基于双目视觉的气动式乒乓球发球机发球轨迹检测方法

The service trajectory detection method of pneumatic table tennis server based on binocular vision

针对传统气动式乒乓球发球机的轨迹检测方法检测误差大,存在着乒乓球的落点不理想的问题,提出基于双目视觉的气动式乒乓球发球机发球轨迹检测方法。首先根据摄像机参数建立旋转矩阵,基于双目视觉技术将旋转矩阵处理为投影矩阵,根据矩阵约束条件降低选位误差,标定检测点位;其次考虑发球机的发球方式,计算乒乓球在旋转过程中,旋转力道打破不旋球的平衡受力时所承载的各项阻力;最后建立球体运动状态下的轨迹模型,引入衰减系数,降低轨迹检测误差,以此实现基于双目视觉的气动式乒乓球发球机发球轨迹检测。实验结果表明,与传统检测方法相比,所研究的方法得到的球体落点更加精准,控制误差效果较强,可适用于发球机发球轨迹实际检测。

Aiming at the problem that the traditional track detection method of the pneumatic table tennis server has a large error,which leads to the poor landing point of the table tennis,the track detection method of the pneumatic table tennis server is put forward based on binocular vision.Firstly,the rotation matrix is established according to the camera parameters,and then the rotation matrix is treated as projection matrix based on binocular vision technology.According to the constraint conditions of the matrix,the position selection error is reduced,and the detection point is calibrated.Secondly,considering the service mode of the server,the resistance of table tennis when the spinning track breaks the balance of the non rotating ball during the rotation process is calculated.Finally,the ball movement is established in the state of trajectory model,t he attenuation coefficient is introduced to reduce the error of trajectory detection,so as to realize the detection of service trajectory of pneumatic table tennis server based on binocular vision.The experimental results show that,compared with the traditional detection method,the ball landing point obtained by the method is more accurate,and the control error effect is stronger,which can be applied to the actual detection of the serve track of the server.