基于嵌入式视觉的移动式自重构微小型机器人

本文提出了一种新型移动式自重构机器人。机器人包含若干可独立执行任务的移动子机器人，单元子机器人由若干模块化组件(中央处理模块、通信模块、驱动模块、弯举模块、超声模块、视觉模块等)组成，并可通过展开结构进行简单变形以增强自身机动性能与越障能力。多个子机器人可以在微型CMOS相机及其它传感器协作下自主对接为整体机器人，并可自重构为蛇形、环形等构形完成越障；在任务完成后，各子机器人可以彼此脱离，形成分布式机器人系统。为实现机器人微小型化，在模块化设计过程中大量采用了紧凑机械结构，设计了基于微型CMOS数字相机的嵌入式图像处理模块用于视觉自重构，以及基于ARM、FPGA的嵌入式中央控制器进行低能耗高效率的全局控制。单元机器人通过了完整功能测试，并完成了两个模块间的对接实验。

Mobile miniature self-reconfigurable robot based on embedded vision

A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can link into a train or other shapes autonomously via camera and other sensors to be a united whole robot for obstacle clearing, and disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components designing, an embedded image processing module based on CMOS digital camera is designed for self-reconfiguration, and a miniature ARM & FPGA-based embedded controller is developed for minimal power consumption and efficient global control. Fully functional unit has been tested, and docking experiment between two units has also been implemented.