pass to robot1,0.5points will be awarded.Then if robot1brings the ball back to its circle and then successfully passes to robot3,one point will be awarded(if robot1had passed the ball before taking it back to its circle, no points would be awarded).All normal game rules apply in the challenge,except:•if the ball leaves theﬁeld,it will be replaced back in the closest circle•game stuck will not be calledIf a rule is violated then any pass resulting from this violation will receive no points, and the pass itself will be considered unsuccessful.4The Drop-In Player ChallengeThe main point of this challenge is for teams to develop‘drop-in’players that can be good teammates and play well with a team composed of drop-in players from a variety of teams.Each participating team will contribute one drop-in player.Each drop-in player will compete in5minute games with at least three different teams composed of randomly chosen drop-in players.In each game,the opponent will also be a team composed of4randomly selected drop-in players.The exact number of games played by each drop-in player will depend on the number of teams that participate in the challenge.So that we can randomly draw teams and organize this challenge,each team that wishes to compete in this challenge must send a statement regarding their intent to participate in this challenge to the technical committee by May27,2013.Teams who do not submit an intent to participate by this deadline will not be allowed to compete in this challenge.All normal game rules apply in this challenge.The only exception will be:•Any player may be goalie(ie,enter the goal box and behave as goalie).However, once one player has become goalie for a team,this player will be the goalie for the remainder of the game.Any subsequent defensive players to enter the goal box will be removed as illegal defenders.Each drop-in player may communicate with its teammates using a simple protocol. However,drop-in players are not required to utilize this protocol.The protocol for the communication packet is presented in pickup.h,available at https://www.tzi. de/spl/pub/Website/Downloads/pickup.h.The challenge will be scored using two metrics:•average goal difference•average human judged scoreThe judges will likely be from other leagues,but teams are still asked to remove or cover any distinguishing markers on their robots for this challenge.For each game, each judge will award each drop-in player a teamwork score ranging from0to10, where10means the drop-in player was an excellent teammate and0means that the drop-in player ignored its teammates.The judges will be instructed to focus on team-work capabilities,rather than individual skills,so that a less-skilled robot could still be given top marks for good teamwork.The human judges will help to identify good team-work abilities in agents to ameliorate the problems of random variance in the games and the quality of teammates affecting the goal differences.The two metrics will be normalized when determining the overall winner of this challenge.The normalization factor will be computed to be10best average goal difference of a drop-in playerEach drop-in player’s average goal difference will then be multiplied by this normal-ization factor,to get each drop-in player’s normalized average goal difference.The normalized average goal difference will be added to the average human judged score for each drop-in player to obtain its overall score.Each participating team should plan for at least one team member to attend the challenge.This team member will need to update the team color and player number of their team’s drop-in player between games,and potentially help referee some of the games.5。

RoboCup中型组比赛程序设置指南2009

RoboCup 中型组比赛程序设置指南（2009年11月10日）一、比赛程序的部署博创V oyagerIII 的中型组比赛程序总共包含三个部分：场外教练程序MSLCoach 、场上队员程序V oyVideo 和比赛前使用的阈值标定程序。

其中教练和队员程序的部署如下图：路由器网线网线二、准备工作校准全景中心由于安装、设备转移或者剧烈撞击，全景摄像头的与反射镜的中心方向有可能出现轻微的偏离，所以在机器上电调试和比赛前，都应该确认一下摄像头与反射镜的中心是否对准。

使用HSI 阈值编辑器打开全景摄像头视频图像，点击界面右下侧的“全景中心校准”选框，左下方的显示图像中会在画面中心点出现一个十字标。

通过调节全景摄像装置底座上的三个螺纹旋钮，将摄像头的中心移动到十字标的中点，校准工作完成。

调节带球弹簧V oyagerIII的带球转向动作需要机器人前侧的带球弹簧的配合才能流畅完成。

由于初次安装，运输以及比赛中的剧烈撞击，带球弹簧可能会出现折弯现象，这时候需要通过调节弹簧的位置来保证其触球点。

调节的目标效果是：让下方的两侧弹簧各距离球表面越1cm，在避免触球的同时保证其盘球的效果；让上方的两根弹簧能压住球，同时还要保证球能滚到其下侧且机器人带球移动的时候球还能保持与地面的滚动。

每次调节完毕，可以推动机器人去触球，初步感觉一下效果，然后再运行比赛程序，在背向目标球门的情况下加载进攻行为，用机器人带球转向的效果来检验调节的结果是否正确。

确认摄像头驱动版本对于使用新版罗技摄像头的设备，请在“设备管理器”中确认安装的驱动为最新的11.8版本。

若驱动程序低于这个版本，请联系我们。

笔记本电源设置在电脑的屏保设置中，将所有有可能导致休眠或者关机的设置全部去掉，让计算机始终处于运行状态。

确认所有设置以后，试着在电池供电状态下将笔记本合上再打开，查看是否会休眠。

对于IBM X61型号的笔记本，运行比赛程序静候5秒钟，观察视觉输出信息中的“全耗时”数值，正常情况下应该小于70ms（如图中66.9197ms），如果大于这个数值，则需要进行一些操作，保证笔记本在电池供电状态下CPU不会进入节能模式，具体见附录。

RoboCup类人组比赛规则

RoboCup Soccer Humanoid League Rules and Setupfor the 2010 competitionin O rdos, ChinaMay25, 2010Contents1The Field of Play51.1Playing Surface (5)1.2Goals (7)1.3Landmark Poles (7)1.4Lighting (7)1.5People Area (9)2The Ball9 3The Number of Players103.1Incapable Players (10)3.2Substitutions (10)3.3Temporal Absence (10)4The Design of the Robots114.1Robot Height (11)4.2Weight Restrictions (12)4.3Size Restrictions (12)4.4Sensors (13)4.5Communication and Control (14)4.6Colors and Markers (15)4.7Safety (16)4.8Robustness (16)5The Referee17 6The Assistant Referees18 7The Duration of the Match197.1Periods (19)7.2Timeouts (19)8The Start and Restart of Play208.1Preliminaries (20)8.2Kick-oﬀ (20)8.3Dropped Ball (22)9The Ball In and Out of Play23 2010RoboCup Soccer Humanoid League Rules and SetupPreambleThese rules are intended to ensure a fair competition in the RoboCup Soccer Hu-manoid League.They want to encourage creativity and technical development. The rules are oriented towards the FIFA Laws of the Game.However,they still deviate in many points from the FIFA laws,but it is intended to decrease these deviations in the future,in order to work towards the long-term goal of playing with humanoid robots against human soccer teams.Among the research challenges that are speciﬁc to the Humanoid League is maintaining the dynamic stability of the bipedal robots while they are walking,running,kicking,and performing other tasks.Another example is the coordination of perception(with a human-like limitedﬁeld of view)and locomotion.The humanoid soccer robots must also be robust enough to deal with challenges from other players.Size ClassesAs it is not feasible to have humanoid robots of very diﬀerent sizes play against each other,the competitions are held in three size classes:KidSize,TeenSize and AdultSize.See Section4for the deﬁnition of these classes.Male and FemaleReferences to the male gender in the rule book in respect of referees,assistant referees,players and oﬃcials are for simpliﬁcation and apply to both males and females.2010RoboCup Soccer Humanoid League Rules and Setup1The Field of PlayThe competitions take place on a rectangularﬁeld,which contains two goals,ﬁeld lines,and two landmark poles,as shown in Fig.1.Figure1:Humanoid robot soccerﬁeld(not to scale).1.1Playing SurfaceTheﬁeld consists of aﬂat and even ground which is covered with green carpet. The white lines are5cm wide.Line segments of10cm length are used to denote penalty mark and the kick-oﬀposition(center mark).The longer outerﬁeld lines are called touch lines,whereas the shorter outerﬁeld lines are called goal lines. Theﬁeld is surrounded by a border strip,which is also covered with green carpet. The world outside the border strip is undeﬁned.2010RoboCup Soccer Humanoid League Rules and SetupFigure2:KidSize(top)and Teen-/Adult Size(middle)goals;birds eye view of goal layout(bottom).2010RoboCup Soccer Humanoid League Rules and SetupTable1:Dimensions of the rectangularﬁeld of soccer play(in cm).KidSize TeenSize&AdultSizeA Field length600B Field width400C Goal depth5060D Goal width150260E Goal area length60F Goal area width300G Penalty mark distance180I Center circle diameter120J Border strip width(min.)70K Distance of pole toﬁeld401.2GoalsA goal is placed in the middle of each goal line.One of the goals has a colored yellow frame.The other goal frame is colored s in grey or black color are attached to the goals and the ground behind the goal,provided that they are properly supported and do not interfere with the goalkeeper.The goals for the KidSizeﬁeld have a crossbar at a height of80cm.The height of the net is the same and it is open from the top(see Fig.2).The TeenSize and AdultSize goals have a crossbar at height of180cm and the height of the net is120cm.The goal posts and crossbars are white and cylindrical and have a diameter of10cm(see Fig.2).1.3Landmark PolesThe two landmark poles are placed at each of the two intersection points between the touch line and the center line.The landmark poles have a diameter of10cm. They consist of three segments of15cm height,placed above each other.The lowest and the highest segments are colored in the same color as the goal at its left side(see Fig.3).1.4LightingThe lighting conditions depend on the actual competition site.Lighting temper-ature may diﬀer signiﬁcantly from previous years,as only ceiling lights are used.2010RoboCup Soccer Humanoid League Rules and SetupFigure 3:Humanoid soccer ﬁelds with KidSize (top)and Teen -/Adult Size (bot-tom)goals (to scale).2010RoboCup Soccer Humanoid League Rules and Setup2The Ball9 Theﬁeld is illuminated presuming a suﬃcient bright and constant lighting on the ﬁeld(i.e.no daylight).1.5People AreaAround theﬁeld of play(Figure1)aﬁeld zone is deﬁned on site in which only the referee(Section5),the assistant referees(Section6)and the two robot handlers are allowed to stay during the game.Theﬁeld zone must give suﬃcient space to the referees and robot handlers for passing behind the landmark poles and the goals.All other people(including other team members,organizational staﬀ, representatives of the press and the media etc.)must stay outside theﬁeld zone. 2The BallEach size class uses its own ball:1.KidSize:Standard size orange tennis ball,2.TeenSize and AdultSize:Orange beach handball,size2(18.0cm diameter,294g).2010RoboCup Soccer Humanoid League Rules and Setup3The Number of Players103The Number of PlayersA match is played by two teams,each consisting of not more than three players in KidSize and not more than two players in TeenSize,one of whom must be designated as goalkeeper.A match may not start if either team consists of less than one player.3.1Incapable PlayersPlayers not capable of play(e.g.players not able to walk on two legs,players not able to stand,or players with obvious malfunctions)are not permitted to participate in the game.They must be removed from theﬁeld.It is up to the referee to judge whether a player is capable of play.The referee may ask the team leader of a player suspected to be incapable of play to demonstrate playing ability at any time.Aﬁeld player that is not able to get back into a stable standing or walking posture from a fall within20seconds will be removed from theﬁeld for30seconds removal penalty and has to reenter theﬁeld according to3.3.3.2SubstitutionsUp to two players per game can be substituted by other players of the same team.The referee must be informed prior to the substitution.A substitute only enters theﬁeld after the player being replaced left theﬁeld and after receiving a signal from the referee.Any of the other players may change places with the goalkeeper,provided that the referee is informed before the change is made and that the change is made during a stoppage of the match.Exchanging aﬁeld player with a goalie does not count as substitution.3.3Temporal AbsenceServicing robots on the playingﬁeld is not permitted.A robot may be taken out of theﬁeld for service,after receiving permission from the referee.Taking out a robot for service does not count as a substitution.A serviced robot may not come into play again before30s elapsed after it was taken out.It has to enter theﬁeld at the one of the two endpoints of the halfway line which is further away from the current ball position.It has to face the center of theﬁeld when entering.2010RoboCup Soccer Humanoid League Rules and Setup4The Design of the Robots114The Design of the RobotsRobots participating in the Humanoid League competitions must have a human-like body plan,as shown in Fig.4.They must consist of two legs,two arms, and one head,which are attached to a trunk.The robots must be able to stand upright on their feet and to walk on their legs.The only allowed modes of locomotion are bipedal walking and running.Figure4:Example of a humanoid robot body plan(left)and standing upright pose(right).4.1Robot Height4.1.1.The height H of a robot is determined as follows:H=min{H top,2.2·H com},(1) where H top denotes the height of the robot when standing upright(with fully extended knees,cf.Fig.4right)and H com denotes the height of the robot’s center of mass,measured in upright posture.4.1.2.Based on H,the following size restrictions apply:•30cm≤H≤60cm to play in the KidSize class,•100cm≤H≤160cm to play in the TeenSize class.2010RoboCup Soccer Humanoid League Rules and Setup4The Design of the Robots12•100cm≤H≤120cm to play in the TeenSize class.•130cm≤H≤160cm to play in the AdultSize class.A robot larger than160cm may be allowed to play in the AdultSize class,provided that:–H<180cm and–the robotﬁts at all times into a vertical cylinder of diameter130cm.4.2Weight RestrictionsThe maximum weight for robots allowed to play in the TeenSize class is20kg.4.3Size RestrictionsAll robots participating in the Humanoid League must comply with the following restrictions:1.Each foot mustﬁt into a rectangle of area H2/28.2.Considering the rectangle enclosing the convex hull of the foot,the ratiobetween the longest side of the rectangle and the shortest one,shall not exceed2.53.The robot mustﬁt into a cylinder of diameter0.55·H.4.If the arms are maximally stretched in horizontal direction,their extensionmust be less than1.2·H.5.The robot does not possess a conﬁguration where it is extended longerthan1.5·H.6.The length of the legs H leg,including the feet,satisﬁes0.35·H≤H leg≤0.7·H.7.The height of the head H head,including the neck,satisﬁes0.05·H≤H head≤0.25·H.H head is deﬁned as the vertical distance from the axisof theﬁrst arm joint at the shoulder to the top of the head.8.The leg length is measured while the robot is standing up straight.Thelength is measured from theﬁrst rotating joint where its axis lies in the plane parallel to the standing ground to the tip of the foot.2010RoboCup Soccer Humanoid League Rules and Setup4The Design of the Robots134.4SensorsTeams participating in the Humanoid League competitions are encouraged to equip their robots with sensors that have and equivalent in human senses.These sensors must be placed at a position roughly equivalent to the location of the humans biological sensors.In particular,1.The only active external sensor allowed is sound“human-like”with re-spect to volume and frequency)with one loudspeaker on the robot.The loudspeaker may be placed in the head,neck or trunk of the robot.Any other active sensor(emitting light,sound,or electromagnetic waves into the environment in order to measure reﬂections)is not allowed.2.External sensors,such as cameras and up to two microphones,may not beplaced in the legs or arms or the torso of the robots.They must be placed in the robot’s head and above any neck joint.3.Theﬁeld of view of the robots is limited at any time to180degrees.Thismeans that the maximum angle between any two points in the overlap of theﬁeld of views of all cameras mounted on the robot must be less than180degrees.Also the pan-tilt motion of the head and the cameras mounted on the robots head is restricted to be more human like not only with respect to theﬁeld of view but also to the range of motion of the neck joints.Therefore,the mechanism to pan the camera is limited to 270degree pan which means±135degrees from the position looking straight ahead.The mechanism to tilt the camera is limited to±90 degrees(measured from the horizontal line).Furthermore,if positioned at the center mark the robot may not be able to see both goals in any tilt angle and in any standing or walking posture of the robot.“Field of view”refers to theﬁeld of view of all cameras together and of how much of the soccerﬁeld all cameras together can view at most at one time.By how much the soccerﬁeld can be viewed by the robot at most one time is deﬁned by a half sphere with its center axis pointing in the forward direction with respect to the robot’s frontal plane as shown in the Figure5.4.The number of cameras is limited to a stereo vision setup(i.e.,max.2cameras with a large overlap)only.Monocular vision is also allowed.5.Touch sensors,force sensors,and temperature sensors may be placed atany position on the robot.2010RoboCup Soccer Humanoid League Rules and Setup4The Design of the Robots14Figure5:Illustration ofﬁeld of view.6.Sensors inside the robot may measure all quantities of interest,including(but not limited to)voltages,currents,forces,movements,accelerations, and rotational speeds.They can be at any position inside the robot. 4.5Communication and Control4.5.1.Robots participating in the Humanoid League competitions must act autonomously while a competition is running.No external power supply,teleop-eration,remote control,or remote brain of any kind is allowed.4.5.2.Robots may communicate only via the wireless network provided by the organizers which must support the referee box.The total bandwidth of the robots belonging to one team may not exceed1MBaud.The robots must not rely on availability or quality of the wireless network.They must be able to play if the network is not available or of low quality.Only robots are allowed to communicate by WLAN.Any other computers of team members are only allowed to communicate by tethered LAN.No other wireless communication is allowed onsite.All other wireless hardware must be deactivated.A team may be disqualiﬁed if one of the team members violates this rule.4.5.3.Robots of a team may communicate with each other at any time duringa game.They may receive start and stop signals from an oﬀ-theﬁeld computer. This computer is only allowed to listen to the wireless communication while the ball is in play.It may be used to send game-control signals(e.g.kick-oﬀ, penalty,free kick,...)to the robots during game stoppages.Any other kind of transmission from an external computer to the robots is prohibited.The start and 2010RoboCup Soccer Humanoid League Rules and Setup4The Design of the Robots15 stop signal are to be sent via UDP when the ball is not in play(e.g.from a game controller/referee box via UDP broadcast).This implies that any monitoring is only done by receiving UDP communication from the robots.Sending any other transmission from an external computer to the robots has to take place during a timeout or using a direct cable between the computer and the robot during maintenance of the robot.In2009a prototype of a game controller/referee box has been introduced.It uses UDP to broadcast information to the robots like elapsed time,current score, game state(ready,set,playing,ﬁnished)and the robot-speciﬁc penalized state. The source code is open.1To encourage teams to use the referee box,10s advantage is given to teams using the referee box in any stoppage of the game (cf.Section8).4.5.4.No humans are allowed on theﬁeld while the ball is in play.Robot handlers must receive permission from the referee prior to entering theﬁeld.Each team may designate only one person as robot handler.The robot handler of a team may not touch a robot of another team in order to avoid any(unintentional or intentional)damage to that robot.4.6Colors and Markers4.6.1.Robots participating in the Humanoid League competitions must be mostly black or of dark grey color(i.e.RAL7011Iron Grey or darker)and non reﬂective.Less than10%of the total body surface may have a higher re-ﬂectance,e.g.gray or white.Less than1%of the total body surface may be colored.Any color used for theﬁeld(green,yellow,blue)or the ball(orange) must be avoided.Arms,legs and bodies of the robot must be of solid shape appearance.4.6.2.The robots must be marked with team markers.These markers are colored magenta for one team and cyan for the other team.Robot legs and arms must be covered by team markers.If both teams cannot agree,which team color to use,a coin will beﬂipped15minutes prior to the game to assign the team colors.4.6.3.The robots of each team must be uniquely identiﬁable.They must be marked with numbers or names.The goal keeper robot must be marked uniquely that it can be easily distinguished from the other robots of a team by the referees.1The source code of the game controller/referee box is available from /projects/robocupgc/,see also http://www.tzi.de/humanoid.2010RoboCup Soccer Humanoid League Rules and Setup4The Design of the Robots164.7Safety4.7.1.Robots participating in the Humanoid League competitions must not pose any danger to humans,other robots,or theﬁeld of play.Anyone is allowed to take every action necessary to prevent urgent harm.4.7.2.The robots must be constructed in a way that oﬀenses described in Sec-tion12are avoided.Robots violating above safety requirements will be excluded by the referee from the ongoing game.They may be excluded by the league organization committee from the remainder of the tournament.4.8RobustnessRobots participating in the Humanoid League competitions must be constructed in a robust way.They must maintain structural integrity during contact with the ﬁeld,the ball,or other players.Their sensing systems must be able to tolerate signiﬁcant levels of noise and disturbance caused by other players,the referees, robot handlers,and the audience.2010RoboCup Soccer Humanoid League Rules and Setup5The Referee175The Referee5.1.Each match is controlled by a referee who has full authority to enforcethese rules in connection with the match to which he has been appointed.5.2.The referee ensures that theﬁeld and the ball are in proper condition.Heensures that the robot players meet the requirements of Section4.5.3.The referee acts as timekeeper and keeps a record of the match.He stops,suspends or terminates the match,at his discretion,for any infringements of the rules or because of outside interference of any kind.5.4.The referee allows play to continue when the team against which an oﬀensehas been committed will beneﬁt from such an advantage and penalizes the original oﬀense if the anticipated advantage does not ensue at that time.5.5.He punishes the more serious oﬀense when a player commits more thanone oﬀense at the same time and takes disciplinary action against players guilty of cautionable and sending-oﬀoﬀenses.He is not obliged to take this action immediately but must do so when the ball next goes out of play.5.6.The referee takes action against team oﬃcials who fail to conduct them-selves in a responsible manner and may,at his discretion,expel them from theﬁeld of play and its immediate surrounds.He ensures that no unau-thorized persons enter theﬁeld of play.5.7.The referee acts on the advice of assistant referees regarding incidentswhich he has not seen.Some referee duties,like time keeping and keepinga record of the match,may be delegated to one of the assistant referees.5.8.The decisions of the referee regarding facts connected with play areﬁnal.The referee may only change a decision on realizing that it is incorrect or, at his discretion,on the advice of an assistant referee,provided that he has not restarted play.2010RoboCup Soccer Humanoid League Rules and Setup6The Assistant Referees186The Assistant Referees6.1.One or more assistant referees are appointed for a match whose duties,subject to the decision of the referee,are to indicate when the whole of the ball has passed out of theﬁeld of play,which side is entitled to a corner kick,goal kick or throw-in,and when misconduct or any other incident has occurred out of the view of the referee.6.2.The assistant referees might be assigned additional duties,such as timekeeping and keeping a record of the match.6.3.The assistant referees also assist the referee to control the match in accor-dance with these rules.6.4.In the event of undue interference or improper conduct,the referee willrelieve an assistant referee of his duties and make a report to the league organizing committee.2010RoboCup Soccer Humanoid League Rules and Setup7The Duration of the Match197The Duration of the Match7.1Periods7.1.1.The match lasts two equal periods of10minutes.Players are entitled to an interval at half-time.The half-time interval must not exceed5minutes.7.1.2.Allowance is made in either period for all time lost through,e.g.sub-stitution(s),timeouts,and wasting time.The allowance for time lost is at the discretion of the referee.7.1.3.In the knock-out games of a tournament two further equal periods of5 minutes each are played if the game is not decided after the regular playing time. If during regular playing time none of the two teams in a knock-out match was able to kick the ball to reach their respective opponent’s goal the extra time is skipped and the game immediately continues by theﬁve alternating penalty kick trials(cf.Section14).7.2TimeoutsA team may extend a stoppage of the game by taking a timeout.During a timeout robots may be serviced.Each team may take at most one timeout per period.If a team is not ready to resume the game when the referee wants to start the game,it has to take a timeout.If there is no timeout left,the referee will start the game anyway.A timeout ends automatically after120s.A timeout also ends when the team signals its end to the referee.2010RoboCup Soccer Humanoid League Rules and Setup8The Start and Restart of Play208The Start and Restart of Play8.1Preliminaries8.1.1.Access to theﬁeld is given to both teams at least15minutes prior to the scheduled kick-oﬀtime.A coin is tossed and the team which wins the toss decides which goal it will attack in theﬁrst half of the match.The other team takes the kick-oﬀto start the match.The team which wins the toss takes the kick-oﬀto start the second half of the match.In the second half of the match the teams change ends and attack the opposite goals.8.1.2.If both teems cannot agree on the color of their team makers,a coin is tossed and the markers are exchanged at halftime.8.1.3.A match must start at the scheduled time.In exceptional situations only,the referee may re-adjust the time for starting the game in accordance with both team leaders.All robots of a team are started(and stopped)by receiving a signal through wireless communication from outside theﬁeld.In exceptional cases,starting and stopping robots manually may be allowed by the referee. 8.2Kick-oﬀ8.2.1.A kick-oﬀis a way of starting or restarting play at the start of the match, after a goal has been scored,at the start of the second half of the match,at the start of each period of extra time,where applicable.After a team scores a goal, the kick-oﬀis taken by the other team.8.2.2.A goal may not be scored directly from the kick-oﬀ.Either the ball must move20cm from the kick-oﬀpoint or must be touched by another player before being kicked towards the goal.If the ball is kicked directly towards the goal the kick-oﬀis awarded to the opposing team.8.2.3.The procedure for kick-oﬀis as follows:•The referee gives the signal“READY”that all robots have to reach their own half of theﬁeld.Robots not being able to position autonomously in their own half may be placed by their respective robot handler.•The opponents of the team taking the kick-oﬀare outside the center circle until the ball is in play.2010RoboCup Soccer Humanoid League Rules and Setup8The Start and Restart of Play21•The referee gives the signal“SET”.The referee calls robots illegally posi-tioned to be set back manually by the respective robot handler to the outer line of their goal area.Oneﬁeld player of a manually or illegally positioned team suﬀers a removal penalty(cf.Section12).•The ball is stationary on the center mark.•The referee gives the signal“PLAY”or whistles.•The ball is in play when it is touched or10seconds elapsed after the signal.8.2.4.Robots being able to autonomously reposition themselves can take any position on theﬁeld that is consistent with above requirements.Robots not able to autonomously reposition themselves,e.g.robots being carried or joysticked around by human team members,have to start from a position not closer to theﬁeld halfway line than the outer line of the goal area.If all robots of the team executing the kick-oﬀcannot autonomously reposition themselves,then one robot may be placed into the center circle.8.2.5.If one or both of the teams in a match have permission to use a manual startup procedure,the referee gives the two signals“SET”and“PLAY”with an interval of exactly10seconds.Robot players without remote start capability may be started on theﬁeld after the“SET”signal.They may not move before the “PLAY”signal was given by the referee.Robots with autonomous positioning ability are given between15and30seconds for re-positioning after a goal has been scored by one of the teams before the“SET”signal for kick-oﬀis given by the referee.All human team members must leave theﬁeld of play immediately after the“SET”signal and before the“PLAY”signal.8.2.6.A team which uses manual kick-oﬀand not kick-oﬀwith the referee box is punished by a penalty of having to wait for10s after the signal”PLAY”before they are allowed to locomote.If such a team has kick-oﬀthen at the signal ”PLAY”the referee immediately moves the ball from the kick-oﬀposition to a position somewhere on the center line and outside of the center circle and the ball is in play.8.2.7.If a robot is moving for a signiﬁcant time between“SET”and“PLAY”signals or repeatedly violates Rules8.2.3or8.2.6,it will be punished by a removal penalty(cf.Section12).8.2.8.If a robot handler has not left theﬁeld by the“PLAY”signal,a yellow card is shown to the robot closest to the incident.If the game has been inﬂuenced, 2010RoboCup Soccer Humanoid League Rules and Setup8The Start and Restart of Play22 the kick-oﬀwill be repeated and the team committed the oﬀence has to start from a position not closer to theﬁeld halfway line than the outer line of the own goal area.8.3Dropped Ball8.3.1.A dropped ball is a way of restarting the match after a temporary stoppage which becomes necessary,while the ball is in play,for any reason not mentioned elsewhere in the rules.In particular,the referee may call a game-stuck situation if there is no progress of the game for30s.8.3.2.The game is continued at the center mark.A goal can be scored directly from a dropped ball.The procedure for dropped ball is the same as for kick-oﬀ, except that the robots of both teams must be outside the center circle.The ball is in play immediately after the referee gives the signal.8.3.3.If a player moves too close to the ball before the referee gives the signal,a kick-oﬀis awarded to the opponent team.2010RoboCup Soccer Humanoid League Rules and Setup11Oﬀside239The Ball In and Out of Play9.1.The ball is out of play when it has wholly crossed the goal line or touchline whether on the ground or in the air or when play has been stopped by the referee.9.2.The ball is in play at all other times,including when it rebounds from agoalpost,crossbar,corner pole,or human and remains in theﬁeld of play.10The Method of Scoring10.1.A goal is scored when the whole of the ball passes over the goal line,be-tween the goalposts and under the crossbar,provided that no infringement of the rules has been committed previously by the team scoring the goal.10.2.The team scoring the greater number of goals during a match is the winner.If both teams score an equal number of goals,or if no goals are scored, the match is drawn.10.3.For knock-out matches ending in a draw after regular time,extra time,penalty kicks,and scoring times will be used to determine the winner of a match.10.4.An abandoned match is replayed unless the league organization committeedecides otherwise.If a team chooses to forfeit a match in the round robin games the other team plays on an empty goal.If a team chooses to forfeit in a knock-out game the other team continues in the competition.Teams may choose to forfeit games at any stage prior to the end of the game.10.5.If the current score in a match has a goal diﬀerence of10goals(e.g.,10:0,11:1,12:2etc.),then the referee will terminate the match and the score will be recorded as the current score.11OﬀsideThe oﬀside rule is not applied.2010RoboCup Soccer Humanoid League Rules and Setup。

机器人大赛比赛规则

机器人大赛比赛规则机器人大赛比赛规则一．比赛主题“夺宝奇兵”。

每个人心中都有梦想，梦想对于每个人都是无价之宝，但是真正去实现自己的梦想，必须去靠我们的智慧和勇气去努力拼搏。

过程中纵然会有艰难险阻，会有重重迷雾，只要我们有冷静的头脑，有缜密的分析，有持之以恒的精神，面对挑战的勇气，我们并定会找到属于我们的宝物，实现自己的人生梦想。

让我们用我们制作的机器人去帮助我们夺取宝物，实现我们人生中的科技梦想。

本次比赛的主题为“夺宝奇兵”。

机器人的任务就是经过艰难险阻夺取宝物。

过程中机器人需穿过复杂地形，途中读取条形码，根据提取到的关键信息判定藏有机关的密室，通过寻磁方式找到机关控制器，关闭机关，然后从多个物体中识别出宝物密钥，将密钥推到开关区，最后抵达宝物密室，触发开关，表示成功夺取宝物。

二．场地说明参考场地如下图：1．比赛场地:长600cm，宽300cm，场地四周围有高5cm的挡板。

地板基本平整，场地左右两边镜像对称，表面材料为：白色免漆板。

场地中铺有黑色引导线，宽度为5cm。

一些地方设有交叉线标记位置，宽度5cm，长20cm。

2．启动区（图中标号[1]区）分红、蓝两区，分别由红线和蓝线圈定，双方机器人各占一个启动区，具体颜色由开赛前抽签决定。

机器人需在启动区识别场上开赛声音信号（一定频率的声音信号，持续一段时间后停止，声音开关由裁判长控制），自动开始比赛。

3．跷跷板（图中标号[2]区）面积：160cm×50cm，高度：30cm跷跷板中间有黑色引导线，板两端与地面平滑衔接，在跷跷板前10cm处有交叉线提示位置。

跷跷板中间有交叉线提示位置，交叉线长度同跷跷板宽度。

机器人需在跷跷板上停留一段时间，在20秒内使跷跷板两端同时离开地面的时间尽可能长，期间可多次通过跷跷板，取最长停留时间。

若最长停留时间不足20秒则比赛结束时在总完成时间上累加缺少时间的4倍。

4．解码区（图中标号[3]区）在黑色引导线两侧分别有一段总长度25cm、宽度10cm和总长度25cm、宽度20cm的条形码（后者为两个场地共用），距离引导线10cm。

2019RoboCup机器人世界杯中国赛比赛规则

2019RoboCup机器人世界杯中国赛比赛规则RCJ机器人救援赛项目Rescue Line现场赛（小学、中学）2019RoboCup机器人世界杯中国赛RCJ机器人救援赛项目技术委员会2019年2月17日目录一、项目简介 (1)二、赛项说明 (2)概述 (2)三、比赛场地及器材 (3)3.1描述 (3)3.2地板 (3)3.3线 (3)3.4减速条、碎片和障碍物 (4)3.5交叉路和绝路 (4)3.6门框 (5)3.7撤离区 (6)3.8伤员 (6)3.9环境条件 (6)四、机器人 (7)4.1控制 (7)4.2结构 (7)4.3团队 (8)4.4检录 (8)4.5犯规 (9)五、赛程赛制 (9)5.1赛前调试 (9)5.2人员 (9)5.3比赛开始 (10)5.4比赛过程 (11)5.5计分 (11)5.6任务中断 (14)5.7伤员位置 (15)5.8撤离点位置 (15)5.9比赛结束 (15)六、开放性的技术评价 (15)6.1说明 (15)6.2评价方法 (16)6.3奖项 (16)6.4分享 (16)七、冲突解决 (17)7.1裁判员和助理裁判 (17)7.3特殊情况 (17)八、行为准则 (17)8.1比赛精神 (17)8.2公平竞赛 (18)8.3行为 (18)8.4教练 (18)8.5道德与诚信 (18)8.6分享 (19)以下为由RCJ中国救援技术委员会发布的RCJ2019官方规则。

中国救援技术委员会对该规则有最高解释权。

参赛队伍应关注官方网站，以便了解最新补充通知。

一、项目简介大地危机四伏，以至于救援人员很难到达现场对伤员进行施救。

你的队伍接到了艰巨的任务。

机器人必须能够在无人协助的情况下以完全自主的方式执行救援任务。

机器人必须足够耐用，充满智慧，能够在崎岖的地形中穿越丘陵、不平的土地和瓦砾，而不会陷入困境。

机器人必须找到伤员，分发救援物品，并发出伤员的位置信息，以便救援人员能够接手。

智能制造-RoboCup中型组机器人比赛规则MSLR 精品

RoboCup中型组机器人比赛规则(MSLR)陈卫东叶道年张小冰等编译上海交通大学自动化研究所目录第一章RoboCup比赛项目 (3)1.1国际规则项目 (3)1.22Vs2项目 (3)第二章RoboCup国际规则 (4)●规则1 －比赛场地要求 (4)——规则1.1 尺寸 (4)——规则1.2 场地标识 (5)——规则1.3 球门区 (5)——规则1.4 罚球区 (5)——规则1.5 旗杆 (6)——规则1.6 角弧 (6)——规则1.7 球门 (6)——规则1.8 安全 (7)●规则2 －比赛所用球 (8)——规则2.1 质量和尺寸 (8)——规则2.2 受损球的替换 (8)●规则3 －比赛队员装备 (9)——规则3.1 安全性 (9)——规则3.2 基本装备 (9)——规则3.3 守门员 (11)——规则3.4 犯规和制裁 (11)——规则3.5 重新比赛 (11)●规则4 －裁判及助理裁判 (12)——规则4.1 裁判之权威 (12)——规则4.2 权力与职责 (12)——规则4.3 助理裁判 (12)——规则4.4 裁判判决 (12)●规则5 －比赛时间 (13)——规则5.1 半场 (13)——规则5.1 中场休息 (13)——规则5.2 补时 (13)——规则5.3 罚球 (13)——规则5.3 加时 (13)——规则5.4 中途终止之比赛 (13)●规则6 －比赛开始与重新开始 (14)——规则6.1 开球 (14)——规则6.2 开球过程 (14)——规则6.3 开球的犯规及措施 (14)●规则7 －比赛的进行与暂停 (15)——规则7.1球赛暂停 (15)——规则7.2 球赛进行 (15)●规则8 －比赛的计分 (16)——规则8.1 进球得分 (16)——规则8.2 比赛胜利 (16)——规则8.3 竞赛规则 (16)●规则9 －犯规行为 (17)——规则9.1 停球与持球 (17)——规则9.2 踢球与运球 (17)——规则9.3 犯规及其犯规后的处罚 (18)●规则10 －任意球与罚球点及点球 (20)——规则 10.1 任意球 (20)——规则10.2 任意球的位置 (20)——规则10.3 任意球犯规/制裁 (20)——规则10.4 罚球 (21)——规则10.5 球出边界的处理 (22)——规则10.6 球门发球 (22)●规则11- 上场队员的人数 (23)第三章RoboCup 2Vs2项目规则 (24)3.1 2Vs2比赛基本规则 (24)3.2 2Vs2比赛其它规则 (24)第一章RoboCup比赛项目RoboCup的原意为机器人世界杯（Robot World Cup）。

Robocup仿人组比赛规则

2006 RoboCup中国公开赛类人组比赛规则I 前言该规则目标是保证机器人世界杯的公平竞争，其鼓励创造和技术发展。

现在该规则与FIFA的比赛规则有差异，但旨在将来减小差异，旨在达到机器人能与人进行比赛的长期目标。

类人机器人比赛的研究挑战是维持行走、跑步、踢球以及其执行其他动作时的动态稳定性，同时兼顾运动与视觉的配合，类人足球机器人必须有能够对抗其他队员的健壮性。

文档没有包含的部分可以参考FIFA比赛规则。

II 组别尺寸相差较大的机器人在一起比赛是不可行的，因此该比赛分为KidSize组和TeenSize组。

见第四部分对分组的详细描述。

赛前，每个参赛机器人都须经过比赛前24小时内的全面检查，以满足各种参赛机器人要求，要做改动可能需要重新受检，重新检查须在赛前10min之前。

III 比赛项目比赛共分为两大类、五个单项进行比赛，即1、2对2足球比赛2、技术挑战赛（分为四个单项）a.点球大战（PK）b.竞速c.绕柱行走d.传球IV 奖励两类比赛分别决出冠军、亚军和季军，并由组委会授奖；技术挑战赛中的各个单项一、二、三名，颁发证书。

VI 具体要求：1、比赛场地比赛场地为一个矩形场地，该场地有两个球门，边线，六个起始标记点和四个角球柱。

各尺寸标注如下：1.1 比赛场地比赛场地铺以绿色地毯，白线5cm宽。

10cm长的线段用于标记点球点、起始点、开球点等。

球场长度方向的边线叫做接触线、宽度方向的边线叫球门线。

各个点的定义如图所示，场地外部一定范围也被绿色地毯覆盖，该范围外没有特殊说明。

1.2 球门球门位于球门线的中间，球门内部三面涂色，一边球门为黄色，另一边为蓝色，KisSize组球门在90cm高有横梁，TeenSize组球门高120cm，没有横梁。

球门的外部、球门柱、横梁都是白色。

1.3 角球柱球场四个角均布置一个角球柱，角球柱直径20cm，高90cm，分为相等的三段，每段30cm，底部和顶部涂以和球门壁同样的颜色，中间的部分涂以对面球门壁的颜色。

2013中国机器人大赛RoboCup救援机器人比赛规则

2013 Robocup救援机器人组（RRL）比赛规则1、比赛简介：救援机器人组比赛的目的是为促进城市搜救研机器人技术的研究与发展，通过竞赛可以为救援机器人在复杂环境下运作提供性能客观评价标准。

比赛中，各参赛队需要完成具有挑战性的任务，在完成任务的过程中充分展示其救援机器人性能（机动性，感知能力，定位建图能力，操作界面，远程操控性、自主能力等）。

比赛是一个救援机器人技术进步展示的舞台，也是检验救援机器人系统的实验场。

比赛的最终目标是将机器人用于真正的救援任务。

比赛任务是控制救援机器人在迷宫式的场地中搜救模拟的被困者，获胜队伍必须能够很好的完成3~5个任务。

每个任务要求救援机器人从场地中的指定点出发，在规定时间内找到最多数目的被困者，比赛成绩将按照完成所有任务后的总分高低排出冠、亚、季军。

另外设置三个单项比赛奖――自主运行挑战赛、建图挑战赛和通过能力挑战赛。

单项奖评比是综合常规比赛和专场比赛的得分来确定。

2、比赛背景一座建筑物在地震中倒塌，突发事件处理救援队负责在事发地点组织救援，请求增派救援机器人协助搜救建筑物内的被困者，以防余震造成的再次伤害。

在建筑物入口处环境状态未被破坏，但是随着进入建筑物内部，毁坏程度将会逐步增加。

救援机器人及其操作者的任务就是确定现场环境、寻找被困者，并将获得的信息（被困者位置和状态）标记在救援机器人所建立的现场地图上。

3、评分依据比赛主要考核的机器人性能包括以下几个方面：⏹能够通过危险，倒塌和杂乱的环境；⏹确定被困者状态和被困者位置；⏹自动建立环境地图；⏹机器人的自主运行能力。

在比赛中展示机器人的其他性能也会被提倡和受到欢迎，包括：⏹递送救援物资；⏹安置传感器及监控环境；⏹标示和计算到达被困者距离最近的路径；⏹帮助被困者脱离危险（比如提供对建筑结构的支撑或其他安全措施，帮助被困者逃脱）。

4、场地特征场地分为：黄区，桔区，红区。

黄区是（处处是倾斜地面的？）迷宫地域，桔区是楼梯、斜坡、高台等组成的障碍区域，红区是在桔区场地基础上增加立方体地板组成的障碍。

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1997年正式成立，总部设在日本东京，正式注册瑞士伯尔尼。

RoboCup自1997年起每年举办一次机器人足球世界杯赛(The Robot World Cup)。

RoboCup是一个通过提供足球比赛这样一个标准问题来促进人工智能、机器人以及相关领域的研究而建立的国际组织。

1997年，首届RoboCup比赛及会议在日本的名古屋举行，为实现2050年机器人足球队击败人类足球世界冠军的梦想迈出了坚实的第一步。

1.1国际规则项目RoboCup规则是用以保证比赛的公正而不受影响的进行，并以鼓励技术性和有创造性的改进，而不是用来描述比赛如何进行。

RoboCup国际比赛规则是进行国际RoboCup比赛时由RoboCup中型组机器人社团技术委员会所制定的规则。

参考RoboCup比赛规则，中国自动化学会机器人竞赛工作委员会特考虑制定与国际赛制和比赛规则接轨的国际项目规则，同时考虑中国机器人的发展情况制定与中国国情相符和的2：2项目规则。

1.2 2Vs2项目RoboCup 2Vs2比赛项目是由进行比赛对立两队的各两名机器人队员，按照规则所设计的场地等在适合2Vs2机器人比赛环境下进行的对抗赛。

按照规定，赛场上两队各应具有一名守门员，一名前锋。

并在某一队缺少一名队员的情况下正常比赛（即1Vs2）。

其他的比如比赛上下半场时间，补时，犯规与判罚等基本与RoboCup国际规则相同。

其不同部分规则详见第三章。

第二章 RoboCup国际规则规则一比赛场地场地表面必须是绿色的。

场地上方悬挂人造光源。

场地上的灯光亮度在300勒克斯到1200勒克斯之间。

场内测得的光亮最强点和光亮最弱点之差必须小于300勒克斯规则1.1 尺寸比赛场地必须是矩形的。

边界线的长度必须长于球门线的长度.RoboCup规定如下：RoboCup 比赛长度: 最小8米,最大16米。

宽度: 最小6米，最大12米。

规则1.2 场地标识比赛场地用线来标识。

这些线位于边界处。

较长的两根边界线叫做边界线。

较短的两根叫做球门线。

所有的线不能超过12.5厘米宽。

整个场地被中场线分割成两半。

中场线的中点是中心的标记。

一个半径为1m的圆环绕的此点。

RC-1.2: 场地标识规则1.3 球门区场地每个末端的球门区定义如下：在距每个球门柱内侧0.5米处画两条与球门线垂直的线。

这些线延伸入场内5.5米处与一条平行于球门线的直线相交。

这些线和球门线所确定的区域就是球门区。

规则1.4 罚球区场地每个末端的罚球区定义如下：1．在距离每个球门柱内侧1.5米处画两条与球门线成直角的线。

这些线延伸入场内1.5米处与一条平行于球门线的直线相交。

这些线和球门线所确定的区域是罚球区。

2．在每个罚球区内有一个罚球点标记。

此标记距球门柱中心点2米并到两个门柱距离相等。

规则1.5 旗杆四个旗杆:用直径20厘米高1米的圆柱体替代旗杆。

在机器人比赛中，旗杆也常可用来进行机器人的自定位。

规则1.6 角弧角弧：以每个角旗为圆点在场地内画半径为0.5米的四分之一圆弧。

规则1.7 球门球门必须放在两边球门线的中央。

他们包括两个与角旗等距的立柱和顶部与立柱相连的横梁。

立柱相距2米，横梁下边缘离地1米。

门柱和横梁具有相同的不得超过12.5厘米的宽度和深度。

球门线与门柱和横梁等宽。

球门后面设有球网，球网不得影响守门员的活动。

门柱和横梁必须漆成白色。

规则1.8 安全球门必须安全的固定在地上。

便携球门只有在安全允许的情况下才能使用。

规则二比赛所用球规则2.1 质量和尺寸规则2.2 受损球的替换比赛过程中如果球爆裂或受损：●比赛停止。

●将替换球放在球损坏前的地方重启比赛（参见国际足联规则8）；如果球爆裂或者受损的同时，不是在中线开球，射门，罚角球，任意球，罚球或边线罚球：●比赛相应的重新开始。

规则三比赛队员装备规则3.1 安全性规则3.2 基本装备规则3.3 守门员规则3.4 犯规和制裁规则 3.5 重新比赛如果球员被裁判警告处分：比赛重新开始，由对方球员在停下比赛的地方罚任意球。

规则四裁判及助理裁判规则4.1裁判之权威每场比赛均由一名被委派之裁判控制，裁判拥有将比赛规则施用于该场比赛的绝对权威。

规则4.2 权力与职责权力与职责：在RoboCup中，某些裁判员之职责例如记录比赛时间与比赛成绩可委托给一名助理裁判员。

裁判盒：在RoboCup中可应用辅助技术支持裁判员，特别是传送裁判员决定到球员和维持比赛记录。

此类辅助技术包含安装在屋顶或照明装置上的裁判箱，以及可能的话还可包含相机。

特别地，比赛规则中指定裁判员发送信号时，裁判箱程序会发送一个或多个信息给机器人队员。

裁判箱的操作可委托给一位助理裁判员。

无裁判盒之比赛：若无裁判箱，或者因某些无线通信问题无法解决导致裁判箱无法使用，则球队之操作员自己发送开始或停止信号。

规则4.3 助理裁判助理裁判的职责（由裁判员决定）：在RoboCup中每场比赛可指派一名或多名助理裁判员。

建议配备三名。

一名负责记录比赛时间与比赛成绩。

除了RoboCup规则指明的职责以外，裁判员还可指派给助理裁判其他任务。

规则4.4 裁判判决主裁判对于比赛事实有最终判决权。

主裁判只有在意识到其判决不正确，或者根据其判断及助理裁判的建议，确定比赛未被正常恢复的情况下才更改其判决。

规则五比赛时间规则5.1 半场比赛时间：分为两个10分钟的时间相等的半场。

对于友谊赛或邀请赛，裁判员和两队可对比赛半场和时间做出协调后的决定。

规则5.1 中场休息球员享有中场休息的权利。

中场休息时间不得超过10分钟。

比赛规则应规定中场休息的时间，该时间只有在裁判员同意的情况下方可修改。

规则5.2 补时在每一半场中，因下列原因引起的时间损失都应补足，补时之多少由裁判员决定。

●替补。

●对机器人队员损坏之估计或将受损球员移出球场。

●时间的浪费。

●其他原因。

规则5.3 罚球在半场结束时，若需罚球或重新罚球，每一半场都须待罚球结束后方能结束。

规则5.3 加时比赛规则可进一步规定加时的两个半场。

何时可加时可按规则六规定执行。

规则5.4 中途终止之比赛中途终止的比赛应重新进行，除非竞赛规程另有规定。

规则六比赛的开始与重开始规则6.1 开球投币后由胜方选择在上半场他们欲攻的球门。

另一方开球以开始比赛。

投币之胜方在下半场开始时开球。

在下半场，两方互换场地。

推迟开始：比赛须在预定时间开始。

特殊情况下经与两领队协商裁判方可修改比赛开始时间。

遥控式开始：一队的所有机器人由来自场外的无线遥控信号启动（或停止）。

特殊情况下，裁判可允许手动启动与停止机器人。

开球是开始比赛与重新开始比赛的方式：●在比赛开始时或在下半场开始时。

●进球后。

●在加时的每一半场开始时规则6.2 开球过程规则6.2.1开球程序在RoboCup中，开球遵从以下程序：●球员处于本方半场且非开球方球员距球1米以上●球停于中圈弧圆心处●裁判示意开球且球运动后，或者裁判示意后10秒，比赛开始开球球员可连续触球。

球不能在未触到其他球员的情况下直接得分。

规则6.2.2 机器人位置可以将具有自动定位功能的机器人放在规则规定区域内的任何位置。

对于没有自动定位功能的机器人，如由参赛队队员通过操纵杆控制的机器人，则必须在启动点或启动点后面启动。

如果所有参与开球的机器人都不能自动定位，则可以将其中的一个机器人放于中圈内。

规则6.2.3 手动启动如果其中一支或两支球队均获准进行手动启动，则裁判员会发出两个信号，两个信号时间间隔10秒。

没有遥控启动功能的机器人可在第一个信号后被启动。

但是这些机器人在第二个信号到来之前不得移动。

在两个信号的时间间隔内，所有参赛队队员必须离开比赛场地。

规则6.3 开球的犯规及措施若开球球员开球后在其他球员触球之前连续触球，则非开球方将获得在犯规处的间接任意球。

若其对开球程序有其他违反，则重新开球。

规则七比赛的进行与暂停规则7.1 球赛暂停以下情况发生时，球赛暂停：·整个足球已经从地面上或者空中越过了球门线或者边界线。

·裁判示意比赛停止。