本文最后研究并设计了全自主式足球机器人的软件系统，该系统实现了环境标定、颜色信息采样、目标识别和测试反馈等功能模块。

Finally, the software system of the autonomous soccer robot, is studied and designed, which achieved a calibration environment, color sampling, target identification and testing feedback module.

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软件系统主要由边缘检测、形状检测、纹理检测、颜色识别等部分构成。

And software system mainly by the edge detection, shape detection, texture detection, and color detection.

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介绍了硅双结型色敏器件的工作原理，给出了一种基于89c5 2单片机为运算、控制核心的颜色识别系统的硬件、软件设计。

Operating principle of color sensors are introduced. Hardware and software design of a color distinguish device based on 89c52 microcontroller is presented.

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