本論文之目的在於完成一部裝設有webcam的視覺搜尋機器人系統，它係利用視覺伺服控制的方式來完成搜尋進而撿起目標物的動作，並且具有路徑規劃功能，能有效率的在已知環境內完成撿起目標物的工作。
在偵測目標物方面，最重要的問題是：如何從擷取的影像中找出可能是目標物的物體，在本論文中以乒乓球為目標物，使用樣板比對法來偵測之，同時得知乒乓球的距離與位置，最後控制機器人撿起目標物；在路徑規劃方面，本論文在全域覆蓋路徑規劃上作修改，以適用於我們的機器人，使之能在真實的桌球場地內更有效率地工作。此外，針對撿球動作，我們設計了獨特的機構，在耗電量不高的狀況下，可以輕易的撿起乒乓球。
實驗結果得知，本系統可以有效地撿起地上的乒乓球，並且閃躲乒乓球桌與牆壁，透過特殊的路徑規劃設計與獨有的撿球機構，讓運動員在練習過後不必辛苦的彎腰撿球，在訓練上能更輕鬆與專注。

The purpose of this paper is to achieve a visual search robot system which has webcam on it. The robot searched and picked up the targets by visual servo control. It also owns the capability of the path planning, and completed the pick-up job in known environment effectively.
In terms of detecting the targets, the most important problem is how to find out the targets in the image of the grabbed stream video. In this paper, we take the table-tennis ball for the target. The robot detected the table-tennis balls by template matching, and got the distance and the location of the balls. Finally, we control the robot to pick up the balls. In terms of path planning, we improve the completed coverage path planning to suit our robot system in this paper. By this, the robot can work more effectively in table-tennis training room. On the other hand, we design a special mechanism, and it can pick up the table-tennis balls easily without large energy.
After experiments, our system can quickly pick up the table-tennis balls on the ground, and also can dodge the table-tennis tables and the walls. Through the improved path planning and the special mechanism, the athletes will not pick up the balls hardly after training. Therefore, they can train easily and absorbedly.

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