Design And Research Of Tennis Service Robot Based On Panoramic Vision

This paper proposed a design scheme of tennis service robot based on panoramic vision.This robot's mechanical structure was based on medium sized soccer robot and it improved the mechanical structure by the new design of the mechanical structure.The robot used STM32F107 as the micro-processor of the lower machine core driver board,and completed the hardware framework of the robot.The robot used notebook computer as the host control unit,and designed the software for the unit.And this software use the reflective panoramic vision system to collect full 360-degree image information.The hardware of the robot should design the overall hardware architecture inlucding walking driver,suction driver and the connection and signal communication between the host and the client.The softwareof the robot was a difficulty of this paper.The first was Image acquisition.Simply rely on vision as the sensory organ of the robot was a difficulty because of more stringent light was required.And in many situations,it need to change the camera parameters in order to better identify tennis.So the first difficulty was to overcome the influence of illumination on recognition efficiency.The technological process of the software is that:firstly preprocessing the collected image and then automaticly adjust the camera parameters so that the software could have the better collection image;Secondly doing image enhancement and color space conversion and then using the tennis recognition algorithm of the software to identify tennis and determinate their position information;Last picking up the tennis according to the provisions of the behavior of the tennis picking strategy.First of all,the first chapter introduces the research status and background of the tennis service robot,and describes the significance and content of the research.The second chapter describes the overall design of the robot.At the same time,the key technologies used in the project are introduced.The third chapter shows the mechanical design of the robot.This paper describes how to design and select the tennis ball sucking device.The fourth chapter introduces the design of the hardware framework of the robot,including the hardware design of the walking wheel mechanism,the suction ball mechanism,the airborne power supply,the lower computer control unit and the upper computer control unit.The fifth chapter introduces the software design of the host computer.This paper introduces the framework and the structure of the software in detail,and designs the function modules in detail.Finally,the results of the analysis and the conclusions and prospects.