Research on Autonomous Picking Algorithm for Table Tennis Balls based on Machine Vision

Xinyu Cao; Zhaojiang Wan; Jianpeng Dai; Jiayi Jiang; Xingyu Chen; Hao Long

doi:10.54691/fse.v2i9.2226

Authors

Xinyu Cao
Zhaojiang Wan
Jianpeng Dai
Jiayi Jiang
Xingyu Chen
Hao Long

DOI:

https://doi.org/10.54691/fse.v2i9.2226

Keywords:

Target Recognition and Positioning, Image Processing, Image Segmentation, Path Planning

Abstract

The identification, positioning and grabbing path planning of table tennis balls are the preconditions for the robot to pick up table tennis balls autonomously. A method of table tennis identification, positioning and grabbing path planning based on monocular vision image processing is proposed. By analyzing the characteristics of table tennis images, a table tennis image segmentation method based on color and contour features is designed. The color and contour features of table tennis images are extracted, and HSV is used for image preprocessing. Image segmentation is processed by binarization, and Hough circle is used to detect contour recognition, and the segmentation image of table tennis balls is obtained by color combination. Convert the camera imaging coordinates to obtain the pixel position of the table tennis ball in the image. A ball picking path planning based on ant colony algorithm is designed. This paper provides a theoretical reference for the identification, positioning and path planning of autonomous ball picking.

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