在半自主型的MAS组织结构的基础上 ,建立具有Agent、逻辑Agent与物理Agent的异构体系 ,从微观和宏观两种技术路线分析了多智能体系统 (MAS)的组织结构和Agent的体系结构 ,提出了一种足球机器人系统的分层知识、分层推理的体系结构模型 ,可简化推理过程 ,又增强推理能力 ,提高足球机器人的应变能力和实时性 Based on the semi-autonomous MAS organizational structure, a heterogeneous system with Agent, logical Agent and physical Agent is established. The organizational structure and agent system of Multi-agent system (MAS) are analyzed from the microscopic and macro perspectives Structure, a hierarchical knowledge of soccer robot system and an architecture model of hierarchical reasoning are proposed, which can simplify inference process and enhance reasoning ability to improve the adaptability and real-time performance of soccer robot