摘要
该文针对微型机器人系统在管道检测中的具体应用,设计了微型机器人实时识别跟踪系统.通过CCD摄像头捕捉微型机器人顶部特征点的位置,实现对微型机器人状态的实时识别跟踪.同时,为缩短系统的处理时间,系统采用特殊的通讯方式,即机器人系统的协调是在微型机器人相互之间不知彼此位置和状态下实现的.系统采用广播通讯方式,信息的流向只是从主控制器发送给每个微型机器人.
A realtime vision track algorithm and a communication structure for a multiple microrobot system are described in this paper. A CCD camera captures the characteristic point on top of the robot to determine its position. The communication structure is designed according to the specifics of the system. To increase the system response speed, coordination is realized under the condition that microrobots do not know the position of each other. Information only flows from the central controller to the microrobots.
出处
《上海大学学报（自然科学版）》
CAS
CSCD
2003年第5期398-401,共4页
Journal of Shanghai University:Natural Science Edition
基金
国家自然科学基金 (6 988950 1 )资助项目
关键词
微型机器人
实时识别
系统通讯
microrobot
real-time recognition
system communication
