Configuration And Research Of Key Technologies Of New Autonomous Seizure Table Tennis Robot

In this paper the concept of autonomous seizure table tennis robot is a kind of new, self-moving intelligent robot which can implement automatic identification, automatic tracking and automatic seizure to the table tennis, and through infrared sensors on the surrounding environment monitoring, achieving capabilities of automatic obstacle avoidance.According to different role, when the robot completed a seizure table tennis action, dividing the robot into machinery, power, vision, decision-making and control of the bottom five subsystems. After expounding on the role and function of the various subsystems, this paper focuses on three subsystems, the mechanical, visual and bottom control, to design:First of all, after determining the dimension according to the type of this robot selected in this paper, respectively design cam mechanism, slider-crank mechanism and out front plant of the mechanical subsystems, and through the cooperation of the opening and closing movement of the gripper and out front plate, realized effective seizure to the table tennis.Secondly, in order to gain more one-time visual information, and integrated single viewpoint imaging conditions, edge resolution of the mirror, image distortion and the volume of structure, use hyperbolic panoramic mirror for the collection of robots around 360°of environmental information. Through analysis perspective on the imaging model and a hyperbolic geometry of the rotating mirror panoramic camera model, use the panoramic images rapid reduction solution based on images centre to eliminate the effect of the shape of mirror, and put forward a fast image processing algorithms based on color, the size and shape to identify the table tennis-using gradient adjustment HS threshold Adaptive Color Image segmentation method.Finally, in view of characteristics of small size, low power consumption and simple control of DC motor and the requirements of frequenty start and stop and two-way rotation of the running motor, we select reversible H-type bipolar PWM drive control systems to real-timely adjust speed of motor running, with the test on the size and direction by the incremental optical encoder disk and the speed D flip-flop, the system can achieve closed-loop control.