等离子高分子导电薄膜的微型机器鱼图像分析

ICPF是能够被1.5 V低电压驱动的等离子高分子导电薄膜,具有质量轻、响应速度快的特点。用长21.6 mm、宽4.6 mm、厚0.2 mm的ICPF薄膜驱动的微型机器人能够以3 mm/s的速度在水中运动。为了对其运动姿态进行检测和控制,设计了微型机器人的图像处理系统,此系统由CCD摄像机、图像接口卡、计算机和波形发生器组成。通过CCD摄像机获取机器人的运动图像序列;利用目标短时相似性,对每一帧图像进行色调自动阈值分割和边缘提取得到目标二值图像;采用改进的Hough圆变换计算出目标在图像中的位置和运动方向。最后,根据目标的位置和运动方向,通过波形发生器,改变ICPF两端的电压和频率来实现对机器鱼姿态的控制。本系统在Pentium 4 2.8 G内存1 G的电脑上,处理一张图片需52 ms,可以实现对机器人的实时检测、跟踪和控制。

Image analysis on ICPF actuated micro-robot

The Ionic Conducting Polymer gel Film(ICPF) can be driven by a low voltage (about 1.5 V) and has advantages in the less mass and fast response. A micro-robot moved at 3 mm/s velocity in the water can be actuated by the ICPF (21.6 mm×4.6 mm×0.2 mm). An image processing system is designed for detecting and controlling the movement and posture of the micro-robot,which consists of a CCD camera, an image interface card, a computer and a waveform generator. A movement and posture image sequence of the robot fish is captured by a CCD camera to obtain a binary image of each frame by the hue automatic threshold segmentation and boundary extraction based on the similarity target of in a short period. Then, the target location and movement direction are calculated by the circle detection using improved Hough transform. According to the target location and movement direction, the robot fish posture can be controlled by changing the voltage and frequency of ICPF and by using the waveform generator. Results show that system consumes 52 ms for processing a piece of picture in a Pentium 4 2.8 G computer with 1 G memory and achieves the real-time detection, tracking and control for the micro-robot fish.