Reconfigurable miniature mobile robot cluster locating and tracking system

A mobile robot, positioning and tracking technology, applied in the system field of the robotics field, can solve problems such as being unsuitable for reconfigurable micro mobile robots, and achieve the effects of reducing scanning workload, reducing system cycle, and high reliability

Inactive Publication Date: 2012-01-04
SHANGHAI JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the small size of the micro mobile robot, the mechanical structure is as simple as possible, so it is not suitable for carrying the sensor subsystem, so the system is not suitable for the reconfigurable micro mobile robot

Method used

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  • Reconfigurable miniature mobile robot cluster locating and tracking system
  • Reconfigurable miniature mobile robot cluster locating and tracking system
  • Reconfigurable miniature mobile robot cluster locating and tracking system

Examples

Experimental program
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Embodiment

[0021] Such as figure 1 As shown, this embodiment includes: an image acquisition and processing module, a marker identification module, a motion tracking and positioning module and an external monitoring module, wherein: the image acquisition and processing module is connected with the marker identification module and the motion tracking and positioning module to transmit black and white binarized image information , the marker recognition module is connected to the motion tracking and positioning module to transmit the robot label information and the initial scanning area information of the robot, the motion tracking and positioning module is connected to the external monitoring module to transmit the speed information and position and posture information of the robot, and the marking recognition module is connected to the external monitoring module for transmission Label information of the robot.

[0022] Such as figure 2 As shown, the image acquisition processing module i...

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Abstract

The invention discloses to a reconfigurable miniature mobile robot cluster locating and tracking system, belonging to the technical field of robots. The system comprises an image acquiring and processing module, a mark identification module, a motion tracking and locating module and an external monitoring module, wherein the image acquiring and processing module comprises a camera, an image acquisition card, an image filtering sub-module, a gray threshold self-adaption selection sub-module and an image binarization sub-module; the mark identification module comprises a mark matrix comparsion sub-module, a mark perimeter comparsion sub-module, a mark black-and-white ratio comparsion sub-module, a weighting and summating sub-module and a labeling sub-module; and the motion tracking and locating module comprises a position estimating sub-module, a global scene windowing and scanning sub-module and a pose judging sub-module. The invention reduces the scanning work load of the locating system, reduces the system cycle, greatly improves the system instantaneity, enables the real-time tracking system to be faster, more accurate and more reliable, and simultaneously realizes identifying, locating and tracking.

Description

technical field [0001] The invention relates to a system in the technical field of robots, in particular to a reconfigurable miniature mobile robot cluster positioning and tracking system. Background technique [0002] With the continuous development of MEMS and robot technology, people thought of combining the two technologies to produce micro-robots. In actual daily production, the micro-robot factory has also been put into use, playing an irreplaceable role in the precision machining and electronic processing industries. In order to adapt the micro mobile robot to the coordinated operation requirements in more complex environments, the technology of reconfigurable mobile micro robot is proposed. In order to enable the reconfigurable micro-mobile robot technology to develop better, people need to build a positioning system that can coordinate the micro-robots in actual production operations, and extract the relevant position information of the micro-robots through the pos...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02H04N7/18G06T7/20
Inventor 陈佳品沈慧李振波
Owner SHANGHAI JIAOTONG UNIV
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