世界机器人大赛robo genius 规则
2022 世界机器人大赛—共融机器人挑战赛 创新创意组 竞赛手册说明书
2022世界机器人大赛—共融机器人挑战赛创新创意组竞赛手册“共融机器人基础理论与关键技术研究”重大研究计划指导专家组2022年“世界机器人大赛—共融机器人挑战赛”组织委员会2022年5月一、赛事内容（一）比赛目的创新创意组以共融机器人技术发展为导向，以提升参赛团队创新实践能力为核心，打造产学研合作创新创意平台，利用社会资源协高校科研能力，遴选优秀创新创意项目，促进共融机器人技术快速发展。
（二）项目征集要求创新创意项目征集对象面向所有从事共融机器人技术研究的科研院所、企事业单位和个人，所征集的项目包括但不限于已有计划进行融资或已经完成种子轮、天使轮、A轮等融资的智能人机交互领域方面的技术和应用成果。
所征集的优秀项目将在大赛现场进行创新成果展示，并列入某部委项目备选对象。
赛题不定，符合共融机器人挑战赛内容即可，包括但不限于以下方面：1.协作机器人方面协作机器人是指具备自动控制和编程能力，且可与人类在同一个工作空间中进行近距离互动、协同作业的智能机器人。
与传统工业机器人相比，协作机器人打破了只能应用于工业场景的限制，凭借低自重、高灵活、易编程、可快速配置、作业空间局限性小等特色优势，在医疗、教育培训、新零售等服务业场景中同样具有广阔的应用前景。
2.特种机器人方面特种机器人是近年来得到快速发展和广泛应用的一类机器人，在我国国民经济各行业均有应用。
其应用范围主要包括：农业、电力、建筑、物流、医疗、护理、康复、安防与救援、军用、核工业、矿业、石油化工、市政工程等，比如：侦查机器人、排爆机器人、反恐作战机器人、消防机器人、水下机器人、灾害救援机器人、极地机器人、农业机器人、安防机器人等。
3.智能感知方面机器人对环境的智能感知，即移动机器人能够根据自身所携带的传感器对所处周围环境进行环境信息的获取，并提取环境中有效的特征信息加以处理和理解，最终通过建立所在环境的模型来表达所在环境的信息。
传感器技术从根本上决定着机器人环境感知技术的发展。
机器人创新比赛规则
机器人创新比赛规则1.比赛介绍机器人创新比赛的形式是学生利用特定的创新平台，围绕大赛设定的同一个的主题，结合各自的创新思路，以团队合作的方式，完成比赛项目。
机器人创新比赛由于每年设置主题不同，非常贴近现实生活，且可以综合利用机器人的机械扩展、电子扩展、传感器扩展及软件控制能力，对于培养学生的创新能力、动手能力、实践能力以及展示学生在机器人方面的综合技术能力有重要的意义。
2.比赛主题：便利生活创新是二十一世纪的主旋律，创新是一个民族的灵魂，创新是人类发展的不竭动力，创新是人类智慧的结晶。
改革开放30多年来，我们的一切发展成就，无不与创新紧紧联系在一起。
创新极大的推动了我国经济社会的发展，改善了我们的生活方式，给人们的日常生活带来了极大的便利。
你有什么好的想法，可以给我们的日常生活带来更多的便利吗？一起来开动脑筋，为建设一个更加便利的社会努力吧！3.参赛要求3.1 参赛对象应为河南省各大高校全日制在校本科、专科院校生；同组的参赛队员不受院系专业、学校限制；每组的参赛队员最多可以包含6名队员，指导老师2名，领队1名。
3.2 所有的参赛队为便于统一安排协调，各参赛单位报名时所留的联系人的联系方式（电话、邮箱）要确保为一人，且此人能来到比赛现场。
3.3 展示规则：该项比赛展示的过程，每个参赛队展示时间为5分钟，这个过程包括：①、队伍用PPT、海报、视频等形式并伴随队员口述来介绍自主研发的功能、应用等。
②、新技术创新点的展示，不限形式，可以自主、半自主、非自主等，裁判会根据展示技术的选题、实用性、创新性、整体效果、提问环节5个方面做出评分。
以上这两项内容可以分开进行，也可以同时进行，即边介绍边展示，但是必须在5分钟内完成这两项内容。
在这5分钟的展示过程结束后是3分钟的提问环节。
超时介绍将酌情扣5-10分。
所有的参赛队伍必须派一名队员（最好是队长）来跟踪和评估整个比赛。
如果没有人来参加，那么相应的队伍将无法获得此项比赛的分数。
RoboMaster 人工智能挑战赛规则手册说明书
ICRA 2019 RoboMaster人工智能挑战赛规则手册2018.11V1.0RoboMaster组委会编制修改日志日期版本记录2018.12.10 1.0 首次发布2019.4.23 1.1 1.更新奖项设置。
2.更新枪口热量的相关数值。
3.更新伤害血量的定义。
4.更新承弹口注意文案。
RoboMaster组委会保留对本规则手册进行修改和最终解释的权利目录组织机构 (5)前言 (6)品牌内核 (7)第1章赛事介绍 (8)1.1 比赛概述 (8)1.2 比赛日程 (8)1.3 参赛资格 (9)1.4 奖项设置 (10)1.5 知识产权声明 (11)第2章机器人技术规范 (12)2.1 通用技术规范 (12)2.2 机器人技术规范 (14)2.2.1 参赛机器人规格 (14)2.2.2 机器人规范手册 (15)2.3 裁判系统通用机制 (16)2.3.1 扣血机制 (16)2.3.2 安装规范 (18)第3章比赛流程和规则 (20)3.1 流程概述 (20)3.2 获胜条件 (21)3.3 赛场人员 (22)3.3.1 参赛人员规范 (22)3.3.2 赛务人员说明 (23)3.4 赛前流程 (23)3.4.1 备场规范 (23)3.4.2 检录规范 (23)3.4.3 候场规范 (24)3.5 赛中流程 (25)3.5.1 五分钟准备阶段 (25)3.5.2 两分钟官方自检阶段 (27)3.5.3 三分钟比赛阶段 (27)3.5.4 作弊和严重犯规 (29)3.6 赛后流程 (30)3.6.1 成绩确认 (30)3.6.2 申诉 (31)第4章比赛场地说明 (33)4.1 场地概述 (33)4.2 启动区 (33)4.3 补给区 (34)4.3.1 补给禁区 (35)4.3.2 补给站 (35)4.4 防御加成区 (35)4.5 障碍块区 (36)4.6 保护围挡区 (37)4.7 UWB基站 (37)4.8 操作区 (38)4.9 弹丸 (38)第5章规则更新和答疑 (39)5.1 常规答疑平台 (39)5.2 交流规范 (39)5.3 规则更新 (39)5.4 联系通道 (39)附录一参赛安全须知 (40)附录二名词术语注解 (41)附录三技术评审规范 (44)附录四赛前检录表 (48)附录五参考图纸 (50)组织机构主办单位：2019年国际机器人与自动化会议（IEEE RAS International Conference on Robotics and Automation 2019, ICRA 2019）深圳市大疆创新科技有限公司（DJI, Dà-Jiāng Innovations）承办单位：RoboMaster 赛事组委会前言机器人技术是当今世界的主流尖端科技。
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。
robotchallenge 机械建构赛 规则
RobotChallenge 机械建构赛是一项面向全球的机器人竞赛活动，旨在鼓励参赛者发挥创造力，利用各种机械部件和电子元件，设计并制造出具有特定功能的机器人。
以下是 RobotChallenge 机械建构赛的一些基本规则：1. 参赛者：参赛者可以是个人或团队，团队人数最多为 4 人。
参赛者年龄不限，但必须遵守比赛规则和裁判的判决。
2. 机器人设计：机器人必须由参赛者自行设计、制造和调试。
机器人必须符合比赛主题和安全要求，不能使用任何危险物品或易燃物品。
3. 比赛主题：比赛主题会根据每年的具体情况而有所不同，例如灭火、救援、足球等。
参赛者必须根据比赛主题设计机器人，并完成相关任务。
4. 比赛场地：比赛场地为指定的室内场地，包括平面场地、斜坡、台阶等。
参赛者必须熟悉场地环境，并确保机器人在场地内能够正常运行。
5. 机器人尺寸：机器人尺寸必须符合比赛规定，具体尺寸会根据比赛主题和任务而有所不同。
一般情况下，机器人的高度、长度和宽度不能超过 30 厘米。
6. 比赛时间：比赛时间为 3 分钟，包括机器人启动和准备时间。
如果机器人未能在规定时间内完成任务，将无法获得相应分数。
7. 得分规则：参赛者需要根据比赛任务和要求，完成相应任务并获得相应分数。
具体得分规则会根据比赛主题和任务而有所不同。
8. 安全规定：参赛者必须遵守比赛安全规定，确保自己和他人的安全。
如果出现任何安全问题或故障，参赛者必须立即停止机器人并寻求裁判的帮助。
以上是 RobotChallenge 机械建构赛的一些基本规则，具体规则会根据比赛主题和任务而有所不同。
参赛者需要仔细阅读比赛规则并遵守相关规定，以确保比赛的公平、公正和安全。
V0RoboGenius全球青少年机器人挑战赛
Robo Genius全球青少年机器人挑战赛赛事规则Robo Genius全球青少年机器人挑战赛组委会编制2020年3月 V2.0目录1、关于Robo Genius (1)2、赛项主题及故事背景 (1)3、参赛要求 (1)4、比赛内容 (2)4.1比赛场地说明 (2)4.2比赛道具说明 (5)4.3比赛阶段及任务介绍 (7)4.4状态判定 (12)5、赛事规则 (12)5.1技术规则 (12)5.2比赛规则 (13)5.3参赛选手规则 (18)5.4胜负判定规则 (21)5.5犯规处罚说明 (21)5.6异常状态 (22)5.7队伍申诉 (22)6、比赛赛制 (23)7、赛事整体流程 (23)8、奖项设置 (26)声明 (26)比赛资源获取 (27)1、关于Robo GeniusRobo Genius 是由优必选科技和创客星球联合发起的青少年机器人成长计划和平台项目，Robo Genius 以 AI 教育为核心，旨在通过嘉年华、实践体验、竞技比赛、内容共创、综艺节目等形式，启迪青少年对人工智能和机器人的认知与学习。
Robo Genius 全球青少年机器人挑战赛（Global Youth Robotics Challenge）践行“以赛带学”的教育理念，通过团体竞技和趣味赛事等形式激发青少年的科技创新精神，检验创意搭建、逻辑编程、运动控制、团队协作等多方面的学习成效，以寓教于乐的形式帮助青少年收获技能和成长。
Robo Genius 全球青少年机器人挑战赛设多个赛项，包括绿茵小将、篮坛新秀、超变战场等。
2、赛项主题及故事背景超变战场是 Robo Genius 推出的机器人综合策略赛事活动，参赛队伍需操作己方机器人在复杂地形的战场上完成方舱扫描、信号碎片收集、阀门开启等特定任务以满足信号发射条件，率先发射信号的一方将获得超变战场上的最终胜利！2088年，M国和Z国的宇航员成功登上了H星，并各自建立了外星基地进行科研工作。
机器人大赛规则解释
机器人大赛规则解释l RoboCup足球机器人仿真组(2D、3D)仿真组比赛类似FIFA系列足球游戏，比赛由程序自主控制，完全模拟真人比赛，可设定阵形、战术、体力消耗等一系列参数。
比赛上下半场各5分钟，由电脑裁判进行在线裁定。
三维仿真与二维仿真相比，实现了对空间的模拟实战，使比赛更加激烈，更具观赏性。
l RoboCup足球机器人小型组比赛在5.5m×4m的绿色地毯场地上进行，采用桔黄色的高尔夫球作为比赛用球，每队由5个机器人组成。
机器人的体积不超过180cm2，高度不超过150mm。
机器人拥有控球、击球装置，可以和赛场外的计算机进行无线通信。
比赛规则与一般足球相似，有点球、任意球、门球、犯规、红黄牌等，上下半场各10 分钟。
l RoboCup足球机器人中型组(2：2 4：4)中型组比赛分为每队2个和每队4个机器人两种不同类型，使用橙色的国际足联标准5号用球，上下半场各10分钟。
机器人的尺寸不超过0.5m×0.5m ×0.8m，在比赛过程中完全自主控制。
l RoboCup足球机器人四腿组四腿机器人足球赛统一使用Sony公司生产的“爱宝”(AIBO)机器狗作为比赛专用机器人，比赛在4.2m×2.8m的绿色场地上进行。
比赛双方各有四个机器人上场，上下半场各10分钟，队员之间可以进行无线通讯，但禁止任何形式的远程控制，从而保证每一支球队都是一个独立系统。
l RoboCup足球机器人类人组比赛以各队自己开发的人形机器人作为比赛专用机器人，分为规定动作部分和自由发挥部分。
规定动作包括单腿站立一分钟、行走、踢球、点球比赛等，自由发挥部分，每队有5分钟时间展示机器人的各个动作，由裁判从技术和艺术两方面进行评分。
l RoboCup救援组比赛“灾难营救”是个重要的社会议题，机器人营救项目在模拟的事故现场寻找及营救受害者，分仿真组和机器人组两个组别。
旨在激发研究创意，使得机器人可以取代人力，在恶劣的环境下进行营救工作。
小型组比赛规则Small_Size_League_-_Rules_201
Laws of the RoboCup Small Size League2016Small Size League Technical CommitteeApril11,2016Contents1The Field of Play11.1Dimensions (1)1.2Field Surface (1)1.3Field Markings (2)1.4The Defence Area (2)1.5Penalty Mark (2)1.6Goals (2)1.7Equipment Mounting Bar (3)1.8Shared Vision System (3)2The Ball42.1Qualities and Measurements (4)2.2Replacement of a Defective Ball (5)i3The Number of Robots53.1Robots (5)3.1.1Interchange (5)3.1.2Interchange Procedure (6)3.1.3Changing the Goalkeeper (6)4The Robotic Equipment64.1Safety (6)4.2Shape (7)4.3Locomotion (7)4.4Wireless Communication (7)4.5Team Color (7)4.6Standard Pattern (8)4.7Autonomy (9)4.8Dribbling (10)4.9Infringements/Sanctions (10)4.10Restart of Play (11)5The Referee125.1The Authority of the Referee (12)5.2Powers and Duties (12)5.3Decisions of the Referee (14)5.4Referee’s Signalling Equipment (14)5.5Signals from the Referee (14)6The Assistant Referee166.1Duties (16)6.2Assistance (16)7The Duration of the Match177.1Periods of Play (17)7.2Half-Time Interval (17)7.3Timeouts (17)7.4Allowance for Time Lost (17)7.5Extra Time (18)7.6Abandoned Match (18)8The Start and Restart of Play188.1Preliminaries (18)8.2Kick-off (19)8.2.1Procedure (20)8.2.2Infringements/Sanctions (20)8.3Placed Ball (20)8.3.1Procedure (20)8.3.2Infringements/Sanctions (21)9The Ball In and Out of Play219.1Ball Out of Play (21)9.2Ball In Play (21)9.3Infringements/Sanctions (21)10The Method of Scoring2210.1Goal Scored (22)10.2Winning Team (23)10.3Competition Rules (23)11Offside23 12Fouls and Misconduct2312.1Direct Free Kick (23)12.2Penalty Kick (23)12.3Indirect Free Kicks (24)12.4Disciplinary Sanctions (24)12.4.1Cautionable Offences (24)12.4.2Sending-Off Offences (25)13Free Kicks2813.1Types of Free Kicks (28)13.2The Direct Free Kick (28)13.3The Indirect Free Kick (28)13.4Free Kick Procedure (29)13.5Infringements/Sanctions (29)14The Penalty Kick2914.1Position of the Ball and the Robots (30)14.2The Referee (30)14.3Procedure (30)14.4Infringements/Sanctions (31)15The Throw-In32 16The Goal Kick32 17The Corner Kick33 A The Competition Rules33A.1Extra Time (33)A.1.1Periods of Play in Extra Time (33)A.1.2Extra Time Half-Time Interval (33)A.1.3Timeouts (34)A.2Penalty Shoot-Out (34)A.2.1Preparation (34)A.2.2Procedure (34)A.3Abandoned Match (35)A.4Early Termination of Match at Score of10 (35)A.5Round-Robin Ranking Criteria (35)A.5.1Tiebreaking (35)B Appendix B-Vision Experts36B.1Duties (36)NotesMale and Female—References to the male gender in the Laws with respect to referees,assistant referees,team members and officials are for simplification and apply to both males and females.1The Field of Play1.1DimensionsThefield of play must be rectangular,of nominal size9000mm×6000mm.The exactfield dimen-sions and thefield markings at the venue may vary by up to±10%in each linear dimension.The dimensions include boundary lines.Dimensions of thefield,goals,and specialfield areas are in millimetres and are shown in Figure1Figure1:Thefield dimensions1.2Field SurfaceThe playing surface is green felt mat or carpet.Thefloor under the carpet is level,flat,and hard. Thefield surface will continue for700mm beyond the boundary lines on all sides.The outer 400mm of this runoff area,separated from the robot area by a100mm tall wall,is used as a designated referee walking area(see Law5).11.3Field MarkingsThefield of play is marked with lines.Lines belong to the areas of which they are boundaries. The two longer sides are called touch boundaries.The two shorter sides are called goal boundaries. All lines are10mm wide and painted white.Thefield of play is divided into two halves by a halfway line that runs along the width of thefield and through the center of thefield.A mid-line runs along the length of thefield,passing through the center of thefield.This line is used to provide adequate features for geometry calibration of SSL-Vision.The centre mark is indicated at the midpoint of the halfway line.A circle with a diameter of 1000mm is marked around it.1.4The Defence AreaA defence area is defined at each end of thefield as follows:Two quarter circles of radius of 1000mm are drawn on thefield of play.These quarter circles are connected by a line of length 500mm parallel to the goal line.Figure1shows this configuration.The area bounded by these arcs and the goal line is the defence area.1.5Penalty MarkFor eachfield half the penalty mark is1000mm from the midpoint between the goalposts and equidistant to them,thus coinciding with the outer edge of the defense area.The mark is a10mm diameter circle of white paint.1.6GoalsGoals must be placed on the centre of each goal boundary and anchored securely to thefield surface.They consist of two160mm vertical side walls joined at the back by a160mm vertical rear wall. The inner face of the goal has to be covered with an energy absorbing material such as foam to help absorb ball impacts and lessen the speed of deflections.The goal walls,edges,and tops are white in color.2There is a round steel cross bar that runs across the top of the goalmouth and parallel to the goal line.It is no larger than10mm in diameter,but is sufficiently strong to deflect the ball.The bottom of the bar is155mm from thefield surface,and the bar is dark in color to minimise interference with vision systems.The top of the goal is covered in a thin net to prevent the ball from entering the goal from above.It is attached securely to the cross bar and goal walls.The distance between the side walls is1000mm and the goal is180mm deep.The goal walls are20mm thick and touch the outer boundary of thefield at the goal line,but do not overlap or encroach on thefield lines or thefield.Thefloor inside the goal is the same as the rest of the playing surface.Figure2:The Goal in detail1.7Equipment Mounting BarA pair of mounting bars will be provided4m above thefield.The bars will run parallel to the goal lines above the center of eachfield half.The bars should be mounted securely so that they do not swing or sway under a small external force,and they should not bend or twist significantly when the weight of typical video equipment is added.1.8Shared Vision SystemEachfield is provided with a shared central vision server and a set of shared cameras.This shared vision equipment uses the community-maintained SSL-Vision1software to provide localization data to teams via Ethernet in a packet format that is to be announced by the shared vision system developers before the competition.Teams need to ensure that their systems are compatible with the shared vision system output and that their systems are able to handle the typical properties of real-world sensory data as provided by the shared vision system(including noise,latency,or occasional failed detections and misclassifications).The vision patterns on the top of the robots must adhere to the specifications of SSL-Vision,and must be of the standard color paper as specified in the SSL-Vision documentation.1http://codegooglecom/p/ssl-vision/3Besides the shared vision equipment,teams are not allowed to mount their own cameras or other external sensors,unless specifically announced or permitted by the respective competition organ-isers.The shared vision system in eachfield is maintained by one or more vision experts.The proce-dure of selection of these experts will be announced by the competition organisers.Appendix B describes the duties of the vision experts.Decisions of the Small Size League Technical Committee1.The local organising committee should aim to provide uniform,diffuse lighting conditions ofapproximately500lux or brighter.No special lighting equipment will necessarily be used to provide these conditions.The brightness is not guaranteed nor expected to be fully uniform across thefield surface.Teams are thus expected to cope with the variations that will occur when using ambient lighting.The organising committee will release details of the lighting arrangements to the competitors as early as practical.2.No kind of commercial advertising,whether real or virtual,is permitted on thefield of playandfield equipment(including the goal nets and the areas they enclose)from the time the teams enter thefield of play until they have left it at half-time and from the time the teams re-enter thefield of play until the end of the match.In particular,no advertising material of any kind may be displayed inside the goals or walls.No extraneous equipment(cameras, microphones,etc.)may be attached to these items.3.The specific color and texture of the surface is not specified and may vary from competitionto competition(just as real soccerfields vary).The surface underneath the carpet will be level and hard.Examples of approved surfaces include:cement,linoleum,hardwoodfloor-ing,plywood,ping-pong tables and particle board;carpeted or cushioned surfaces are not allowed.Every effort shall be made to ensure that the surface isflat;however,it is up to individual teams to design their robots to cope with slight curvatures of the surface.2The Ball2.1Qualities and MeasurementsThe ball is a standard orange golf ball.It is:•spherical4•orange in color•approximately46g in mass•approximately43mm in diameter2.2Replacement of a Defective BallIf the ball becomes defective during the course of a match:•the match is stopped•the match is restarted by placing the replacement ball at the place where thefirst ball became defectiveIf the ball becomes defective whilst not in play at a kick-off,goal kick,corner kick,free kick, penalty kick,or throw-in:•the match is restarted accordinglyThe ball may not be changed during the match without the authority of the referee.3The Number of Robots3.1RobotsA match is played by two teams,each consisting of not more than six robots,one of which may be the goalkeeper.Each robot must be clearly numbered so that the referee can identify them during the match.The goalkeeper must be designated before the match starts.A match may not start unless both teams have at least one robot.3.1.1InterchangeRobots may be interchanged.There is no limit on the number of interchanges.53.1.2Interchange ProcedureTo interchange a robot,the following conditions must be observed:•interchange can only be made during a stoppage in play,•the referee is informed before the proposed interchange is made,•the interchange robot enters thefield of play after the robot being replaced has been removed,•the interchange robot enters thefield of play at the halfway line.3.1.3Changing the GoalkeeperAny of the other robots may change places with the goalkeeper,provided that:•the referee is informed before the change is made of which robot will be the new goalkeeper •the change is made during a stoppage in the match•the referee indicates the number of the new goalkeeper,which is sent by communication link to the teamsDecisions of the Small Size League Technical Committee1.Each team must have a single designated robot handler to perform interchange and robotplacing when required.No other team members can encroach upon the area immediately surrounding thefield.Movement of robots by the handler is not allowed.4The Robotic Equipment4.1SafetyA robot must not have in its construction anything that is dangerous to itself,another robot,or humans.64.2ShapeA robot mustfit inside a180mm diameter cylinder and have a height of150mm or less.Addition-ally,a robot’s top area must adhere to the Standard Pattern size and surface constraints as described further below in this Law.Figure3:The maximum robot dimensions4.3LocomotionRobot wheels(or other surfaces that contact the playing surface)must be made of a material that does not harm the playing surface.4.4Wireless CommunicationRobots can use wireless communication to computers or networks located off thefield.4.5Team ColorBefore a game,each of the two teams has a color assigned,namely yellow or blue.All teams must be able to be either yellow or blue color.The assigned team color is used as the centre marker color for all of the team’s robots.The detailed layout of the markers is described in Subsection4.6.74.6Standard PatternAll participating teams must adhere to the given operating requirements of the shared vision system (also see Law1).In particular,teams are required to use a certain set of standardized colors and patterns on top of their robots.To ensure compatibility with the standardized patterns for the shared vision system,all teams must ensure that all robots have aflat surface with sufficient space available on the top side.The color of the robot top must be black or dark grey and have a matte(non-shiny)finish to reduce glare. The SSL-Vision standard pattern is guaranteed tofit within a circle of radius85mm that is linearly cut off on the front side of the robot to a distance of55mm from the centre,as shown in Figure4. Teams must ensure that their robot tops fully enclose this area.Figure4:The Minimum Robot Top AreaThe standard pattern to be used by all teams at RoboCup is shown in Figure5.Note that the organisers reserve the right to change this pattern at any time,if required.Teams must therefore make sure to still adhere to the standard robot top area size as outlined in Figure4.Each robot must use the standardized pattern with a unique color assignment selected from a standardized set of possible color combinations.No two robots are allowed to use the same color8Figure5:The Standard Patternassignment.The centre dot color determines the team and is either blue or yellow.All markers must be cut from stock specified by the SSL-Vision documentation.While teams may acquire the standard color paper in advance of the competition,limited quantities of standardized colored paper or cardstock for all required colors will be provided at the competition.The set of legal color assignments is shown in Figure6.Note that the organisers reserve the right to change these color assignments at any time,if required.Teams are encouraged to select color assignments with IDs0–7because they have been exper-imentally found more stable,as there is no risk that the back two dots“color-bleed”into each other.4.7AutonomyThe robotic equipment is to be fully autonomous.Human operators are not permitted to enter any information into the equipment during a match,except at half time or during a time-out.9Figure6:The Standard Color Assignments4.8DribblingDribbling devices that actively exert backspin on the ball,which keep the ball in contact with the robot are permitted under certain conditions.The spin exerted on the ball must be perpendicular to the plane of thefield.Vertical or partially vertical dribbling bars,also known as side dribblers,are not permitted.The use of dribbling devices is also restricted as per Subsection12.3.4.9Infringements/SanctionsFor any infringement of this Law:•play need not be stopped10Figure7:How a dribbler may work(check Figure8for further detail on the20%rule)•the robot at fault is instructed by the referee to leave thefield of play to correct its equipment •the robot leaves thefield of play when the ball next ceases to be in play•any robot required to leave thefield of play to correct its equipment does not re-enter without the referee’s permission•the referee checks that the robot’s equipment is correct before allowing it to re-enter thefield of play•the robot is only allowed to re-enter thefield of play when the ball is out of playA robot that has been required to leave thefield of play because of an infringement of this Law and that enters(or re-enters)thefield of play without the referee’s permission is cautioned and shown the yellow card.4.10Restart of PlayIf play is stopped by the referee to administer a caution:•the match is restarted by an indirect free kick taken by a robot of the opposing side,from the place where the ball was located when the referee stopped the match11Decisions of the Small Size League Technical Committee1.Participants using wireless communications shall notify the local organising committee ofthe method of wireless communication,power,and frequency.The local organising commit-tee shall be notified of any change after registration as soon as possible.In order to avoid interference,a team should be able to select from two carrier frequencies before the match.The type of wireless communication shall follow legal regulations of the country where the competition is pliance with local laws is the responsibility of the competing teams,not the RoboCup Federation.The type of wireless communication may also be restricted by the local organising committee.The local organising committee will announce any restrictions to the community as early as possible.2.Kicking devices are permitted.3.Metal spikes and Velcro are specifically prohibited for the purpose of locomotion.4.Bluetooth wireless communication is not allowed.5.Adhesives such as glue or tape may not be used for the purpose of ball control or to constructdribblers.Dribbling devices which use such an adhesive to affix the ball to a robot are considered a violation of Law12,Decision4,by“removing all of the degrees of freedom of the ball”.In addition,the use of adhesives for any purpose on the robot which results in residue left on the ball orfield,is considered as damage and sanctioned as per Law12.6.A rules check will be performed on all robots at the competition prior to thefirst match.Anyteam’s robot which is found to violate a rule must be modified to be compliant before it can participate in matches.5The Referee5.1The Authority of the RefereeEach match is controlled by a referee who has full authority to enforce the Laws of the Game in connection with the match to which he has been appointed.5.2Powers and DutiesThe Referee:12•enforces the Laws of the Game•controls the match in co-operation with the assistant referees•ensures that any ball used meets the requirements of Law2•ensures that the robotic equipment meets the requirements of Law4•informs the assistant referees when periods of time lost begin and end in accordance with Law7•stops,suspends,or terminates the match,at his discretion,for any infringements of the Laws •stops,suspends,or terminates the match because of outside interference of any kind •stops the match if,in his opinion,a robot is likely to cause serious harm to humans,other robots,or itself and ensures that it is removed from thefield of play•places the ball when needed as specified by Law8.3.•allows play to continue when the team against which an offence has been committed will benefit from such an advantage and penalises the original offence if the anticipated advantage does not ensue at that time•punishes the more serious offence when a robot commits more than one offence at the same time•takes disciplinary action against robots guilty of cautionable and sending-off offences;he is not obliged to take this action immediately but must do so when the ball next goes out of play•takes action against team officials who fail to conduct themselves in a responsible manner and may,at his discretion,expel them from thefield of play and its immediate surrounds •acts on the advice of assistant referees regarding incidents which he has not seen •ensures that no unauthorised persons encroach thefield of play•restarts the match after it has been stopped•provides the technical committee with a match report which includes information on any dis-ciplinary action taken against team officials and any other incidents which occurred before, during,or after the match•checks shared vision system status with Vision Expert(s)(see Appendix B)before each match•gets confirmation from Vision Expert(s)that both teams receive localization data from shared vision system correctly and accurately13•halts the game whenever Vision Expert(s)ask during a match and lets the Vision Expert(s) diagnose andfix the issue;if the Vision Expert(s)confirm that the issue is resolved then the game must restart instantly5.3Decisions of the RefereeThe decisions of the referee regarding facts connected with play arefinal.The referee may only change a decision on realising that it is incorrect or,at his discretion,on the advice of an assistant referee,provided that he has not restarted play.5.4Referee’s Signalling EquipmentA device will be supplied to convert the referee’s signals into Ethernet communication signals that are transmitted to both teams.The equipment will be operated by the assistant referee.Details of the equipment are to be supplied by the local organising committee before the competition.5.5Signals from the RefereeDuring a match the referee will signal the start and stop of play in the usual fashion.The assistant referee will send signals reflecting the referee’s call over communication links to each team.No interpretation of the referee’s signals by human operators is permitted.The whistle signal indicates that the referee has stopped play and that all robots should move 500mm from the ball to allow the referee to place the ball for a restart.All robots are required to remain500mm from the ball as the ball is moved to the restart position.For a goal(Law10),or caution or send off(Law12),an informational signal will be sent to indicate the referee’s decision.The restart signal will indicate the type of restart.Robots should move into legal positions upon receipt of this signal.For restarts other than a kick-off(Law8)or a penalty kick(Law14),the kicker may kick the ball when ready without further signals from the referee.For a kick-off(Law8)or a penalty kick(Law14),a start signal will be sent to indicate that the kicker may proceed.This signal will not be sent for other types of restart.Signals indicating periods of time-out and time lost will also be sent when required.The referee will be deemed to have given a signal when the assistant referee has relayed that signal over the communications links.14Decisions of the Small Size League Technical Committee1.A referee(or where applicable,an assistant referee)is not held liable for:•any kind of injury suffered by an official or spectator•any damage to property of any kind•any other loss suffered by any individual,club,company,association,or other body,which is due or which may be due to any decision which he may take under the termsof the Laws of the Game or in respect of the normal procedures required to hold,play,and control a matchThis may include:•a decision that the condition of thefield of play or its surrounds are such as to allow ornot to allow a match to take place•a decision to abandon a match for whatever reason•a decision as to the condition of thefixtures or equipment used during a match includingthefield and the ball•a decision to stop or not to stop a match due to spectator interference or any problemin the spectator area•a decision to stop or not to stop play to allow a damaged robot to be removed from thefield of play for repair•a decision to request or insist that a damaged robot be removed from thefield of playfor repair•a decision to allow or not to allow a robot to have certain colors•a decision(in so far as this may be his responsibility)to allow or not to allow anypersons(including team or stadium officials,security officers,photographers,or othermedia representatives)to be present in the vicinity of thefield of play•any other decision which he may take in accordance with the Laws of the Game or inconformity with his duties under the terms of the RoboCup Federation or league rulesor regulations under which the match is played2.Facts connected with play shall include whether a goal is scored or not and the result of thematch.3.The referee should use a black stick or some other device when repositioning the ball toreduce the chance of interference with vision systems.4.The referee may be assisted by an autonomous referee application provided by one or bothof the competing teams,if both teams agree.The referee may also be assisted by an au-tonomous or semi-autonomous application provided by the league organizers or by a team not participating in the current match,at the referee’s own discretion,provided that the ap-plication is operated or monitored by a neutral party.155.The outer region of thefield surface which is further than300mm away from the bound-ary line is used as a designated walking area by the referee and/or assistant referee during gameplay.Teams should control their robots to stay out of this area to not interfere with the referees.Referees are not responsible for any obstructions to robots or vision systems within this area.Nevertheless,referees are requested to wear clothes and shoes which do not contain any color reserved for the ball or for robot markers.6The Assistant Referee6.1DutiesThe assistant referee is appointed whose duties,subject to the decision of the referee,are to:•act as timekeeper and keep a record of the match•to operate the communications equipment to relay the referee’s signals over the communi-cations links•monitor the robot operators for illegal signals being sent to the robots•indicate when an interchange is requested•indicate when misconduct or any other incident has occurred out of the view of the referee•indicate when offences have been committed whenever the assistants are closer to the action than the referee(this includes,in particular circumstances,offences committed in the defence area)•indicate whether,at penalty kicks,the goalkeeper has moved forward before the ball has been kicked and if the ball has crossed the line6.2AssistanceThe assistant referees also assist the referee to control the match in accordance with the Laws of the Game.In the event of undue interference or improper conduct,the referee will relieve an assistant referee of his duties and make a report to the organising committee.16Decisions of the Small Size League Technical Committee1.A second assistant referee will be used whenever possible.The second assistant referee willhelp the referee in ball placement on thefield,as well as helping monitor compliance with all laws and procedures.7The Duration of the Match7.1Periods of PlayThe match lasts two equal periods of10minutes,unless otherwise mutually agreed between the referee and the two participating teams.Any agreement to alter the periods of play(for example, to reduce each half to7minutes because of a limited schedule)must be made before the start of play and must comply with competition rules.7.2Half-Time IntervalTeams are entitled to an interval at half time.The half-time interval must not exceed5minutes. Competition rules must state the duration of the half-time interval.The duration of the half-time interval may be altered only with the consent of both teams and the referee.7.3TimeoutsEach team is allocated four timeouts at the beginning of the match.A total of5minutes is allowed for all timeouts.For example,a team may take three timeouts of one-minute duration and thereafter have only one timeout of up to two minutes duration.Timeouts may only be taken during a game stoppage.The time is monitored and recorded by the assistant referee.7.4Allowance for Time LostAllowance is made in either period for all time lost through:•substitution(s)•assessment of damage to robots17。
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世界机器人大赛robo genius 规则世界机器人大赛Robo Genius的规则：
参赛队伍只能携带不多于两台的机器人及控制器进入比赛场地，不得携带机器人以外的零部件。
在一局比赛中，参赛队伍只能使用本队机器人上已安装的零部件进行维修，不得新增其他零部件或更换电池。
在BO3比赛中的两局比赛之间，参赛队伍只能使用本队机器人上已安装的零部件进行维修，不得新增其他零部件，但可以为机器人更换电池。
比赛中，如果机器人将信号方舱放入合成区内，进行相应判罚后，裁判会将合成区内的信号方舱放回到比赛场地的中央位置处，如果此时场地中央位置处被机器人占据，则裁判可放置在中央位置旁边或与中央位置有接触的区域。