Ball Robot and the Graphics Generation and its Image Calculation based on CAD Geometric Model

摘要

In this paper, the basic image calculation of the soccer robot of "more athletes and less balls" and the billiard robot of "more balls and less athletes" were discussed separately. And put forward our algorithm for the fast image calculation of the ball obstructed by other balls for the problem that must be resolved while the billiard robot installed an onboard camera hitting billiards, as this paper uses the graphic generation and image calculation method based on CAD geometric model, this make the calculating process only rely on the area P of the exposed part of obstructed balls as well as the gravity coordinates x_P, y_P of this area, and the volume of these three quantities can be obtained fast through simple pixels, so the algorithm proposed in this paper has a strong practicality.