投篮机器人高动态目标篮球抗干扰跟踪方法  

Anti-Interference Tracking Method for High Dynamic Target Basketball of Shooting Robot

作　　者：朱凯[1] 秦小鹏[1] 李锐锋[1] ZHU Kai;QIN Xiao-peng;LI Rui-feng(Guilin University of Electronic Technology,Guangxi Guilin 541004,China)

机构地区：[1]桂林电子科技大学,广西桂林541004

出　　处：《机械设计与制造》2024年第6期367-371,378,共6页Machinery Design & Manufacture

基　　金：2021年度广西高等教育本科教学改革工程项目——“课程思政”理念下普通高校武术教学改革研究与实践(2021JGB191)。

摘　　要：针对投篮机器人对目标球识别跟踪过程中,受到目标球运动图像质量较低,且球可能会被场地、人员等遮挡的影响,造成跟踪效果较差的问题。提出一种新的投篮机器人高动态目标球抗干扰跟踪方法。在明确投篮机器人系统结构,确定其现有检测问题的基础上,使用Gabor滤波器对感知子系统获取的视频帧图像进行消噪处理,突出目标特征和轮廓表征;利用背景差分算法提取得到目标边缘轮廓,使用注意力模型完成可跟踪和不可跟踪的投篮机器人目标球跟踪。在对比实验测试中,所提方法能够精准识别发球空间点以及准确追踪目标球,并且平均绝对误差较小,具有较好的抗干扰能力,能够准确地跟踪高动态目标球。In the process of recognizing and tracking the target ball by shooting robots,the quality of the target ball's motion im-age is low,and the ball may be obstructed by the field,personnel,etc.resulting in poor tracking performance.Propose a new an-ti-interference tracking method for high dynamic target balls of shooting robots.On the basis of clarifying the structure of the shooting robot system and determining its existing detection problems,Gabor filters are used to denoise the video frame images ob-tained by the perception subsystem,highlighting target features and contour representation;Using the background difference al-gorithm to extract the edge contour of the target,an attention model is used to track both trackable and untraceable shooting ro-bot target balls.In the comparative experimental test,the proposed method can accurately identify the service space point and ac-curately track the target ball,and the average absolute error is small,with good anti-interference ability,and can accurately track the high dynamic target ball.

关 键 词：投篮机器人 高动态目标球 抗干扰跟踪 目标跟踪 注意力模型 初始速度 GABOR滤波器 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.3[自动化与计算机技术—检测技术与自动化装置]