中文摘要：

提出了一种基于3D打印技术的桌面足球机器人比赛系统设计方案，该方案将桌面游戏与足球机器人比赛结合在一起，既有趣味性，又有挑战性。整个系统由足球机器人、足球机器人上位机控制系统、具有可拆卸围栏的桌面足球场地、无线手柄等部分组成，支持人机对战、双人对战等模式。其中足球机器人车体采用3D打印技术制作而成，具有质量轻、成本低的优点；足球机器人比赛场地围栏的可拆卸设计，也可将普通课桌快速改造成桌面足球机器人比赛场地，具有结构简单、可扩展性强的优点；视觉识别系统采用采用离线知识库与在线颜色识别相结合的识别方式，具有准确率高、实时性好的特点。实践表明，该比赛系统具有成本低、控制性能好、趣味性强的优点，能够有效激发学生的学习热情。

英文摘要：

In view of the problem of high-cost in practical application of traditional soccer robot competition system, a design scheme of desktop soccer robot competition system is proposed. By fusing board game with soccer robot competition, the proposed system is very interesting and challenging. This system consists of soccer robot, desktop control system of soccer robot, competition area with removable desktop fence and wireless joystick, which supports human-machine, human-human competition modes. Specifically, soccer robot is made by using 3D print technology with lighter weight and lower cost. Moreover, the removable design of desktop fence makes it possible to transform school table into soccer robot completion area. Furthermore, vision recognition system is implemented by fusing offline knowledge building method and online color identification technology. It is proved that the proposed design scheme of desktop soccer robot competition system has the advantages of low cost, good control performance and interest, which effectively stimulates students＇ enthusiasm for learning.