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 OpenCv

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。

Abstract:

In order to solve the problem of automatically picking up balls in table tennis competition and training, from the angle of machine vision, integrating embedded technology, image processing techniques, measurement and control techniques, etc. and based on the third party base OpenCV and Qt, we designed a automatically picking up table tennis system. System for the control of Contex-A8 core, obtained through USB PTZ camera control and video signal, then the signal analysis process to identify and determine the position of table tennis, and finally to deliver the video signal to abstract information to mechanical movement control terminal, control the car and the robot will pick up table tennis to the designated location. Experimental results show that this system can recognize and pick up table tennis, to good effect.