基于乒乓球机器人视觉系统的单色乒乓球旋转三维速度测定

3D Velocity Measurement of Single-color Table Tennis Rotation Based on Visual System of Table Tennis Robot

旋转是乒乓球最核心的制胜因素,故获得乒乓球的旋转信息是乒乓球机器人视觉中必不可少的任务。提出基于单目视觉的测算乒乓球旋转三维速度的方向及大小的算法,用于测量无标记的乒乓球旋转,将其应用于乒乓球机器人的视觉识别,获得乒乓球的旋转信息,对机器人后续运动规划和控制决策起重要的作用。对所提算法进行验证,得到与理论结果误差较小的实验数据,验证了方法的可行性。

Rotation is the key winning factor to table tennis, thus acquiring the rotating information of the table tennis ball is an essential task of the table tennis robot vision. This paper presents the algorithm based on the monocular vision that can calculate 3D velocity of high - speed rotating sphere, which can be used to calculate the rotating velocity of table tennis ball with no marks. The algorithm can be applied to the vision recognition of table tennis robot to acquire the rotating information of table tennis ball, which plays an important role in motion planning and control decision of robot at the subsequent stages. The experimental results of the proposed algorithm are verified with little error, which proves the feasibility of the proposed method.