A ball picking method for a fully automatic ball picking robot based on monocular vision

Abstract

A ball picking method for a fully automatic ball picking robot based on monocular vision. In terms of mechanical structure, a roller structure in the form of double gear reverse rotation is used to perform the ball picking action, and a monocular camera is fixedly installed on the ball picking trolley to periodically take pictures, which are transmitted to the PC through wireless transmission or network cloud. Using MATLAB software on the PC, a series of algorithms such as identifying and compensating for interference light spots, noise reduction, identifying the center of mass of the ball, and planning the optimal path are used to identify the position of the ball and plan the travel route. Then, the identified centroid coordinates and the planned route sequence are wirelessly transmitted to the embedded system installed on the trolley. According to the corresponding size relationship between the image and the real object, the trolley is controlled to travel according to the specified route until all the balls are picked up.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to a ball picking method for a fully automatic ball picking robot based on monocular vision. Background technique [0002] Table tennis is our country's national sport and has a deep mass base in our country. In large and medium-sized training venues such as table tennis training bases and table tennis clubs, the balls are scattered in every corner of the sports field after being used. Often after the game or training is completed, special personnel are required to recycle the balls, which not only wastes energy, but also has low efficiency in picking up the balls. High, the work of picking up the ball manually is relatively heavy. [0003] There are mainly the following ways to pick up the ball: [0004] 1. Picking up the ball manually, this is a more commonly used method of picking up the ball. This way of picking up the ball is manpower-intensive. At least one pe...

AI Technical Summary

Problems solved by technology

Although this method of picking up the ball is more efficient than manual picking, it still requires manual participation, and at least one person is arranged for each court to pick up the ball. Such a person also requires a lot of manpower

[0006] Therefore, in view of the current problems of low ball picking efficiency, high labor costs, and lack of existing ball picking tools, it is necessary to design a ball picking tool that is easy to use, low in cost, high in intelligence, and suitable for various scenarios

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