An automatic system for picking up table tennis balls based on machine vision
Linyue Tan · 2023
This article presents the establishment of a machine vision system intended for the retrieval of table tennis balls within a training hall. Capturing images of table tennis balls of various colors in the RGB color format was achieved through the utilization of a high-resolution camera affixed to the pick-up robot. To counteract the influence of environmental lighting conditions in the training hall, the acquired RGB images were converted into the HSI color format. Subsequently, image segmentation was executed based on predefined hue and saturation thresholds, enabling the precise identification and categorization of table tennis balls. The utilization of Canny edge detection and Hough circle detection methodologies was employed to designate the positions of the table tennis balls. Through analysis of circle centers and quantities, the specific locations of the table tennis balls were ascertained for the pick-up robot. This automated system, grounded in machine vision, holds the potential to significantly enhance the level of automation involved in the process of collecting table tennis balls.