視覺回授式球平台遊戲系統開發

Development of a Ball-on-Plate Game System Having Vision Feedback

陳銘山(Ming-Shan Chen)

指導教授 ： 陳雙源

國立臺北科技大學/機電學院/機電整合研究所/碩士(2006年)

https://doi.org/10.6841/NTUT.2006.00227

摘要

本研究之主旨，在從建構視覺回授式球平台遊戲系統過程中，發展所需之機電整合技術。其中包括整體系統規劃、機構及電路設計、控制法則推導、實體製作、馬達選用及人機界面程式撰寫之完整機電整合技術。
本研究的特點是利用價格便宜的Webcam，搭配DirectShow技術，可高速抓取每秒30個影像並作處理，再經由計算得到球中心位置，作為控制回授的依據，大幅降低球位置感測器的購置成本，藉此可開發一價格便宜的視覺回授遊戲平台。
整個研究經過一年的努力，經實驗證明已具有人機互動、視覺回授等，當初設定的效果，因此可說已開發完成一視覺回授式球平台遊戲系統之雛型，未來將可進一步做商品化之改良或發展為機電整合之教具。

關鍵字

球平台 ； 視覺回授 ； 網路攝影機 ； 數位影像處理 ； 球平台遊戲系統

並列摘要

The goal of this research is to develop all the necessary mechatronic technology in constructing a ball-on-plate game system having vision feedback. The mechatronic technology includes system planning, mechanism and circuit designs, control law formulation, manufacturing, motor selection and coding of user interface program.
The feature of this research is to use low price WebCam and recently available DirectShow technology to capture the image of the ball in the ball-on-plate system and process the image to obtain ball position, in a highest possible sampling rate of 30 frame/sec. The obtained center position of the ball then can be regarded as a feedback signal and sent back to the controller of the ball-on-plate system. By doing so, one can avoid to purchase expansive ball position sensor and can construct a low cost ball-on-plate game system.
After a full year’s effort, the research has shown its feasibility through the proof of man-machine interacting and vision feedback in actual experiments. A prototype of ball-on-plate game system can then be regarded as finished and it is waiting for further improvement for commercial purpose or modification as a mechatronic teaching apparatus.

並列關鍵字

Ball-on-Plate ； Vision Feedback ； DirectShow ； Webcam ； Digital Image Processing ； Ball-on-Plate Game System

參考文獻

[1] Shorya Awtar, C. Bernard, N. Boklund, A. Master, D. Ueda, Kevin Craig, “Mechatronic design of a ball-on plate balancing system,” Mechatronics, vol. 12, pp. 217-228, 2002.

[3] Jong Hyeon Park, Young Jong Lee, “Robust visual servoing for motion control of the ball on a plate,” Mechatornics, vol. 13, pp. 723-738, 2003.

[18] Norman S. Nise, “Control Systems Engineering,” pp. 77~83, 1992.

[19] Benjamin C. Kuo, “Automatic Control Systems, 7th Edition”, John Wiley & Sons, pp. 838~841﹒

[2] Phillip Yip, “Symbol-Based control of a ball-on plate balancing mechanical system, ” Master of Science, University of Maryland, 2004.