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https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/35475
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| 题名: | 撞球機器人之跳球決策系統設計 |
| 其它题名: | The design of jump shot decision-making system for a billiard robot |
| 作者: | 陳宥穆;Chen, You-mu |
| 贡献者: | 淡江大學機械與機電工程學系碩士班
楊智旭;Yang, Jr-syu |
| 关键词: | 撞球機器人;可拓理論;跳球決策系統;顆星攻守決策系統;可拓防守決策;Billiard robot;Extension theory;jump shot decision-making system;cushioning offensive/ defensive decision-making system;Extension defense strategy |
| 日期: | 2009 |
| 上传时间: | 2010-01-11 06:38:09 (UTC+8) |
| 摘要: | 本論文主要目的是為使撞球機器人具有類似撞球選手在球局中的解球思維與推理能力，除了於非障礙球局中以直線打擊直接進行攻擊之外，更在障礙球局中發展出跳球攻擊、顆星攻擊及顆星防守等三種能力以達成進球或解球任務。研究中以可拓理論建立的跳球決策系統與顆星攻守決策系統，使撞球機器人在九號球局障礙球局中判斷目前球局是否適合進行跳球攻擊，如果在不適合採取跳球攻擊之情形下，則以顆星攻守決策系統判斷出顆星攻擊或顆星防守的最佳擊球選擇，在決定攻擊的情況下完成擊球進袋得分，或是搭配可拓防守決策解球達成防守之目的。
撞球機器人先由CCD攝影機擷取球檯上的影像，搜尋各球的球心座標，判斷無障礙球之後採取直線進攻，而在有障礙球的情況下，首先運用母球球心與障礙球球心距離、障礙球球心與目標球球心距離兩個數據作為跳球決策之衡量條件，判斷應採取跳球攻擊與否。在各球的相對距離條件適合跳球的情況下則採取跳球強攻，若判定不採取跳球攻擊，則運用球檯邊與各球的幾何關係，計算顆星撞擊點，進而求得母球移動路徑長度和顆星攻擊角，並以擊球角、母球移動路徑長度、目標球球心與球袋中心的距離，作為攻守決策的衡量條件，判斷應採取攻擊或是防守行動。採取攻擊則搭配顆星攻擊擊球進袋，而採取防守則以VB程式，預測可能的顆星撞擊點，撞擊力道以及母球撞擊目標球後的相關位置等三個參數值以執行顆星防守，在顆星防守執行後以母球球心與虛擬撞擊點的距離、目標球球心與球袋中心的距離、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，使撞球機器人達到解球防守的目的。經由實驗得知，所設計的顆星攻守決策系統確實可達成顆星進攻或防守的目的，同時直線攻擊、顆星攻擊、顆星防守三種打擊能力皆能達到60%以上的成功率，而跳球決策在判斷採取跳球攻擊的進球成功機率約為40%。撞球機器人所擁有的上述四種擊球能力(直線攻擊、跳球攻擊、顆星攻擊與顆星防守)實現了在多種球局下的攻防與解球目的，更朝向贏球目標邁進。
The objective of this thesis is to develop the jump shot decision-making system and offensive/defensive decision-making system for the billiard robot by using Extension theory. The main purpose is to make billiard robot possess the imitation ability of how human beings to make the jump shot and offensive/defensive decision-making in the nine-balls pool games. The billiard robot will do the straight shot if there is no block ball, and execute jump shot、cushion offense shot or cushion defense shot in the block ball game of the nine-balls pool games.
The jump shot decision-making system and offensive/defensive decision-making system is developed by Extension theory, which can judge what is the best strategy (jump shot or cushion offense/defense shot) in the block ball game. If it is not suitable for using jump shot attack, the offensive/defensive decision-making system will judge to make offense cushion shot or defense cushion shot.
In the research, 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 program (VB). If there is no block ball between the cue ball and the object ball, the billiard robot will make a straight shot to pocket the object ball. If there is a block ball between the cue ball and the object ball, the robot will evaluate the possibility of making a jump shot based on the two factors. They are (1)the distance between the cue ball and the block ball, and (2)the distance between the block ball and the object ball. The jump shot will be executed if the relationship of these distance conditions are appropriate. Otherwise, offensive/defensive decision-making system is be considered. The robot will culculate the hitting positions of cushion which are determined by the distances between the object ball, the cue ball and the rail of the table for decision-making. The system is developed by the following three conditions which are (1)the traveling distance from the cue ball to the hitting positions of cushion and to the object ball, (2)the offensive angle and (3) the distance between the object ball and the pocket by the Extension theory.
The offensive strategy of cushion means to pocket the object ball. The defense strategy is developed by the following four parameters which are (1)the distance between the cue ball and the object ball, (2)distance between the object ball and the corresponding pocket, (3)the angles between the cue ball, the object ball and the corresponding pocket and (4)the information of the block ball by the Extension theory. Finally, the billiard robot will execute the hitting command to let the cue ball contact the object ball and make a safety play.
The simulated and experimental results show that this developed offensive/defensive decision making system work very well in the pool game. According to the result of experiment, the successful possibility of straight shot、cushion offense shot and cushion defense shot all are more than 60%, and the successful possibility of jump shot is 40%. The billiard robot possess four ability of pocketing accomplish offense/defense and making a safety play to expect next better shot in order to win the billiard game successfully. |
| 显示于类别: | [機械與機電工程學系暨研究所] 學位論文
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