基于视觉捕捉的网球自拾取机器人系统

为了规避网球比赛的风险，提高效率，开发了一套基于视觉捕捉的网球自动拾取机器人系统，由移动机器人平台 搭载机械臂自由移动对散落在网球场地的网球进行侦测并拾取。采用基于ARM的硬件架构搭建移动机器人的控制系 统平台，并通过网络控制接口与机器人平台上的图像采集与识别模块实现通信；将视觉采集捕捉到的网球的位置信息传 送给控制器，控制移动机器人移动定位，机械臂配合实现网球拾取。经模拟网球场运行证明设计方案可行，视觉的引入 节省了大量的人力与时间。开发的网球自拾取机器人系统有很强的实用性，具有一定的推广意义。

Vision-Based Tennis Self-Picking Method Reality

ln order to avoid the risk of tennis competition and improve efficiency, a vision-based automatic picking tennis robot system was developed. The system was based on the mobile robot platform equipped with a manipulator and it could detect and pickup the free scattered tennis on the field. The ARM-based mobile robot platform communicated with image acquisition and recognition module on it through network control interface. The module transfer the three- dimensional position captured by the vision to the controller, and the controller to control the mobile robot moving and positioning, and the manipulator achieved the tennis picking. By running in the tennis court, proved the feasibility of the design. The introduction of vision saves a lot of manpower and time. The automatic tennis-picking system has a strong practical and it has a certain sense of promotion.