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作 者:吕程旭 李清都 季云峰[2] LYU Cheng-xu;LI Qing-du;JI Yun-feng(College of Optoelectronic Information and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;Institute of Machine Intelligence,University of Shanghai for Science and Technology,Shanghai 200093,China)
机构地区:[1]上海理工大学光电信息与计算机工程学院,上海200093 [2]上海理工大学机器智能研究院,上海200093
出 处:《软件导刊》2023年第1期128-137,共10页Software Guide
基 金:国家自然科学基金项目(61773083);上海市浦江人才计划项目(2019PJD035);上海市人工智能创新发展专项基金项目(2019-RGZN-01041)。
摘 要:针对目前大多数乒乓球机器人视觉系统只能提供乒乓球的位置信息而未考虑旋转,难以对旋转球进行精准预测的问题,提出一种基于高速视觉的乒乓球旋转速度实时测量方法。为解决高速旋转乒乓球转速测量问题,提出一种全新视觉系统方案,满足高速旋转球的转速测量要求;针对商标识别过程中未考虑商标的完整性问题,提出一种基于轮廓拼接的商标中心三维位置求解方法,减小商标中心的计算误差,提高旋转测量精度;根据商标中心在空间中的运动对乒乓球旋转进行估计。最后利用自制的旋转验证平台对该方法进行验证,实验结果表明所提出的方法能够实现高速旋转球的精确转速估计,在乒乓球低速旋转下也具有高精度的旋转测量结果。At present,the vision system of most table tennis robots can only provide the position information of the table tennis without considering the rotation of the table tennis,which makes it difficult to accurately predict the rotating ball.Aiming at this problem,a real-time measurement method of table tennis rotation speed based on high-speed vision is proposed.In order to solve the problem of rotating speed measurement of high-speed rotating table tennis,a new vision system scheme is proposed to meet the requirements of rotating speed measurement of high-speed rotating table tennis.Aiming at the problem that the integrity of trademark is not considered in the process of trademark recognition,a three-dimensional position solution method of trademark center based on contour stitching is proposed,which can reduce the calculation error of trademark center and improve the accuracy of rotation measurement.The rotation of table tennis can be estimated according to the movement of the trademark center in space.Finally,the method is verified by using the self-made rotation verification platform.The experimental results show that the proposed method can realize the accurate speed estimation of high-speed rotating ball,and also has high-precision rotation measurement results under the low-speed rotation of table tennis.
关 键 词:乒乓球机器人 高速视觉 旋转速度 商标 轮廓拼接
分 类 号:TP391[自动化与计算机技术—计算机应用技术]
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