健康服务机器人室内导航视觉传感器研究与开发*

Research and development of Vision Sensor for Health Service Robots

摘要:

针对健康服务机器人室内导航的应用需求，设计出一种基于STM32F429的嵌入式导航视觉传感器，内嵌500万像素CMOS图像传感器和拥有高性能无线SOC的ESP8266，此次开发的视觉传感器，不是一般的CMOS图像传感器，而是综合了图像感知，图像处理，无线通信，节电唤醒等等功能于一体的智能化微型装置，即眼睛加大脑。经测试，本导航视觉传感器能够以每秒3次的速度向服务机器人发送位置，完全满足室内移动机器人的移动需求。

Abstract:

Aimed at the demand of indoor navigation and location for health service robots, the embedded vision sensor was designed which contained image sensor of 5 million pixel CMOS,high performance wireless SOC ESP8266. This vision sensor is not general CMOS image sensor,it is an intelligent micro device, making up of image perception, image processing, wireless communication, power saving, wake up and so on. It can be described as eyes and brain.According to the experiment, this vision sensor can sent the information of position to health service robots at the speed of 3 times Per second, which can fully achieve the mobile demand of indoor robots. Key words health service robots; vision sensor; navigation and location; wireless communication technology