1 Introduction
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The general robot has visual and force touch, and the visual robot that emits the eye wave is hardly reported. After the robot visually recognizes and emits the eyelet wave, the robotic force tactile sensor can perform corresponding actions according to the eyelet wave information. Identify with vision and use eye waves to transmit information.
The eye hole can emit eye wave, and the eye hole wave contains information. According to this, the eyesight wave communication frame of the robot vision system is first proposed, hereinafter referred to as the eye hole wave communication frame, and the eye hole wave communication and the aiming mathematics simultaneously give the mathematics. expression.
Eyelet wave information transmission can be realized by an application method of an atmospheric laser communication system in a robot. Eyewave handshake method:
1. The initiator begins to capture the sequence, emits an eyewave, whose position and characteristics are captured, tracked, and aimed by the recipient.
2. The recipient answers, sends out an eye hole wave, and his position and characteristics are captured, tracked, and aimed by the initiator.
3. The initiator starts the eyewave data transmission.
Robot vision can use the eye-wave communication method at the same time. This technology has opened up a new stage of visual optical communication. In this paper, the small-scale atmospheric optical communication system is introduced into the robot vision system, and the automatic communication is realized by the automatic capture. The transmitting and receiving end can realize two-way communication, and automatically obtain short-distance information from the eye-hole wave to manipulate the robot.
2 Capture method: Beacon light capture research
During the capture process, the laser or detector should cover the uncertainty region. When the laser beam is detected by the receiving end, there is an initial aiming error at the beginning. In order to start communication, it should be reduced to the required aiming error. At the transmitting end and the receiving end, multiple acquisition methods based on angle analysis [1-2] can be used. Under the condition of measuring distance Z, according to the normal Rayleigh distribution characteristics of the target size, this paper proposes to divide the capture from the size angle. The two methods are shown in Figure 1 and Figure 2:
Figure 1 capture method
Capture is shown in Figure 2:
Figure 2 Schematic diagram of capture
About manual capture: Visual eye hole observation beacon light capture for distant telecoms. Performed at a certain angle or target size.
About automatic capture: Automatic beacon light capture for distant telecoms. Performed at a certain angle or target size.
1, the transmitter scanning capture method
When the first stage cannot be captured, the FPA (CCD) receiving end is kept stationary, and the transmitting end scans in an indeterminate area with a beacon light laser beam with a narrow divergence angle. With a capture distance of Z, the capture time is dependent on the ratio of the uncertainty region size to the detectable beam size multiplied by the residence time at each point. Due to the effects of unstable jitter, in order to add additional marginal security, the search process overlaps between the scan areas, and the beam divergence size is corrected by overlapping factors. When the beacon laser beam is detected by the receiving end, there is an initial aiming error as shown in Figure 1(a). The capture framing is now complete.
2, the receiving end scan capture method
Keep the beacon light laser beam at the transmitting end stationary, and the FPA (CCD) receiving end scans the field of view in an indeterminate area. With a capture distance of Z, the capture time is dependent on the ratio of the uncertainty region size to the detectable beam size multiplied by the residence time at each point. Due to the effects of unstable jitter, in order to increase the extra marginal security, there is an overlap between the scanning regions during the search, and the beam divergence size is corrected by overlapping factors. When the beacon laser beam is detected by the receiving end, there is an initial aiming error as shown in Figure 1(b). The capture framing is now complete.
3 Beacon light aiming and aiming error normal, Rayleigh distribution research
3.1 Two-dimensional aiming error analysis
The acquisition process is a statistical process. When the transmitter and receiver are aligned, there are errors in the aiming angle caused by different attitudes, and errors due to thermal deformation, so that the transmitter and receiver deviate from communication. Interrupted.
The most popular method of capturing between two communication devices involves using one beacon signal on one communication machine and FPA (CCD) detection and one tracking system on the other communication machine. The precise elevation and azimuth of the aiming system respond to the FPA (CCD) output signal. Due to the influence of vibration noise, thermal noise, etc. in the tracking system, the beam reaching the receiving communication device will be shaken, and the aiming error angle model of the shaking direction is based on the normal distribution. The predecessors gave the angle distribution error distribution research [3], because the angle aiming error is not as convenient as the size aiming error measurement in the experiment, this paper proposes the aiming error of the angle aiming error with the target size when the measuring distance is Z. Express and propose a corresponding derivation of the capture range and capture probability.
The probability density normal distribution of the target angle error of the pitch angle target surface is:
(1)
with
The pitch angle size is aimed at the standard deviation and the elevation angle are aimed at the target surface size.
The probability density normal distribution of the azimuth target size aiming error is:
(2)
with
The azimuth size is aimed at the standard deviation and the azimuth is aimed at the target size.
Radiation Angle Target Size Aiming error is the root of the sum of the azimuthal and elevation dimensions.
(3)
By symmetry we can assume
(4)
We assume that the azimuthal and elevation dimensions are independent and have equal distributions, so the radiation angle target size aiming error probability density is the Rayleigh distribution:
(5)
Beacon light far-field spot on the target surface with distance Z
It seems to be normally distributed and its amplitude is:
=
(6)
The radius of the spot cross section is: (7)
3.2 Rician distribution and aiming diagram of target aiming jitter:
Mathematical expression of eye-wave communication jitter targeting:
At distance Z, the dynamic component of the jitter is denoted by L, the static component is represented, and the probability distribution function of the aiming error is given by equation (8). This function is the Rician distribution discussed in the literature [3] in terms of angle, in this paper by size Form discussion; the improved Bessel function in this distribution function is shown in equation (9). In the absence of static aiming errors, this distribution function translates into a simplified form that is more familiar to most researchers, namely the Rayleigh distribution. See equation (5).
In the aiming, aiming at the target's small amplitude jitter phenomenon is often present for moving target aiming. The Rician distribution of the jitter target aiming is shown here and is illustrated in Figures 4 and 5.
Around the target jitter, give a graphical representation of the ATP analysis. See Figure 6:
4 Conclusion
The eye-wave communication frame or the eye-hole wave communication frame of the robot vision system is proposed for the first time. The information transmission of the eye-hole wave can be realized by the application method of the small-scale atmospheric laser communication system in robot vision. This paper proposes an eye-hole wave communication architecture, solves the problem of capture and tracking of the communication system (ATP problem), and establishes a corresponding mathematical model.
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