本論文採用數位訊號處理器(digital signal processor, DSP)及可程式邏輯閘陣列(field programmable gate array, FPGA)為平台，建構出乒乓球在三維空間中的軌跡追蹤與舉球視覺伺服控制系統。整個系統主要可分為舉球機構、影像處理模組、影像感測器、數位訊號處理器與舉球控制系統。其中，影像處理模組以可程式邏輯閘陣列來完成；影像感測器則是採用CMOS黑白影像感測器；而追蹤控制器部份是以數位訊號處理器為控制核心。在實作上，首先利用CMOS影像感測器擷取影像，經由FPGA進行影像演算法求得乒乓球在影像平面中的座標並透過DSP計算出乒乓球在三維空間中的軌跡，使用軌跡決定擊球時間、擊球速度與擊球平板的旋轉角度，最後透過PID控制器進行馬達控制。經過驗證與分析後，本論文證實了演算法的可行性，並完成了以視覺伺服為基礎之舉球控制系統。

In this thesis, the digital signal processor and FPGA device are used to carry out construct a flying table tennis ball trajectory tracking and vision-based ball lifting task. The system consists of a ball lifting robot with three motor actuators, image processing module, two image sensors, digital signal processor, and ball lifting controller. In this system, CMOS image sensors capture the images of the table tennis ball, and then the image processing algorithm is executed by the FPGA device, and image information is sent to the digital signal processor to determine the position of the ball. Finally, the ball lifting control is done by the digital signal processor with PID controllers. The theoretical development is validated through the simulation and experiments.

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