CAJ | 학술논문

为解决乒乓球场上乒乓球的捡取问题，设计了一种以ARM作为主控制器的自动捡球机器人。该捡球机器人采用风扇产生的吸力来实现捡球；利用CMOS图像传感器实现对乒乓球的自动识别；通过红外传感器监测周围环境，实现自动避障。通过机器人实物模型的性能测试表明，该捡球机器人捡球效果良好，为更多捡球机器人的开发提供了借鉴和参考。
위해결핑퐁구장상핑퐁구적검취문제，설계료일충이ARM작위주공제기적자동검구궤기인。해검구궤기인채용풍선산생적흡력래실현검구；이용CMOS도상전감기실현대핑퐁구적자동식별；통과홍외전감기감측주위배경，실현자동피장。통과궤기인실물모형적성능측시표명，해검구궤기인검구효과량호，위경다검구궤기인적개발제공료차감화삼고。
In order to solve the problem of table tennis picking in the table tennis court,an automatic ball picking robot which main controller based on ARM processor was designed. The suction generated by fan was used by the table tennis picking robot to real-ize picking up of the table tennis. The table tennis was identified automatically by this robot using the CMOS image sensor. The obsta-cle avoiding was automatically realized through infrared sensors monitoring of the surrounding environment. The performance testing on the practical model of robot shows that the table tennis picking robot works well,which provide reference for development of other more types of ball picking robots.