Research On Target Recognition,positioning And Motion Control Of Tennis Collecting Robot

With the improvement of people’s living standards,people’s requirements for the quality of life and the pursuit of health are also higher and higher.More and more people participate in tennis and become tennis lovers.However,the collection of scattered tennis in tennis training will affect the training efficiency of tennis players.In view of the difficulty of tennis collection,this paper studies the key technology of tennis collection robot,mainly realizes the tennis target recognition and positioning,completes the robot motion control system design and path planning.The research contents of this paper are as follows:Firstly,the function of the tennis collection robot is analyzed,and the overall design scheme is determined.The requirements of each functional module in the overall scheme are analyzed,and the picking mechanism of the tennis collection robot is improved.Secondly,in the aspect of tennis recognition,a tennis recognition algorithm based on tennis color and target region features is proposed.By analyzing the statistical histogram of his color components of tennis,the thresholds of his color components are determined,the tennis and background in the image are segmented,and the binary image of tennis and background is obtained.In order to improve the accuracy and stability of recognition,the binary image is processed by morphology to further optimize the tennis target area.The roundness and area threshold are used for initial screening of the target area.The contour of the target area after initial screening is extracted,the radius of the fitting circle of the contour is calculated,and the radius of the fitting circle is screened again to realize the final recognition.For the recognition of overlapping tennis,the method of extracting and segmenting the overlapping area,fitting and restoring the tennis contour is adopted to realize the target recognition of overlapping tennis.Then,in the aspect of tennis target positioning,the camera imaging model is established,and the camera is calibrated.Using the internal and external parameters obtained from the calibration,the distortion correction and stereo correction of the image pairs captured by the camera are carried out.A tennis center point matching algorithm is proposed,which takes the tennis target area as the primitive and adds the epipolar constraint.The algorithm can successfully complete the tennis center point matching,and the three-dimensional space coordinates of the tennis center point can be obtained by parallax operation.The experiment of target location is designed to verify the location method.The results show that the algorithm can accurately locate the tennis ball.Finally,in terms of motion control system,the dual wheel drive differential motion model is designed,and the hardware and software parts of the motion system are designed.Through the distribution statistics and analysis of tennis position on the tennis court,the ball picking path is divided into two modes: fixed ball picking path and self-planning path.For the self-planning path,ant colony algorithm is used for path planning,and the simulation experiment is compared with greedy algorithm.The simulation experiment verifies the effectiveness of ant colony algorithm.