Study On The Trajectory Detection And Control Of Micro-robot Based On Global Vision

In recent years, with the development of MEMS technology, the research on a variety of micro-pipe robots and medical micro-robots is very active in the international community. Micro-robot has the characteristics of small inertia and short of reponse time. So, it has wide application future in biomedicine, aerospace and military domain and has become a new research hotspot of corporations and institutes around the world. As one of the smart material actuators, ICPF polymeric gel converts electrical energy into mechanical energy directly without the conventional machine part.As one of the new intelligent material actuators, ICPF polymeric gel converts electrical energy into mechanical energy directly without the conventional machine part. From this aspect, it is the most bio-mimetic actuator for its extreme similarity to humans' or animals' muscles. Based on bionic robot fish, this paper presents using the global vision to detect the trajectory of robot fish and control it in real time, and constracts an experimental system with CCD camera, image grabbing card, computer, software of detecting trajectory and circuit controller.In the preface, the research background of image processing is introduced and the present situation of the robot's vision both at home and abroad is also descried in detail. At the same time, preface gives the significance of the research project and the research contents.The second chapter makes further study into a drive mechanism and basic characteristic of swimming based on Icon conducting polymer film (ICPF) and presents a method which uses deformed trapezoidal voltage signal as the driving signal to improve swimming speed of robot fish.Charpter 3 mainly consists of segmentation based on color circle, object detection algorithm and Camshift algorithm, which both can detect the trajectory of robot fish and control it in real time.Charpter 4 designs a signal generator that can generate trapezoidal voltage signal and software of detection and control of the trajectory with VC+ + 6.0.In the fifth charpter, there are two experiments, which are done to validate the trajectory of robot fish and control the practicality of the experimental system.Finally the paper summarizes and prospects the work of the whole research subject.