基于OpenCV的嵌入式自动捡乒乓球系统设计  

Automatic Picking up Table Tennis Embedded System Based on OpenCV

作　　者：王晓龙[1] 穆春阳[1] 马行[1] 

机构地区：[1]北方民族大学信息与通信技术研究所,银川750021

出　　处：《计算机测量与控制》2015年第11期3861-3863,3866,共4页Computer Measurement &Control

基　　金：国家自然基金资助项目(61163002;61162005);宁夏自然科学基金项目(NZ14107)

摘　　要：为了解决在乒乓球比赛和训练中人工手动捡球的问题,从机器视觉的角度出发,综合嵌入式、图像处理和测量控制等技术,基于第三方库OpenCV设计了一种自动捡乒乓球系统;系统是以Contex-A8平台为控制核心,首先通过对云台和USB摄像头的控制获取视频信号;然后通过霍夫圆变换和SVM分类器算法识别出视频中的乒乓球,并根据质心计算出其与系统的相对位置;最后将视频信号中抽象出的位置信息传递给机械运动控制终端,控制小车和机械手将乒乓球捡起,并送到指定位置;实验结果表明本系统能够正确的检测和识别乒乓球,并对其进行定位捡取,效果良好,提高了拾取乒乓球的效率,减轻工作人员的负担。In order to solve the problem of picking up balls automatically in table tennis competition and training,we designed a automatically picking up table tennis system based on the third party base OpenCV from the perspective of machine vision,integrating embedded technology,image processing techniques,measurement and control techniques,etc.The core of the control system is Contex-A8,firstly we obtained video signal through the control of USB and PTZ;secondly identify the tennis by Hough circle transform and SVM classification algorithm,and calculate its relative position to the system according to the centroid;thirdly communicating the position information of the video signal to the mechanical motion control terminal,control the car and the robot to pick up table tennis,and sent to the designated location.Experimental results show that the system can detect and identify the correct table tennis,and pick up it with good effect,improve the efficiency of the picking table tennis,reduce the burden of staff.

关 键 词：OPENCV 嵌入式 乒乓球 摄像头 机器视觉 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]