Design And Realization Of Badminton Robot's Perception And Control System

With the rapid development of computer technology,object tracking has become an indispensable technology in the field of image processing.The Shape-Based Matching algorithm is one of the most representative methods in the field of computer vision.It extracts several feature vectors from the identifying image to be compared with the feature vector corresponding to the template,calculates the distance between the image and the template feature vector,and determines the category by the minimum distance method.This research is about design and Realization of Badminton Robot's Perception and Control System,badminton recognition and localization is different from the traditional Shape-Based matching method.Many are the whole image as a template or the image is divided into many blocks,each block as a template,so the matching process consumes a lot of useless time.In this paper,the shape matching based on HDevelop is to divide the regions of interest in the image,and to create the template through Dxf file to extract the contour of the region of interest.After creating a template,you can open another image to match the template,in the search match,through the pyramid level and other parameters to optimize the search and improve the speed.Except traditional camera imaging technology,depth camera,laser scanner,panoramic camera and other equipment is a hot field in modern digital photogrammetry and computer vision interactive,supplemented by computer information processing technology which can produce many exciting results.The research chooses the Kinect v2 depth camera based on the TOF technology as the depth image acquisition sensor of the badminton positioning and target prediction system.TOF is the abbreviation of Time of flight,literally translated as the meaning of flight time.The so-called time of flight 3D imaging is performed by continuously sending light pulses to the target,and then receiving the light returned from the object by the sensor,and obtaining the distance of the target object by detecting the flying time of the light pulse.TOF depth accuracy does not change with the distance changes,the basic stability in the cm level.On the basis of theoretical research,this paper has completed the system hardware and software implementation and tested.The depth images of the badminton robot is collected by the depth camera,and then the depth image is processed by machine vision theory,the position of the badminton in the three-dimensional space frame coordinate system is obtained by combining the depth information of badminton robot,then convert to the field coordinate system,using the position information of badminton in multi-frame images to predict the placement of badminton,the badminton robot is quickly run to the placement of badminton prediction and finish one hit task.