桌上曲棍球：人與機械手對打｜國立中央大學博碩士論文系統

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研究生：	蔡易達 i-da tsai
論文名稱：	桌上曲棍球：人與機械手對打 A Vision Based Air Hockey System with Fuzzy Control
指導教授：	王文俊 wen-jun wang
口試委員:
學位類別：	碩士 Master
系所名稱：	資訊電機學院 - 電機工程學系 Department of Electrical Engineering
畢業學年度：	90
語文別：	中文
論文頁數：	55
中文關鍵詞：	桌上曲棍球
外文關鍵詞：	air hockey
相關次數：	點閱：12 下載：0
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摘要
“桌上曲棍球”屬於桌上競賽遊戲的一種，本論文為“桌上曲棍球：人與機械手對打”，是以一個市面上常見的桌上曲棍球遊戲機台為實驗環境，結合影像處理與我們自行設計的機械手，做到人與機械手對打的目的。藉由影像處理，我們可以得知並加以預測曲棍球的動向，再控制機械手去實際與曲棍球產生互動。論文中的第二章介紹整個實驗的系統架構，包含視覺系統與機械手等硬體架構。第三、四兩章介紹視覺系統的建立、影像處理流程與桌上曲棍球移動路徑、時間的預測。第五章介紹機械手臂的控制以及模糊決策。第六章介紹系統介面與實驗結果。第七章作結論。

“Air-Hockey” is an interesting table game. Two sides’ players hold the paddle trying to strike the puck on the table into the opponent’s goal for scores. This paper introduces the study and implement of the system. The system implement includes the hardware design of the robot, robot action control, CCD vision processing and analysis, puck’s sliding speed and trajectory estimation and prediction.

List of Contents
Page
Abstract	 I
List of Contents	 II
List of Tables	 IV
List of Figures	V
Chapter 1. Introduction                                 1
1.1 Motivation and Purpose	1
1.2 Structure of The Thesis	2
Chapter 2. System Configuration                        3
2.1 Hardware Structure	4
2.1.1 The Air Hockey Table	4
2.1.2 The Robot	5
2.1.3 The CCD Camera	6
2.1.4 The Personal Computer	6
2.2 The Control Algorithm	6
Chapter 3. Former Image Process                       8
3.1 Image Capture and Process	9
3.2 Identification of The Puck	12
3.3 Center Calculation	13
Chapter 4. Prediction of The Hitting Position and Time  15
4.1 Prediction of The Hitting Position	15
4.2 Prediction of The Hitting Time	19
Chapter 5. Strategy Selection                           23
5.1 Strategy Selection	22
5.2 Fuzzy Decision Unit	25
Chapter 6. Experiment Result                          27
6.1 Operating Interface	27
6.2 Experiments	28
Chapter 7. Conclusion and Future Research             35
Reference                                         37

                                

Reference
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