영상처리 기반의 엔터테인먼트 하키로봇 구현

In this paper, we implemented a table hockey robot which is operated by image processing algorithms and motors. We tested the robot on the smooth surfaced table of 0.9m x1.5m. The core technology we focused in this paper was whether the robot can trace the LED-equipped ball to simplify its image processing. We invented a special idea for predicting the ball movement, in which a simple linear equation was solved rather than using complex trigonometric functions. The robot was controlled by a DC motor and two servo motors. The DC motor was used for the movement of horizontal axis, and the servo motors were used for the operation of robot to stick the ball. Image processing was done at 35 fps, and the robot responded to the ball at maximum velocity of 1.15 m/s. Based on this study, we claim that this kind of robots can be used for many different applications by augmenting more features.