Design And Study Of Badminton Robot

In order to hit badminton successfully,badminton robot need real-time and reliable detection of high-speed badminton.It also calls for accurate estimation on the trajectory of the badminton.Based on the predicted locating distribution of the badminton,the robot moves to the right position and hit the ball at the right time.Research on badminton robot covers many fields such as machine vision and automatic control,thusvarious issues in terms of machine vision and control theory can be studied into detail with the design of the robot.This thesis focuses on the design of badminton robot,the main work and achievements could be summarized as follows:(1)Self-designed high-precision binocular stereo synchronous acquisition system hardware and multi-threaded acquisition program ensuring the synchronous exposure of both the left and right camera and timely data acquisition.(2)A hybrid Gaussian model based on singular value decomposition for dynamic threshold adjustment is proposed for a specific weak moving target.The discriminant threshold is set according to the similarity between background and foreground.(3)Color histogram matching model based on Retinex is proposed to make up for the inaccurate matching with traditioanl strategy resulted from different illumination intensity.(4)The extended Kalman filter is used to filt the observed data,and the least squares method is adopted to solve the kinematic equation of the badminton,which modelsthe tracking and prediction of the trajectory.(5)Based on the two-dimensional lidar scanning data,a real-time pose estimation algorithm of robot is proposed to realize the accurate estimation of robot pose.(6)PID strategy is adopted to model the relationship between the speed of omnidirectional wheel and the robot translating movement,also between omnidirectional wheel speed and the rotary motion,and the accurate movement of the badminton robotis obtained by figuring out the established model.All the algorithms introduced in the thesis are able to meet the real-time requirements of the system.Based on the above work,simple but accurate ball batting with the badminton robot is realzied.In the end,the research results of the proposed system are summarized,and the possible future idea with this topic is discussed.