機(jī)器人青少年世界杯足球比賽規(guī)則中英文

1、updated january 10th 2013 1 translated by lin junqiu2013robocupjunior soccer rules 20132013 robocupjunior 機(jī)器人青少年世界杯足球比賽規(guī)則robocupjunior soccer technical committee 2013:jos dias (portugal), jatdiassapo.ptgerard elias (australia), elias.gerardluis jos lpez (mexico), chair, llopeztecnovkatsumi masaoka (

2、japan), k-macsea.plala.or.jpsebastian polly (germany), sebastian.pollygmx.degio spina (canada), profspinathese are the official rules for robocupjunior 2013. they are released by the robocupjunior soccer technical committee for soccer. these rules have priority over any translations.preface:前言in the

3、 robocupjunior soccer challenge, teams of two autonomous mobile robots compete against another team in matches. they must look for an infrared-light-emitting ball, trying to score into a color-coded goal in a special field built in a way that resembles the actual field for human soccer. robots are r

4、equired to have full autonomy from humans, technical designs, and ingenious programming by their developers.在rcj足球比賽中，兩隊(duì)自主控制的機(jī)器人相互對(duì)抗。在一個(gè)與人類足球賽場(chǎng)類似的場(chǎng)地中，機(jī)器人必須尋找一個(gè)發(fā)出紅外光的足球，并將球踢進(jìn)以顏色區(qū)別雙方的球門，才能得分。機(jī)器人必須脫離人工控制，能自主運(yùn)作，并由它們的開(kāi)發(fā)者完成設(shè)計(jì)和編程。participants of this challenge are required to give the best of their abiliti

5、es in programming, robotics, electronics and mechatronics, but also to contribute on teamwork and knowledge sharing with other participants, regardless of culture, age or result in the competition. all are expected to compete, learn, have fun and grow up.這項(xiàng)比賽的參賽者必須全力以赴發(fā)揮自己在程序、機(jī)器人、電子和機(jī)械方面的能力，并且無(wú)論文化、年

6、齡和比賽結(jié)果如何，必須在團(tuán)隊(duì)合作、分享知識(shí)方面做出貢獻(xiàn)。希望每個(gè)人都能競(jìng)爭(zhēng)、學(xué)習(xí)、快樂(lè)并且成長(zhǎng)。the changes determined by the technical committee for this years rules aimed to favor skills over brute force in the games, with safer conditions for both robots and humans. the rules better work out situations of aggressive robots that cause damage to

7、 ir balls, robots and fields; control unrealistic kicker force that cause damage to ir balls and referees; and reduce the excessive need for human intervention in a stressful attempt to maintain game continuity.今年tc組修改規(guī)則的主要目標(biāo)是為了機(jī)器人和人兩者都創(chuàng)設(shè)更為安全的比賽環(huán)境，崇尚技術(shù)，而非暴力。規(guī)則對(duì)以下情形做出了更加明確的限制：機(jī)器人對(duì)紅外足球、機(jī)器人和場(chǎng)地的侵略性損壞行為；

8、由于踢球力量過(guò)大對(duì)紅外足球和裁判造成的損害；不必要的人為干預(yù)造成比賽的流暢性欠佳。1. team參賽隊(duì)1.1 regulations常規(guī)a team consists of two or more members.每支參賽隊(duì)至少有兩位成員。each team must have a captain. the captain is the person responsible for communication with referees. the team can replace its captain during the competition. team is allowed to ha

9、ve only the fewest possible members beside the field during game play: they will usually be the captain and an assistant team member.每支參賽隊(duì)必須有一名隊(duì)長(zhǎng)。隊(duì)長(zhǎng)負(fù)責(zé)與裁判溝通。比賽期間參賽隊(duì)可以更換隊(duì)長(zhǎng)。在比賽期間，每隊(duì)只允許最精簡(jiǎn)的人員呆在賽臺(tái)邊，通?？梢杂幸幻?duì)長(zhǎng)和一名作為助手的參賽隊(duì)成員。1.2 violations違例teams that do not abide by the rules are not allowed to participate.

10、 不允許違反規(guī)則的參賽隊(duì)參加比賽。any person close to the playing field is not allowed to wear any yellow or blue clothes that can be seen by the robots (to avoid interference with the goal colour). a referee can require a team member to change clothes or to be replaced by another team member if interference with go

11、al colour is suspected.賽臺(tái)邊的所有人都不允許穿著能被機(jī)器人看到的黃色或者藍(lán)色的衣物，以免與球門顏色相同而造成干擾。裁判如果認(rèn)為有干擾，就可以要求隊(duì)員更換衣物或者更換人員。the referee can interrupt a game in progress if any kind of interference from spectators is suspected (colour clothing, ir emitters, camera flashes, mobile phones, radios, computers, etc.).裁判如果發(fā)現(xiàn)有任何來(lái)自觀眾的

12、干擾，如有色衣物、紅外發(fā)射器、照相閃光燈、手機(jī)、收音機(jī)、電腦等，可以暫停比賽進(jìn)程。2. robots機(jī)器人2.1 number of robots / substitution機(jī)器人數(shù)量/更換each team is allowed to have at most two robots. the substitution of robots during the competition within the team or with other teams is forbidden.每支參賽隊(duì)最多可持有兩個(gè)機(jī)器人。比賽中禁止參賽隊(duì)更換機(jī)器人，或與其他參賽隊(duì)交換機(jī)器人。2.2 interfere

13、nce干擾robots are not allowed to be coloured yellow or blue in order to avoid interference with the goal colours. yellow or blue parts used in the construction of the robot must either be occluded by other parts from the perception by other robots or be taped/painted with a neutral colour.為避免與球門顏色相同，機(jī)

14、器人不允許涂成黃色或者藍(lán)色。若在機(jī)器人搭建時(shí)使用了黃色或者藍(lán)色的部件，則必須覆蓋以其他部件，或者用中性色（黑白灰）油漆，或者用中性色膠帶覆蓋，避免其他機(jī)器人受到干擾。the robot must not emit infrared light. however, optical sensors (e.g. infrared-distance-sensors) may be used as long as they do not affect other robots. this needs to be proved by a referee or an oc member if a claim

15、 is placed by the other team.機(jī)器人不允許發(fā)射紅外光。然而，在不影響其他機(jī)器人的情況下，允許使用視覺(jué)傳感器（如紅外測(cè)距傳感器）。若有參賽隊(duì)投訴對(duì)手，必須由裁判或組委會(huì)成員來(lái)認(rèn)定是否有干擾。infrared light reflecting materials must not be used on the outside. if robots are painted, they must be painted matte. minor parts that reflect infrared light could be used as long as other r

16、obots are not affected. a team claiming that their robot is affected by the other teams robot reflecting infrared light has to show the proof/evidence of the interference.不允許在機(jī)器人表面使用能夠反射紅外光的材料。如果給機(jī)器人涂色，則必須涂成啞光的。若不影響其他機(jī)器人，才可以使用能反射紅外光的鏡面部件。若有參賽隊(duì)認(rèn)為自己受到影響，則必須拿出證據(jù)證明。2.3 control控制the use of remote control

17、 of any kind is not allowed. robots must be started manually by humans and be controlled autonomously.禁止使用任何形式的遙控。機(jī)器人必須由人手工開(kāi)動(dòng)，然后自主控制。2.4 communication通信robots are not allowed to use any kind of communication during game play unless the communication between two robots is via bluetooth class 2 or cla

18、ss 3 (range shorter than 20 meters) or via zigbee. teams are responsible for their communication. the availability of frequencies cannot be guaranteed.除機(jī)器人之間可使用藍(lán)牙2.0和3.0（范圍不超過(guò)20米）或zigbee互相通訊外，不允許比賽期間使用任何形式的通信。參賽隊(duì)?wèi)?yīng)對(duì)自己機(jī)器人的通信負(fù)責(zé)。我們不能保證所有頻段的有效性。2.5 agility敏捷度robots must be constructed and programmed in a

19、 way that their movement is not limited to only one dimension (that means one axis). they must move in all directions, for example by turning. robots must respond to the ball in a direct forward movement. for example, it is not enough to basically just move left and right in front of their own goal,

20、 but also to move directly towards the ball in a forward movement. at least one team robot must be able to seek and approach the ball anywhere on the field, unless the team has only one robot on the field atthat time.機(jī)器人不能只在一個(gè)維度上運(yùn)動(dòng)，而應(yīng)能在所有方向上運(yùn)動(dòng)，比如轉(zhuǎn)彎等。機(jī)器人應(yīng)能對(duì)足球有一個(gè)直接向球的應(yīng)對(duì)動(dòng)作。例如，機(jī)器人不能在己方球門前只作左右移動(dòng)，而應(yīng)該能做出直接

21、迎向足球的動(dòng)作。至少有一臺(tái)機(jī)器人要能在賽場(chǎng)的任何位置發(fā)現(xiàn)并往足球方向運(yùn)動(dòng)。參賽隊(duì)只有一臺(tái)機(jī)器人在賽臺(tái)上的不在此列。robots must be constructed and programmed in a way that they do not enter the goal. robots are allowed to use the cross-bar.在搭建和編程時(shí)，應(yīng)將機(jī)器人做成不能進(jìn)入球門的。機(jī)器人可以使用球門上方的橫梁以避免自己進(jìn)入球門。2.6 handle把手all robots must have a stable handle to hold and to lift the

22、m. the handle must be easily accessible, for example on top of a robot. the dimensions of the handle may exceed the 22 cm height limitation, but the part of the handle that exceeds this 22 cm limit cannot be used to mount components of the robot.所有的機(jī)器人必須有一個(gè)牢固的把手，以便握持和移動(dòng)。把手的位置要令人能很方便地拎起機(jī)器人，例如可將把手裝在機(jī)器

23、人的頂端。把手的尺寸可以超過(guò)機(jī)器人22厘米的高度限制，但超過(guò)22厘米范圍的把手部分不能用于安裝機(jī)器人部件。2.7 additional regulations of the sub-leagues下屬分組的附加規(guī)則a tournament may be organized in different sub-leagues. each sub-league (e.g. “open league” and “l(fā)ight weight league”) may have its own additional regulations, including regulations affecting t

24、he construction of robots. such regulations will be published by the robocupjunior soccer technical committee and become a part of this rule.比賽可以有很多不同組別。每個(gè)組別（例如“重量組”和“輕量組”）可以有自己的附加規(guī)則，包含機(jī)器人搭建的附加規(guī)則等。這些規(guī)則都將由rcj足球技術(shù)委員會(huì)公布，并成為本規(guī)則的一部分。2.8 violations違例robots that do not abide by the specifications/regulatio

25、ns are not allowed to play. if violations are detected during a running game the team is disqualified for that game. if similar violations occur repeatedly, the team can be disqualified from the tournament.不允許違反以上規(guī)則或規(guī)范的機(jī)器人參加比賽。如果在正在進(jìn)行的某場(chǎng)比賽中發(fā)現(xiàn)違規(guī)，則取消該參賽隊(duì)該場(chǎng)比賽資格。如果再次發(fā)現(xiàn)類似違規(guī)，則取消該參賽隊(duì)所有比賽資格。3. field比賽場(chǎng)地3.1

26、kind of field場(chǎng)地種類there is only one kind of field for all sub-leagues.比賽中所有組別使用同一種場(chǎng)地。3.2 dimensions of the field場(chǎng)地尺寸the playing-field is 122 cm by 183 cm. the field is marked by a white line which is part of the playing field. around the playing-field, beyond the white line, is an outer area of 30 cm

27、 width. total dimensions of the field, including the outer area, are 182 cm by 243 cm. it is recommended that the field be positioned 70 to 90 cm off the ground.內(nèi)場(chǎng)區(qū)域?qū)?22厘米，長(zhǎng)183厘米。在內(nèi)場(chǎng)區(qū)域由一圈白線標(biāo)注出來(lái)，此白線也屬于內(nèi)場(chǎng)范圍。內(nèi)場(chǎng)外，即在這圈白線外，是寬30厘米的外場(chǎng)區(qū)域。因此整個(gè)場(chǎng)地的尺寸就是寬182厘米，長(zhǎng)243厘米。建議場(chǎng)地?cái)[放在里地面70-90厘米高度的位置。3.3 walls墻壁walls are pl

28、aced all around the field, including behind the goals and the out-area. the height of the walls is 14 cm. the walls are painted matte black.場(chǎng)地四周有墻壁，包括球門后方和外場(chǎng)周圍。墻壁高14厘米，漆成啞光黑色。3.4 goals球門the field has two goals, centered on each of the shorter sides of the playing field. the goal inner space is 60 cm

29、 width, 10 cm high and 74 mm deep, box shaped. it has a cross-bar on top (to prevent robots from entering the goal and to allow checking if the ball scored). the goal “posts” are positioned over the white line marking the limits of the field. the cross-bar is exactly over the white line. the interio

30、r walls and the cross-bar of each goal are painted, one goal yellow, the other goal blue. the exterior is painted black.場(chǎng)地上有兩個(gè)球門，分別放置在內(nèi)場(chǎng)兩側(cè)短邊的正中位置。球門內(nèi)徑尺寸為寬度60厘米、高10厘米、深74厘米。球門上方有橫梁，防止機(jī)器人進(jìn)入球門內(nèi)，并可用于判斷足球是否進(jìn)門得分。球門開(kāi)口處要安裝在白線上，使得橫梁恰好在白線上方。球門內(nèi)部，包括球門內(nèi)的地面、墻壁和橫梁都要涂色，一邊涂成黃色，另一邊涂成藍(lán)色。球門外部涂成黑色。3.5 floor地面the floor

31、consists of green carpet on top of a hard surface. the carpet should be of a quality that will resist the wear and tear of spinning wheels. all straight lines on the field should be painted and have a width of 20 mm.球場(chǎng)地面是在硬板上覆蓋一層綠色的地毯。地毯材質(zhì)必須能經(jīng)得起高速轉(zhuǎn)動(dòng)的輪胎的磨損和撕扯。場(chǎng)地上所有線條都必須是油漆在地毯上的，寬度為2厘米。3.6 neutral spo

32、ts墜球點(diǎn)there are five neutral spots defined in the field. one is in the center of the field. the other four are adjacent to each corner, located 45 cm along the long edge of the field, aligned with each goal post towards the middle of the field (from the goal post). the neutral spots can be drawn with

33、 a thin black marker.場(chǎng)地中定義了五個(gè)墜球點(diǎn)。一個(gè)在場(chǎng)地正中。其余四個(gè)墜球點(diǎn)位于四個(gè)墻角附近，沿著賽場(chǎng)的長(zhǎng)邊分布，是在兩邊龍門門柱聯(lián)線方向上，靠近場(chǎng)地中部且距離門柱45厘米遠(yuǎn)的那一點(diǎn)。墜球點(diǎn)用細(xì)的黑色馬克筆標(biāo)示。3.7 center circle中圈a center circle will be drawn on the field. it is 60 cm in diameter. it is a thin black marker line. it is there for referees and captains as guidance during kick-of

34、f.場(chǎng)地上將標(biāo)出中圈，直徑60厘米，由黑色窄圈標(biāo)示。在開(kāi)球時(shí)裁判和隊(duì)長(zhǎng)就可以中圈為依據(jù)。3.8 penalty areas禁區(qū)in front of each goal there is a 30 cm wide and 90 cm long penalty area.在每個(gè)球門前有個(gè)寬30厘米、長(zhǎng)90厘米的禁區(qū)。the penalty areas are marked by a black line of 20 mm width. the line is part of the area.禁區(qū)由寬2厘米的黑線標(biāo)示，并且也是禁區(qū)的一部分。a robot is considered inside

35、 the penalty area when it is completely inside.當(dāng)機(jī)器人全部都在禁區(qū)內(nèi)時(shí)，才視作“機(jī)器人在禁區(qū)內(nèi)”。3.9 lighting and magnetic conditions照明和磁場(chǎng)the fields should be placed in a way that the influence by external infrared light is as low as possible and that the magnetic field of the earth is disturbed as little as possible. perf

36、ect conditions cannot be guaranteed, however. teams must come to tournaments being prepared to calibrate their robots based on the lighting and magnetic conditions at the venue.我們將盡最大可能放置好比賽場(chǎng)地，使得外來(lái)紅外光和磁場(chǎng)干擾盡量微弱。不過(guò)，不能保證條件全部完美。參賽隊(duì)伍應(yīng)于比賽前先到比賽場(chǎng)地，調(diào)試其機(jī)器人以便適應(yīng)場(chǎng)內(nèi)照明和磁場(chǎng)情況作為準(zhǔn)備。4. ball足球4.1 general ball specificat

37、ion規(guī)格a well-balanced electronic ball shall be used. the ball will emit infrared (ir) light set to pulsed mode.使用勻稱電子球，該球設(shè)定為調(diào)制模式發(fā)出紅外光。4.2 official suppliers for pulsed balls調(diào)制球官方供應(yīng)商currently, there is one ball that has been approved by the robocupjunior soccer technical committee: robosoccer rcj-05 b

38、all operating in mode a (pulsed) made by ek japan/elekit (www.elekit.co.jp)technical details are in the appendix: “technical specification for pulsed soccer ball”.目前rcj足球技術(shù)委員會(huì)批準(zhǔn)了一種用球：由ek japan/elekit (www.elekit.co.jp)制造的rcj-05球，開(kāi)在a模式下（調(diào)制模式下）。4.3 tournament balls比賽用球balls for the tournament must be

39、made available by the organizers. organizers are not responsible for providing balls for practice.比賽用球由組織方提供。組織方不提供練習(xí)用球。5. gameplay比賽5.1 game procedure and length of a game比賽流程和時(shí)長(zhǎng)the game will consist of two halves. the duration of each half is 10-minutes. there will be a 5-minute break in between t

40、he halves.每場(chǎng)比賽包含上下兩個(gè)半場(chǎng)。每個(gè)半場(chǎng)10分鐘。上下半場(chǎng)之間休息5分鐘。the game clock will run for the duration of the halves without stopping (except if or when a referee wants to consult an official). the game clock will be run by a referee or a referee assistant (see rule 7.1 for the description of a referee assistant).比賽連

41、續(xù)計(jì)時(shí)，除非裁判因比賽需要去咨詢組委會(huì)成員，否則中間不停頓。計(jì)時(shí)器將由裁判或者助理裁判（詳見(jiàn)規(guī)則7.1）控制。teams are supposed to be at their field table 5 minutes before their game starts. to be at the inspection table does not count in favor of this time limit. teams can be penalized one goal per minute at the referees discretion if they are late fo

42、r the game start. if a team does not report within 5 minutes of the game start, it forfeits the game and the winning team is awarded a 5-0 win.參賽隊(duì)必須在比賽開(kāi)始之前提前5分鐘到達(dá)指定賽臺(tái)。不能因?yàn)樵跈z錄處就可以遲到。如果遲于比賽開(kāi)始時(shí)間到達(dá)，那么裁判將按照每遲到一分鐘罰該隊(duì)輸一個(gè)球。如果在比賽開(kāi)始后5分鐘仍未能到場(chǎng)，則該場(chǎng)比賽結(jié)束，對(duì)方以5：0獲勝。5.2 pre-match meeting賽前準(zhǔn)備at the start of the first

43、half of the game, a referee will toss a coin. the team mentioned first in the draw shall call the coin. the winner of the toss can choose either which end to kick to, or to kick off first. the loser of the toss will settle for the other option. after the first half, teams will switch sides. the team

44、 not kicking off in the first half of the game will kick off to begin the second half of the game.上半場(chǎng)開(kāi)始前，由裁判擲硬幣。由抽簽時(shí)排號(hào)靠前的參賽隊(duì)先猜。猜中的一方可以選擇挑邊或者開(kāi)球。另一方?jīng)Q定剩下的一項(xiàng)。上半場(chǎng)結(jié)束后兩隊(duì)將換邊。上半場(chǎng)不開(kāi)球的一隊(duì)在下半場(chǎng)中開(kāi)球。5.3 kick-off開(kāi)球each half of the game begins with a kick-off. all robots must be located on their own side of the field

45、. all robots must be halted. the ball is positioned by a referee in the center of the field.以開(kāi)球的方式開(kāi)始每個(gè)半場(chǎng)的比賽。所有的機(jī)器人必須位于自己的半場(chǎng)。所有的機(jī)器人必須是靜止不動(dòng)的。裁判將足球放在場(chǎng)地正中。the team kicking off places their robots on the field first. robots cannot be placed nor remain behind the goal line or in the outer area. robots can

46、not be repositioned once they have been placed.開(kāi)球的一方先擺機(jī)器人。機(jī)器人不能擺在球門線后，也不能擺在外場(chǎng)。擺好之后就不能再移動(dòng)。the team not kicking off will now place their robots on the defensive end of the field. all robots on the team not kicking off must be at least 30 cm away from the ball (that means outside the center circle).不開(kāi)球

47、的一方等開(kāi)球方放好之后可以把機(jī)器人擺放到自己的半場(chǎng)。 不開(kāi)球的機(jī)器人都必須離球至少30厘米，也就是在中圈外。the referee may adjust the placement of the robots to make sure that the robots are placed properly within the field positions.裁判可以調(diào)整機(jī)器人的擺位，以保證符合規(guī)定。on the referees command (usually by whistle), all robots will be started immediately by each capta

48、in. any robots that are started early will be removed by the referee from the field and treated as a damaged robot.在裁判下令后（通常是使用哨子發(fā)令），所有的機(jī)器人由每隊(duì)隊(duì)長(zhǎng)立刻開(kāi)動(dòng)。搶在哨響前開(kāi)動(dòng)的機(jī)器人將作為“損壞的機(jī)器人”被裁判移出場(chǎng)地。5.4 human interference人為干擾except for the kick-off, human interference from the teams (e.g. touching the robots) during th

49、e game is not allowed unless explicitly permitted by a referee. violating team/team member(s) can be disqualified from the game.除了開(kāi)球之外，除非有裁判明確的要求，禁止任何對(duì)機(jī)器人的人為干擾，如觸碰機(jī)器人等。違規(guī)的參賽隊(duì)或者隊(duì)員有可能被取消比賽資格。the referee or a referee assistant can help robots to get unstuck, but only if the ball is not being disputed n

50、ear them, and also if that situation was created from the interaction between robots (i.e. it was not a design or programming flaw of the robot alone). the referee or a referee assistant will pull back the robots just enough for them to be able to move freely again.僅在機(jī)器人未在足球旁，且由于機(jī)器人間的對(duì)抗而造成被卡住的情況，裁判或

51、助理裁判可以幫助機(jī)器人脫困，由于自身設(shè)計(jì)或編程原因而卡住的不在此列。裁判或助理裁判僅將機(jī)器人拉動(dòng)一點(diǎn)，以便它自己可以再次自由移動(dòng)。5.5 ball movement球的運(yùn)動(dòng)a robot cannot hold a ball. holding a ball means taking full control of the ball by removing all of its degrees of freedom. examples for ball holding include fixing a ball to the robots body, surrounding a ball usi

52、ng the robots body to prevent access by others, encircling the ball or somehow trapping the ball with any part of the robots body. if a ball stops rolling while a robot is moving or a ball does not rebound when rolled into a robot, it is a good indication that the ball is trapped.機(jī)器人不得“持球”?！俺智颉钡囊馑际牵?/p>

53、通過(guò)堵死足球去路從而實(shí)現(xiàn)的完全控球。比如說(shuō)，把球固定在機(jī)器人身上；機(jī)器人用身體圈住球來(lái)阻止其它機(jī)器人觸球；或使用機(jī)器人身體的任何部分將球包圍或設(shè)法圈住球。機(jī)器人移動(dòng)時(shí)球停止?jié)L動(dòng)，或是球滾動(dòng)撞到機(jī)器人身體時(shí)沒(méi)有回彈，這就說(shuō)明球是被圈住的。the only exception to holding is the use of a rotating drum that imparts dynamic back spin on the ball to keep the ball on its surface. such a device is called a dribbler.唯一不被認(rèn)為是“持球”

54、的就是使用盤球裝置，它可以給球提供向后旋轉(zhuǎn)的動(dòng)力，將球維持在轉(zhuǎn)盤的表面上，這稱為“盤/運(yùn)球”。other players must be able to access the ball.其它機(jī)器人必須能接觸到球。5.6 scoring計(jì)分a goal is scored when the ball strikes or touches the back wall of the goal. goals scored either by an attacking or defending robot have the same end result: they give one goal to t

55、he team on the opposite side. after a goal, game will be restarted with a kick-off from the team who received the goal against.當(dāng)整個(gè)足球撞擊或者碰到球門后壁，即為進(jìn)球。無(wú)論是進(jìn)攻或者防守一方機(jī)器人造成的進(jìn)球，都給未被進(jìn)球的一方記上一分。進(jìn)球后，由被進(jìn)球的一方開(kāi)球，繼續(xù)比賽。5.7 goalie守門員the robot moving first into the penalty area on a teams defending side completely (wit

56、h every part of it) is designated as goalie until a part of it leaves the penalty area.首個(gè)完全進(jìn)入自己防守半場(chǎng)的禁區(qū)（機(jī)器人的所有部分都進(jìn)入）的機(jī)器人被稱為“守門員”，直到它有一部分離開(kāi)禁區(qū)為止。5.8 pushing推人within the penalty area, the goalie has priority. attacking robots are not supposed to push the goalie in any way.在禁區(qū)內(nèi)，守門員擁有優(yōu)先權(quán)。進(jìn)攻機(jī)器人不允許以任何方式推擠守門

57、員。if the attacker and the goalie touch each other and at least one of them has physical contact with the ball, the ball will be moved to the nearest unoccupied neutral spot immediately.如果攻方和守門員機(jī)器人相觸，同時(shí)它們有至少一方碰到足球的話，足球?qū)⒈获R上移到最近的空墜球點(diǎn)。if a goal is scored as a result of this pushed-situation, it will not

58、 be granted.如果由于這種情況造成進(jìn)球的，該進(jìn)球不算。5.9 lack of progress沒(méi)有進(jìn)展（死球）lack of progress occurs if there is no progress in the gameplay for a reasonable period of time and the situation is not likely to change. typical lack of progress situations are when the ball is stuck between robots, when there is no change in ball and robots positions, or when the ball is beyond detection or reach capability of all robots on the field. after a visible and loud count, (usually a count of five, the length of the count could be decided by the oc before a compe