First approach of an optical localization and tracking method applied to a micro-conveying system

摘要

In this paper, a study has been conducted to present a high resolution optical localization and tracking method for micro-robots or micro-conveyors moved over a smart surface in a context of micro-factory. The first approach of this work is presented here, the localization and tracking principles are described, the algorithm is presented and finally, experimentation work on system calibration and open-loop tracking is illustrated. The scanning of the surface as well as the tracking of the mobile micro-conveyor will be ensured by steering a laser beam via a MEMS mirror. Depending on the light power received by a photodetector, the conveyor will be localized and tracked. This technique will ensure the achievement of different micro-robots tasks depending on their priorities without collision between them and avoiding defective cells.