Wireless vision system and method for centimeter-level micro-robot and storage medium

Abstract

The invention discloses a wireless vision system and method for a centimeter-level micro-robot and a storage medium, and the system comprises a first FPC board which is located on a robot body and is provided with a camera module, and the camera module is used for shooting information, converting the shot information into digital image data, and transmitting the digital image data to a WiFi drive module; the second FPC board is located on the robot body, a WiFi driving module is arranged on the second FPC board, and the WiFi driving module is used for controlling the camera module to shoot and sending digital image data in a wireless signal mode; and the image amplification module is used for obtaining the digital image data in the wireless signal form and carrying out interpolation calculation on the digital image data to amplify the image resolution to obtain an amplified image. According to the method, the quality and the size of the wireless visual system are reduced, and meanwhile, the image resolution and the transmission reachability effect are improved through the interpolation method.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a wireless vision system, method and storage medium for a centimeter-level micro robot. Background Art

[0002] A centimeter-level microrobot is a robot whose length, width, and height are all less than 10 centimeters, and whose length, width, and height are not less than 1 centimeter at the same time. The centimeter-level microrobot vision system mainly integrates CMOS image sensors to convert optical signals into electrical signals to generate image data, and then obtains image information through serial port cable transmission or wireless transmission such as Bluetooth and wifi modules. Finally, the vision system is fixed on the body of the microrobot to achieve tasks such as microrobot detection.

[0003] At present, the image resolution of centimeter-level micro robot vision system is low and the clarity is poor, which affects the subsequent operations based on robot shooting. For example, Zhao Yan and others from Shanghai Jiaotong University designed a monocular vision system onboard a micro bionic flapping-wing aircraft [Zhao Yan, Zhang Weiping, Guo Qingcheng, et al. Design of monocular vision system onboard a micro bionic flapping-wing aircraft [J]. Semiconductor Optoelectronics, 2023, 44(2): 257-264.], which weighs 3g and has a resolution of only 320×240. If the centimeter-level micro robot vision system directly uses a higher-resolution image sensor (resolution greater than 640×480), the overall mass and size of the high-resolution image sensor are larger, which means that the robot size is larger and the power consumption required is higher.

[0004] Given that centimeter-level micro-robot vision systems are currently unable to take into account both low mass and high resolution, there is an urgent need to develop a wireless vision system and method for centimeter-level micro-robots to solve the above problems. Summary of the invention

[0005] In view of the above problems, the present invention provides a wireless vision system, method and storage medium for a centimeter-level micro-robot.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] In a first aspect, the present invention provides a wireless vision system for a centimeter-level micro-robot, comprising:

[0008] A first FPC board located on the robot body, having a camera module thereon, the camera module being used to shoot information, convert the shot information into digital image data, and transmit the digital image data to the WiFi driver module;

[0009] A second FPC board located on the robot body has a WiFi driver module thereon, and the WiFi driver module is used to control the camera module to shoot and send digital image data in the form of wireless signals;

[0010] The image magnification module is used to obtain digital image data in the form of wireless signals and perform interpolation calculation to enlarge the image resolution to obtain the enlarged image.

[0011] In a preferred embodiment, the camera module includes an image acquisition device and a lighting device, wherein the image acquisition device is used to capture information, convert the captured information into digital image data, and transmit the digital image data to the WiFi driving module, and the lighting device is used to illuminate the image acquisition device.

[0012] In a preferred embodiment, the WiFi driving module includes a WiFi module, a power supply circuit, a switch control circuit, a voltage stabilizing circuit, and a power management circuit; the WiFi module is connected to the camera module, and the WiFi module is used to control the camera module to shoot and send the digital image data of the camera module to the image amplification module in the form of a wireless signal; the power supply circuit is connected to the WiFi module and an external first power supply end; the switch control circuit is externally connected to the second power supply end and the power supply circuit, and is used to adjust the voltage and output the first voltage to the voltage stabilizing circuit and output the third voltage to the camera module and the WiFi module, and is used to control the on and off of the current on the camera module and the WiFi module; the voltage stabilizing circuit is used to stabilize the first voltage to the second voltage and output the second voltage to the WiFi module and the power management circuit; the power management circuit is used to convert the second voltage to a fourth voltage and output the fourth voltage to the lighting device.

[0013] In a preferred embodiment, the WiFi driver module is used to control the lighting of the lighting device.

[0014] In a preferred embodiment, the WiFi driving module and the camera module are electrically connected by plugging.

[0015] In a preferred embodiment, the image acquisition device includes an image sensor, a macro lens adapted to the image sensor, and a plug connected to the image sensor. The WiFi driver module includes a module interface, and the plug can be plugged into the module interface to realize the electrical connection between the WiFi module and the camera module.

[0016] In a preferred embodiment, the first FPC board has at least 2 conductive layers, and the second FPC board has at least 4 conductive layers.

[0017] In a preferred embodiment, the first FPC board has two conductive layers, one corresponding to the front and the back of the first FPC board, the image acquisition device is integrated on the front of the first FPC board, and the lighting device is integrated on the back of the first FPC board.

[0018] In a preferred embodiment, the number of the conductive layers in the second FPC board is 4, and the 4 conductive layers in the second FPC board are arranged sequentially from top to bottom.

[0019] In a preferred embodiment, one of the front and back sides of the first FPC board has a plug, and the other side is provided with a glass fiber reinforcement layer, the glass fiber reinforcement layer is arranged corresponding to the plug, and the plug-in with the second FPC board is achieved through the plug.

[0020] In a preferred embodiment, the image acquisition device is located on the front side of the first FPC board, and a steel sheet reinforcement layer is provided on the back side of the first FPC board, and the steel sheet reinforcement layer is arranged corresponding to the image acquisition device.

[0021] In a preferred embodiment, the lighting device is a ring light, which includes a plurality of LED lights and is mounted on the macro lens.

[0022] In a preferred embodiment, the substrates of the first FPC board and the second FPC board are both made of polyimide, and the copper is both made of glue-free electrolytic copper with a copper thickness of 0.5OZ.

[0023] In a preferred embodiment, the first FPC board and the second FPC board both meet the following requirements: the wire width is in the range of [0.076mm, 0.381mm], the via diameter is in the range of [0.2mm, 0.3mm], the via aperture is in the range of [0.12mm, 0.18mm], and the wire gap is in the range of [0.25mm, 0.26mm].

[0024] In a second aspect, the present invention provides a centimeter-level micro-robot, comprising a body structure, a first FPC board located on the body structure, a second FPC board located on the body structure, a motion mechanism connected to the body structure, and a shell connected to the body structure, wherein the first FPC board and the second FPC board are both located in the shell, the first FPC board has a camera module, the second FPC board has a WiFi driver module, the camera module is used to shoot information, convert the shot information into digital image data, and transmit the digital image data to the WiFi driver module, the WiFi driver module is used to control the camera module to shoot, and send the digital image data to the image magnification module in the form of a wireless signal, and the image magnification module can perform interpolation calculations based on the digital image data to enlarge the image resolution.

[0025] In a third aspect, the present invention provides a wireless vision method for a centimeter-level micro-robot, comprising:

[0026] The robot captures information through the first FPC board;

[0027] The robot converts the captured information into digital image data through the first FPC board;

[0028] The robot sends the digital image data in the form of wireless signals through the second FPC board;

[0029] The digital image data in the form of wireless signals sent by the robot is received, and interpolation calculation is performed based on the digital image data to enlarge the image resolution to obtain an enlarged image.

[0030] In a fourth aspect, the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the wireless vision method for a centimeter-level micro robot as described in the third aspect is implemented.

[0031] The present invention is used for a wireless vision system, method and storage medium of a centimeter-level micro-robot. The wireless vision system adopts an FPC board as a circuit board, and wirelessly transmits digital image data to an image amplification module outside the robot through a WiFi driver module for interpolation and resolution amplification. With such a design, the video transmission frame rate is guaranteed by replacing wired transmission with wireless transmission, and the transmission accessibility effect is good, which reduces the quality of the wireless vision system. While reducing the quality, the image resolution is improved through interpolation. With such a design, the problems of overall size, weight and large power consumption caused by the use of a large-resolution sensor are not generated, and the image resolution is increased while ensuring that the size and weight of the centimeter-level micro-robot are not increased. The low resolution of the wirelessly transmitted image data also ensures the transmission accessibility effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 Schematic diagram of a wireless vision system for centimeter-scale microrobots;

[0034] Figure 2 A schematic diagram of a circuit board for a wireless vision system for a centimeter-level micro-robot provided by an embodiment;

[0035] Figure 3 is a schematic structural diagram of a first FPC board;

[0036] Figure 4 This is an exploded view of the first FPC board;

[0037] Figure 5 is a schematic diagram of the front side of the first FPC board;

[0038] Figure 6 is a schematic diagram of the back side of the first FPC board;

[0039] Figure 7 is a schematic diagram of a circuit of an image sensor;

[0040] Figure 8 is a circuit diagram of a lighting device;

[0041] Fig. 9 This is the circuit diagram of the WiFi driver module;

[0042] Fig.10 This is the structural diagram of the front side of the second FPC board;

[0043] Fig.11 This is the structural diagram of the back side of the second FPC board;

[0044] Fig.12 is a three-dimensional diagram of a first FPC board prepared;

[0045] Fig.13 is a three-dimensional image of a second FPC board prepared;

[0046] Fig.14 It is a schematic diagram of the plug-in status of the first FPC board and the second FPC board.

[0047] Among them, 10, the first FPC board, 11, the camera module, 111, the CMOS image sensor, 112, the ring light, 113, the plug, 114, the glass fiber reinforcement layer, 115, the steel sheet reinforcement layer, 20, the second FPC board, 21, the WiFi driver module, 211, the WiFi module, 212, the module interface, 30, the image magnification module. DETAILED DESCRIPTION

[0048] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0049] With the rapid development of robots, centimeter-level micro-robots are widely needed in many fields such as large-scale equipment inspection and post-disaster rescue, among which the miniaturization of robots is particularly important. However, the image resolution of the visual system of centimeter-level robots is currently low. If a higher-resolution image sensor is directly used, the visual system will be large in size, heavy in weight, and high in power consumption.

[0050] To this end, the present invention provides a wireless vision system, method, storage medium and centimeter-level micro-robot for a centimeter-level micro-robot. Compared with the prior art, the use of a first FPC board 10 and a second FPC board 20 greatly reduces the weight of the wireless vision system, thereby reducing the weight of the centimeter-level micro-robot. The image resolution is amplified by the image magnification module 30, and there is no need to use a higher-resolution camera module 11, that is, the weight and size of the wireless vision system are not increased, and a high-resolution image or video can be obtained.

[0051] The following embodiments of the present invention can be performed separately, and the embodiments can also be performed in combination with each other, and the embodiments of the present invention do not specifically limit this. In the embodiments of the present invention, "first", "second", etc. are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another component. The "and / or" mentioned in the present invention refers to any and all combinations including one or more related listed items.

[0052] Below, a wireless vision system, method, storage medium and technical effects thereof for a centimeter-level micro-robot are described.

[0053] Figure 1 Schematic diagram of a wireless vision system for centimeter-scale microrobots. Figure 2 A schematic diagram of a circuit board of a wireless vision system for a centimeter-level micro-robot provided by an embodiment.

[0054] like Figure 1 and Figure 2As shown, the wireless vision system provided in this embodiment is suitable for centimeter-level micro-robots. The wireless vision system includes a first FPC board 10 located on the robot body, a second FPC board 20 located on the robot body, and an image magnification module 30 and a WiFi driver module 21. The first FPC board 10 has a camera module 11, and the second FPC board 20 has a WiFi driver module 21. The WiFi driver module 21 is used to control the camera module 11 to shoot. The camera module 11 is used to shoot information, convert the shot information into digital image data, and transmit the digital image data to the WiFi driver module 21. The WiFi driver module 21 is also used to send the digital image data to the image magnification module 30 in the form of a wireless signal. The image magnification module 30 is used to obtain digital image data in the form of a wireless signal, and is used to perform interpolation calculations on the obtained digital image data to enlarge the image resolution to obtain an enlarged image.

[0055] The structure of the first FPC board 10 can be seen in Figures 3 to 6 , Figure 3 is a schematic structural diagram of the first FPC board 10, Figure 4 is an exploded view of the first FPC board 10, Figure 5 is a schematic diagram of the front side of the first FPC board 10, Figure 6 It is a schematic diagram of the back side of the first FPC board 10.

[0056] The camera module 11 includes an image acquisition device and an illumination device. Both the image acquisition device and the illumination device are located on the first FPC board 10. The image acquisition device is used to capture information, convert the captured information into digital image data, and transmit the digital image data to the WiFi driving module 21. The illumination device is used to illuminate the image acquisition device.

[0057] In this embodiment, an image sensor with a macro lens is used, that is, the image acquisition device includes an image sensor and a macro lens adapted to the image sensor.

[0058] In this embodiment, the WiFi module 211 and the camera module 11 are electrically connected by plugging. Specifically, the camera module 11 (image acquisition device) includes a plug 113, the plug 113 is connected to the circuit of the image sensor, and the WiFi driving circuit and the camera module 11 are connected by the plug 113 and the following module interface 212, which is convenient for replacing the camera module 11.

[0059] The circuit of the image sensor adopts the BF20A6 chip. The circuit of the image sensor is shown in FIG. Figure 7The image sensor is a CMOS image sensor 111, and the specific parameters are that the optical format is 1 / 10" in size, the resolution is 640×480, and the maximum power consumption is 70mW. The CMOS image sensor 111 can realize color image acquisition with a maximum resolution of 640×480.

[0060] As an example, the macro lens uses a lens with a micro focal length of 14 mm, an aperture of F1.0, and a field of view of 73°.

[0061] Figure 8 Schematic diagram of the lighting device circuit. The lighting device is a plurality of light emitting diodes connected in parallel. The front end of the image acquisition device is integrated with the lighting device, and the lighting device is a ring light 112, and the ring light 112 includes a plurality of LED lights. The lighting device is located on the image sensor, and the ring light 112 is mounted on the macro lens.

[0062] In one embodiment, the electrical connection between the lighting device and the WiFi driver module 21 can be achieved through the plugging, that is, the lighting device is electrically connected to the plug 113, and the WiFi driver module 21 is connected through the plug 113. It can be understood that this embodiment is not limiting. In another embodiment, the lighting device and the WiFi driver module 21 are not connected through the plug 113.

[0063] See also Fig. 9 The WiFi driver module 21 includes: WiFi module 211 ( Fig. 9 (a)) Power supply circuit ( Fig. 9 (b)), switch control circuit ( Fig. 9 (c)) Voltage stabilizing circuit ( Fig. 9 (d)), power management circuit ( Fig. 9 (e)).

[0064] The WiFi driving module 21 includes a WiFi module 211 , and the WiFi module 211 is used to convert the photographed information into digital image data and transmit the digital image data to the WiFi driving module 21 .

[0065] The WiFi module 211 is connected to the camera module 11, and the WiFi module 211 is used to control the camera module 11 to shoot and send the digital image data of the camera module 11 to the image magnification module 30 in the form of wireless signals;

[0066] Here, the WiFi module 211 is a TXW806 chip, the WiFi chip is connected to a power supply terminal (voltage is VCC), and the WiFi module 211 is connected to a power supply circuit, a voltage stabilizing circuit, and a power management circuit.

[0067] Pin 24 of the TXW806 chip is connected to the first capacitor, the other end of the first capacitor is grounded, and pins 1, 2, 22, and 25 are connected to the second voltage ( Fig. 9 VB in), pin 13 and pin 23 are connected to the third voltage ( Fig. 9 VC in the figure), pin 26 is connected to the first resistor and the second resistor, the other end of the first resistor is connected to the second power supply end, the other end of the second resistor is grounded, and pin 42 is connected to the second voltage through the third resistor; pins 43 and 44 are used to connect a crystal oscillator, a passive crystal oscillator is used here, and the crystal oscillator pins are connected to the second capacitor and then to the ground, connected to the third capacitor and then to the ground, and to the ground respectively; pins 45, 46 and 47 are grounded through the fourth capacitor, pin 48 is connected to one end of the fifth capacitor and the sixth capacitor, the other end of the fifth capacitor is grounded, the other end of the sixth capacitor is connected to one end of the seventh capacitor and the antenna, and the other end of the seventh capacitor is grounded.

[0068] Specifically, the WiFi module 211 includes a microcontroller, which controls the camera module 11 to capture images, collect data, and compress images. The model of the microcontroller is CK803.

[0069] The power supply circuit is connected to the WiFi module 211 and is used to connect to the first power supply terminal. Specifically, the first power supply terminal is a power supply BAT (battery power supply). The power supply circuit is used to provide the voltage of the first power supply terminal to the switch control circuit.

[0070] The power supply circuit is specifically as follows: a first power supply end is connected to one end of the fourth resistor and pin 1 of the pad, the other end of the fourth resistor is connected to one end of the eighth capacitor, one end of the fifth resistor and pin 40 of the WiFi module 211, the other end of the fifth resistor and the other end of the eighth capacitor, pin 2 of the pad, pin 3 of the pad and pin 4 of the pad are all grounded.

[0071] The switch control circuit is externally connected to a second power supply terminal (voltage is Fig. 9 The output end of the switch control circuit is connected to the voltage stabilizing circuit and the WiFi module 211, and the switch control circuit is used to adjust the voltage and output the first voltage ( Fig. 9 VA in the figure and the third voltage, that is, outputting the first voltage to the voltage stabilizing circuit and outputting the third voltage to the camera module 11 and the WiFi module 211, and the third voltage is used as the power supply voltage of the camera module 11.

[0072] Specifically, the switch control circuit integrates a MOS tube of the NCE2301F model, which is used for switch control (controlling the on-off of current), and specifically, for controlling the on-off of current on the camera module 11 and the WiFi module 211 .

[0073] The voltage stabilizing circuit is connected to the switch control circuit, the WiFi module 211 and the power management circuit, and is also connected to the first power supply terminal and the second power supply terminal. The voltage stabilizing circuit is used to stabilize the first voltage to the second voltage, and output the second voltage to the WiFi module 211 and the power management circuit. The second voltage and the third voltage are both used as the power supply voltage of the WiFi module 211.

[0074] The voltage stabilization circuit integrates a linear voltage regulator of the MAX8877EZK33 model, and the first voltage is stabilized to a second voltage through the linear voltage regulator;

[0075] The power management circuit is connected to the voltage stabilizing circuit and the lighting device, and is used to convert the second voltage into a fourth voltage and output the fourth voltage to the lighting device, and the fourth voltage supplies power to the lighting device. Specifically, the power management circuit integrates a linear voltage regulator of the LN1154B302MR-G model.

[0076] The above-mentioned voltage stabilizing circuit and power management circuit are both used to change the voltage to supply power to other components.

[0077] Preferably, see Fig. 9 , the WiFi module 211 includes a module interface 212, such as Fig. 9 (f) is used to connect with the plug 113 of the camera module 11. The first FPC board 10 can be replaced at any time, and the second FPC board 20 and the first FPC board 10 can be repaired without affecting each other.

[0078] The image acquisition algorithm and the image processing algorithm are burned into the WiFi module 211. Based on the image acquisition algorithm, the WiFi driver module 21 can acquire digital image data, and based on the image processing algorithm, the acquired digital image data can be compressed.

[0079] In this embodiment, the WiFi module 211 is used to collect the output results of the CMOS image sensor 111. The WiFi module 211 is used to convert digital image data into radio signals for transmission. In other words, the WiFi module 211 is responsible for packaging the data obtained from the camera module 11 and transmitting it to the image magnification module 30, which serves as the receiving end of the WiFi module 211. The WiFi module 211 is specifically used for wireless communication, signal modulation and demodulation (responsible for converting digital signals into radio signals for transmission), network connection management (WiFi authentication), and data transmission.

[0080] Here, the WiFi module 211 is connected to the lighting device, and the WiFi module 211 is also used to control the lighting of the lighting device, for example, including but not limited to controlling at least one of whether to light up, which part of the light emitting diode is lit, etc.

[0081] In this embodiment, the wireless vision system further includes a camera control module, which sends a control instruction to the WiFi driver module 21 , and the WiFi driver module 21 receives the control instruction and controls the camera module 11 to shoot accordingly.

[0082] In this embodiment, in the image enlargement module 30, the received image with a resolution of 640×480 is enlarged to a high-resolution image with a resolution of 1080×1080 by an interpolation algorithm. The image enlargement module 30 is not located on the robot body, but is usually used as an independent mobile terminal.

[0083] In this embodiment, the WiFi driving circuit and the camera module 11 both adopt FPC soft board processing technology, the substrates of the first FPC board 10 and the second FPC board 20 are both made of polyimide, and the copper is 12 / 25 glue-free electrolytic copper with a copper thickness of 0.5OZ, which is lighter than the FR-4 hard substrate board in the prior art.

[0084] The first FPC board 10 adopts a two-layer circuit design, that is, it has two conductive layers, which is not limited to two layers here, but at least two conductive layers. The image acquisition device is integrated on the front side of the first FPC board 10 (one conductive layer), and the lighting device is integrated on the back side of the first FPC board 10 (the other conductive layer).

[0085] Specifically, the front end of the image acquisition device is integrated with an illumination device. Due to the flexibility of the first FPC board 10, the illumination device can be bent to the front of the macro lens, and then fitted through the annular center hole of the illumination device and glued to the macro lens. The illumination device provides light source for the micro robot to enter the closed environment, ensuring image quality. At the same time, the flexible circuit facilitates the adjustment of the macro lens position.

[0086] In this embodiment, one of the front and back sides of the first FPC board 10 has the plug 113, and the plug 113 is used to connect with the second FPC board 20. The other of the front and back sides of the first FPC board 10 is provided with a glass fiber reinforcement layer 114, and the glass fiber reinforcement layer 114 is arranged corresponding to the plug 113. Here, the plug 113 is located on the back. The back side of the first FPC board 10 is provided with a steel sheet reinforcement layer 115, and the image acquisition device is located on the front side of the first FPC board 10. The steel sheet reinforcement layer 115 is arranged corresponding to the image acquisition device. The back side of the plug 113 of the first FPC board 10 is reinforced with glass fiber to ensure a certain rigidity at the plug-in point; the back side of the image acquisition device of the first FPC board 10 is reinforced with steel sheet to make it have strong supporting strength and accelerate the dissipation of circuit heat.

[0087] Fig.10 is a structural diagram of the front side of the second FPC board 20, Fig.11 FIG. 2 is a structural diagram of the back side of the second FPC board 20 .

[0088] The second FPC board 20 adopts at least 4-layer board circuit design, that is, it has at least 4 conductive layers, and all the conductive layers of the second FPC board 20 are arranged sequentially from top to bottom. Specifically, a 4-layer board circuit design is adopted, and the front and back sides of the second FPC board 20 correspond to the first layer and the fourth layer respectively. The second conductive layer and the third conductive layer are stacked internally, the WiFi module 211 is located on the first layer, and the module interface 212 is located on the fourth layer. Here, the second conductive layer and the third conductive layer are only circuit layers, and no components are placed. The second FPC board 20 adopts at least 4-layer board circuit design in order to facilitate the arrangement of wiring, reduce space, and reduce the overall size.

[0089] In this embodiment, the package size of the WiFi module 211 is 5 mm×5 mm, the maximum main frequency is 180 MHz, the maximum RF power consumption is 792 mW, and the maximum CPU power consumption is 0.09 mW.

[0090] The circuit design (wiring and vias) of the two FPC boards in the present invention is as follows: the conductor width is in the range of [0.076mm, 0.381mm], the minimum conductor width is 0.076mm, and the maximum width is 0.381mm; the via diameter is in the range of [0.2mm, 0.3mm], and 0.25mm is most preferred; the via aperture is in the range of [0.12mm, 0.18mm], and 0.15mm is preferred; the conductor gap is in the range of [0.25mm, 0.26mm], and 0.254mm is preferred, and the maximum uncoupled length is 12.7mm.

[0091] The wireless vision system implemented in this embodiment can be found in Figure 2 , where the total mass of the first FPC board 10 and the second FPC board 20 is 0.63g, the overall size is 10mm×33mm, and the height is approximately the sum of the board thickness and the height of the macro lens. The size of the WiFi driver module 21 is 10mm×20mm, the thickness is 0.2mm, and the camera module 11 is 15mm long, flexible and bendable, and the thickness is 0.2mm. The wireless visual system of this embodiment has a video transmission frame rate of 15 frames / s, a resolution of 1080×1080, a power consumption of 800mW, and is transmitted as a color image (shooting in a dark environment is closer to the real state), and can receive videos and take photos on the mobile terminal.

[0092] If a centimeter-level micro-robot directly uses a higher-resolution image sensor (an image sensor with a resolution greater than 640×480), the overall mass and size of the high-resolution image sensor are larger, which means that the robot will be larger and require more power. However, the micro-robot has limited load capacity and size, and is not suitable for directly using a high-resolution image sensor.

[0093] The wireless vision system for centimeter-level micro-robots does not require the direct use of high-resolution image sensors, but wirelessly transmits digital image data to the image amplification module 30 outside the robot through the WiFi driver module 21 for interpolation and amplification of the resolution. Not only does the wireless transmission ensure the video transmission frame rate and good transmission accessibility, but the FPC board is used as a circuit board to reduce the quality of the wireless vision system, and the image resolution is improved by interpolation while reducing the quality. In this way, the problems of large overall size, weight and power consumption caused by the use of large-resolution sensors are not generated, that is, the image resolution is increased while ensuring that the centimeter-level micro-robot does not increase in size and weight, and the low resolution of the transmitted image data also ensures the accessibility of the transmission. The digital image data is transmitted through the WiFi driver module 21, and wireless signal transmission is realized. Compared with wired transmission, the real-time communication between the micro-robot carrying the visual device and the outside is realized, and the robot detection efficiency is improved.

[0094] Furthermore, the first FPC board 10 and the second FPC board 20 are used as circuit boards, and the first FPC board 10 is designed to have at least two conductive layers, and the second FPC board 20 is designed to have at least four conductive layers. Such a design makes the wireless visual device light in weight and small in size; the first FPC board 10 and the second FPC board 20 are connected by plugging, which facilitates the maintenance of the wireless visual system;

[0095] The preparation method of the wireless vision system for centimeter-level microrobots described above includes:

[0096] Take a FPC soft board to prepare a first FPC board 10, see Fig.12 ;

[0097] Take another FPC soft board to prepare a second FPC board 20, see Fig.13 ;

[0098] The second FPC board 20 connected to the first FPC board 10 is plugged in. Fig.14 .

[0099] The method further includes the step of signal connecting the WiFi driving module 21 and the image magnification module 30 .

[0100] In one embodiment, after the second FPC board 20 is plugged and connected to the first FPC board 10, the method further includes: putting the lighting device on and fixing it on the macro lens;

[0101] In another embodiment, the method of preparing the first FPC board 10 by taking an FPC soft board specifically includes preparing a first circuit board, the first circuit board has an image sensor circuit and an illumination device, and a macro lens is installed; the illumination device is placed on and fixed to the macro lens, such as Figure 3 shown.

[0102] The present invention also provides a wireless vision method for a centimeter-level micro-robot, comprising:

[0103] The robot captures information through the first FPC board 10;

[0104] The robot converts the photographed information into digital image data through the first FPC board 10;

[0105] The robot sends the digital image data in the form of wireless signals through the second FPC board 20;

[0106] The digital image data in the form of wireless signals sent by the robot is received, and interpolation calculation is performed based on the digital image data to enlarge the image resolution to obtain an enlarged image.

[0107] When the wireless visual method is implemented specifically, reference may be made to the specific implementation example of the wireless visual method device in any of the above embodiments, and the specific implementation steps will not be repeated here.

[0108] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the wireless vision method for a centimeter-level micro-robot is implemented.

[0109] The present invention also provides a centimeter-level micro robot, which includes a body structure, a first FPC board 10, a second FPC board 20, a motion mechanism, and a shell. The motion mechanism is connected to the body structure, and the first FPC board 10 and the second FPC board 20 are located on the body structure, that is, located on the robot body; the first FPC board 10 has a camera module 11, and the second FPC board 20 has a WiFi driver module 21. The camera module 11 is used to shoot information, convert the shot information into digital image data, and transmit the digital image data to the WiFi driver module 21; the WiFi driver module 21 is used to control the camera module 11 to shoot, and send the digital image data to the image magnification module 30 in the form of a wireless signal, and the image magnification module 30 is used to perform interpolation calculation on the digital image data to enlarge the image resolution to obtain the enlarged image. The motion mechanism is connected to the body structure and is used to move the body structure, that is, the centimeter-level micro robot realizes crawling, flying, jumping and other movements through the motion mechanism, and the shell is connected to the body structure. Usually, the first FPC board 10 and the second FPC board 20 are both located in the shell.

[0110] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wireless vision system for centimeter-level microrobots, characterized in that: include: A first FPC board located on the robot body, having a camera module thereon, the camera module being used to shoot information, convert the shot information into digital image data, and transmit the digital image data to the WiFi driver module; A second FPC board located on the robot body has a WiFi driver module thereon, and the WiFi driver module is used to control the camera module to shoot and send digital image data in the form of wireless signals; The image magnification module is used to obtain digital image data in the form of wireless signals and perform interpolation calculation to enlarge the image resolution to obtain the enlarged image.

2. The wireless vision system for centimeter-level microrobots according to claim 1, characterized in that: The camera module includes an image acquisition device and an illumination device. The image acquisition device is used to capture information, convert the captured information into digital image data, and transmit the digital image data to the WiFi driving module. The illumination device is used to illuminate the image acquisition device.

3. The wireless vision system for centimeter-level microrobots as claimed in claim 2, characterized in that: The WiFi driving module includes a WiFi module, a power supply circuit, a switch control circuit, a voltage stabilizing circuit, and a power management circuit; the WiFi module is connected to the camera module, and the WiFi module is used to control the camera module to shoot and send the digital image data of the camera module to the image amplification module in the form of a wireless signal; the power supply circuit is connected to the WiFi module and an external first power supply terminal; the switch control circuit is externally connected to the second power supply terminal and the power supply circuit, and is used to adjust the voltage and output the first voltage to the voltage stabilizing circuit and output the third voltage to the camera module and the WiFi module, and is used to control the on and off of the current on the camera module and the WiFi module; the voltage stabilizing circuit is used to stabilize the first voltage to the second voltage and output the second voltage to the WiFi module and the power management circuit; The power management circuit is used for converting the second voltage into a fourth voltage and outputting the fourth voltage to the lighting device.

4. The wireless vision system for centimeter-level microrobots as claimed in claim 2, characterized in that: The WiFi driving module is used to control the lighting of the lighting device.

5. The wireless vision system for centimeter-level microrobots as claimed in claim 2, characterized in that: The WiFi driving module and the camera module are electrically connected by plugging.

6. The wireless vision system for centimeter-level microrobots as claimed in claim 5, characterized in that: The image acquisition device includes an image sensor, a macro lens adapted to the image sensor, and a plug connected to the image sensor. The WiFi driving module includes a module interface, and the plug can be plugged into the module interface to realize the electrical connection between the WiFi module and the camera module.

7. The wireless vision system for centimeter-level microrobots according to claim 1, characterized in that: An image acquisition algorithm and an image processing algorithm are burned into the WiFi module. The image acquisition algorithm is used to acquire digital image data, and the image processing algorithm is used to compress the digital image data.

8. A centimeter-scale micro robot, characterized in that: It includes a fuselage structure, a first FPC board located on the fuselage structure, a second FPC board located on the fuselage structure, a motion mechanism connected to the fuselage structure, and a shell connected to the fuselage structure, wherein the first FPC board and the second FPC board are both located in the shell, the first FPC board is provided with a camera module, and the second FPC board is provided with a WiFi driver module, the camera module is used for shooting information, converting the shot information into digital image data, and transmitting the digital image data to the WiFi driver module, the WiFi driver module is used for controlling the camera module to shoot, and sending the digital image data to the image magnification module in the form of wireless signals, and the image magnification module can perform interpolation calculations based on the digital image data to amplify the image resolution.

9. A wireless vision method for centimeter-scale microrobots, characterized in that: include: The robot captures information through the first FPC board; The robot converts the captured information into digital image data through the first FPC board; The robot sends the digital image data in the form of wireless signals through the second FPC board; The digital image data in the form of wireless signals sent by the robot is received, and interpolation calculation is performed based on the digital image data to enlarge the image resolution to obtain an enlarged image.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the wireless vision method for a centimeter-level micro-robot as claimed in claim 9 is implemented.

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