Reconfigurable miniature mobile robot cluster locating and tracking system

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...

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

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