Proceedings of the
The Nineteenth International Conference on Computational Intelligence and Security (CIS 2023)
December 1 – 4, 2023, Haikou, China
Design and Implementation of Intelligent Tennis Ball Recycling Robot
1School of Information and Communications, Guilin University of Electronic Technology, China.
2Guangxi Educational Big Data and Cyberspace Security Collaborative Innovation Center, Guilin University of Electronic Technology, China
ABSTRACT
Tennis players often face the tedious task of collecting tennis balls after intense training sessions. This study proposes the development of an intelligent tennis ball recycling device in the form of a robot car, utilizing visual recognition technology. The K210 serves as the car's primary control chip, while a camera captures image data of the tennis court. The research focuses on two main components: the implementation of a tennis ball recognition and positioning algorithm, and the execution of a motion control algorithm.The tennis ball recognition and location algorithm relies on color features. The algorithm converts the image from RGB color space to Lab color space. Analysis of the Lab color space provides the range for each channel of the tennis ball Lab, which is then used to generate a binary image of the tennis ball against a white background. Tennis ball positioning involves determining the relative direction and distance of the tennis ball to the car by assessing the central position of the white color block and pixel count.The motion control system of the car integrates a PID algorithm to manage the L298N motor, regulating motor speed, and deploying a PID to control the direction and speed of the car about both direction and distance. Field tests confirm that the designed tennis ball recycling robot car accurately identifies and swiftly retrieves tennis balls.
Keywords: Ball-picking robot, Color space, Morphological processing, PID, Image processing, Intelligent robot.
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1School of Information and Communications, Guilin University of Electronic Technology, China.
2Guangxi Educational Big Data and Cyberspace Security Collaborative Innovation Center, Guilin University of Electronic Technology, China
ABSTRACT
Tennis players often face the tedious task of collecting tennis balls after intense training sessions. This study proposes the development of an intelligent tennis ball recycling device in the form of a robot car, utilizing visual recognition technology. The K210 serves as the car's primary control chip, while a camera captures image data of the tennis court. The research focuses on two main components: the implementation of a tennis ball recognition and positioning algorithm, and the execution of a motion control algorithm.The tennis ball recognition and location algorithm relies on color features. The algorithm converts the image from RGB color space to Lab color space. Analysis of the Lab color space provides the range for each channel of the tennis ball Lab, which is then used to generate a binary image of the tennis ball against a white background. Tennis ball positioning involves determining the relative direction and distance of the tennis ball to the car by assessing the central position of the white color block and pixel count.The motion control system of the car integrates a PID algorithm to manage the L298N motor, regulating motor speed, and deploying a PID to control the direction and speed of the car about both direction and distance. Field tests confirm that the designed tennis ball recycling robot car accurately identifies and swiftly retrieves tennis balls.
Keywords: Ball-picking robot, Color space, Morphological processing, PID, Image processing, Intelligent robot.
Download PDF