本論文主要目的是針對撞球運動之九號球障礙球局，為使撞球機械人具有近似撞球選手在障礙球局中的解球思維與推理能力，以可拓理論建立撞球機械人的決策機制，分析出最佳擊球模式，完成解球的目的。在機器視覺系統中，先由CCD攝影機擷取球檯上的影像，收尋出各球的球心座標，並運用球檯邊與各球的幾何關係，計算出顆星撞擊點，再以所設計的VB程式，預測可能的顆星撞擊點及力道撞擊目標球後的相關位置，以母球與虛擬撞擊點的距離、目標球與球袋的距離、擊球角、障礙球位置判斷等四個決策因子，作為可拓防守決策的衡量條件，再加入撞球規則中的母球/子球是否撞擊檯邊的判斷，偵測出最佳顆星撞擊點，以程式控制撞球機械人完成解球動作。經由實驗結果得知，以可拓防守決策分析出的最佳解球路徑，確實能使對手不易進攻，達成解球亦防守的目的。 The objective of this thesis is to develop a defensive strategy for the billiard robot by using Extension theory. The main purpose is to make billiard robot possess the imitation ability of how people let the cue ball to contact the object ball after shooting in the block ball game of the nine-balls pool games. First, the CCD camera captures the image of the balls on the pool table. Then, the positions of the balls are calculated by the image processing technique and the developed software (VB). The hitting positions of cushion are determined by the distances between the object ball, the cue ball and the rail of the table. After that, the developed software predicts the geometrical positions of the object ball and the cue ball after collision. The defensive strategy is developed by the following four conditions. They are the distance between the cue ball and the object ball, distance between the object ball and the corresponding pocket, the angles between the cue ball, the object ball and the corresponding pocket and the information of the block ball by the Extension theory. In addition to the four parameters, it must be considered whether the cue ball or the object ball contacts the rail of the table after the cue ball contacts the object ball. Finally, the billiard robot will execute the hitting command to let the cue ball contact the object ball and make a safety play. The experimental results show that the defensive strategy of the Extension theory make the billiard robot solve the trouble problem which is not easier to contact the object ball and make a safety play to expect next better shoot chance in order to win the billiard game successfully.
