Procesamiento Digital de Imágenes Aplicado a la Identificación y Recolección de Pelotas de Pequeñas Dimensiones Usando Vehículos Aéreos No Tripulados

Abstract

The following document describes the development of a data acquisition and processing system implemented in an Unmanned Aerial Vehicle (UAV), the system allows the identification and collection of small size balls at sport events, it wants to reduce interruptions or delays caused by people in charge of picking up balls while the game is played. This system has two fundamental parts; the first one is the unmanned aerial vehicle UAV, in this case we are using a Turnigy Quadcopter model SK450, the drone works with 4 brushless motors Multistar 2213, each one with a max weight lifting of 850g, it has a flying controller KK 2.1.5 too, the drone is equipped with a fully mechanical mantis claw and it's function is to grab the balls that are detected by the detection software developed in the programming language Python. The second part is a mini computer (Raspberry Pi 3) that can be controlled remotely from a computer, Smartphone or tablet using a Wireless Local Area Network (WLAN), the mini computer is in charge of acquiring, processing and broadcasting the image by using a Unitec webcam model JNP-W926.