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As if it’s not hard enough to make very small robots that can , once you’ve gotten the power and autonomy all figured out, your robot isn’t going to be all that useful unless it can carry some payload. And the payload that everybody wants robots to carry is a camera, which is of course a relatively big, heavy, power hungry payload. Great, just great.
好像要制造出非常小的机器人还不够难，一旦你把动力和自主性都搞清楚了，除非你的机器人能具备一些有效载荷，否则它不会有那么大的用处。而每个人都希望机器人携带的有效载荷是一个摄像头，这当然是一个相对大、重、耗电量大的有效载荷。听起来简直是不可能完成的任务。
This whole thing is frustrating because tiny, lightweight, power efficient vision systems are all around us. Literally, all around us right this second, stuffed into the heads of insects. We can’t make anything quite that brilliant (yet), but roboticists from the University of Washington, in Seattle, have gotten us a bit closer, with the smallest wireless, steerable video camera we’ve ever seen—small enough to fit on the back of a microbot, or even a live bug.
这整件事令人沮丧，因为我们周围都是小巧、轻便、节能的视觉系统。从字面上说，就在这一秒，把我们目光塞进昆虫的脑袋里。我们还不能做出如此辉煌的成就，但是来自西雅图华盛顿大学的机器人专家们已经让我们更近了一步，他们用我们见过的最小的无线、可操控的摄像机，小到可以装在微型机器人的背面，甚至可以装上一只活体昆虫。
To make a camera this small, the UW researchers, led by Shyam Gollakota, a professor of computer science and engineering, had to start nearly from scratch, primarily because existing systems aren’t nearly so constrained by power availability. Even things like swallowable pill cameras require batteries that weigh more than a gram, but only power the camera for under half an hour. With a focus on small size and efficiency, they started with an off-the-shelf ultra low-power image sensor that’s 2.3 mm wide and weighs 6.7 mg. They stuck on a Bluetooth 5.0 chip (3 mm wide, 6.8 mg), and had a fun time connecting those two things together without any intermediary hardware to broadcast the camera output. A functional wireless camera also requires a lens (20 mg) and an antenna, which is just 5 mm of wire. An accelerometer is useful so that insect motion can be used to trigger the camera, minimizing the redundant frames that you’d get from a robot or an insect taking a nap.
为了制造这么小的相机，由计算机科学和工程教授Shyam Gollakota领导的UW研究人员不得不从零开始，主要是因为现有系统几乎不受电源可用性的限制。即使像吞咽药丸相机这样的东西也需要重量超过1克的电池，但只能为相机供电不到半小时。由于注重小尺寸和高效率，他们开始使用现成的超低功耗图像传感器，宽2.3毫米，重6.7毫克。他们使用了一个蓝牙5.0芯片（3毫米宽，6.8毫克），在没有任何中间硬件来播放摄像头输出的情况下，把这两个东西连接在一起很开心。一个功能性的无线摄像头还需要一个镜头（20毫克）和一个天线，天线只有5毫米长的电线。一个加速计很有用，这样昆虫的运动就可以用来触发摄像机，从而最大限度地减少机器人或昆虫打盹时的多余帧。
The last bit to make up this system is a mechanically steerable “head,” weighing 35 mg and bringing the total weight of the wireless camera system to 84 mg. If the look of the little piezoelectric actuator seems familiar, you have very good eyes because it’s tiny, and also, it’s the same kind of piezoelectric actuator that the folks at UW use to power their itty bitty flying robots. It’s got a 60-degree panning range, but also requires a 96 mg boost converter to function, which is a huge investment in size and weight just to be able to point the camera a little bit. But overall, the researchers say that this pays off, because not having to turn the entire robot (or insect) when you want to look around reduces the energy consumption of the system as a whole by a factor of up to 84 .
这个系统的最后一个组成部分是一个机械控制的“头”，重35毫克，使无线摄像系统的总重量达到84毫克。如果这个小压电驱动器的外观看起来很熟悉，你会发现它的眼睛很好，因为它很小，而且，它和威斯康辛大学的人用来给他们的小飞行机器人提供动力的压电驱动器是一样的。它有一个60度的摇摄范围，但也需要一个96毫克的升压转换器，这是一个巨大的投资在大小和重量，只是能够指向一点相机。但总的来说，研究人员说这是有回报的，因为当你想环顾四周时，不必转动整个机器人（或昆虫），整个系统的能耗降低了84倍。
This efficiency means that the wireless camera system can stream video frames (160x120 pixels monochrome) to a cell phone up to 120 meters away for up to 6 hours when powered by a 0.5-g, 10-mAh battery. A live, first-bug view can be streamed at up to 5 frames per second. The system was successfully tested on a pair of darkling beetles that were allowed to roam freely outdoors, and the researchers noted that they could also mount it on spiders or moths, or anything else that could handle the payload. (The researchers removed the electronics from the insects after the experiments and observed no noticeable adverse effects on their behavior.)
这种效率意味着无线摄像系统可以将视频帧（160x120像素单色）流式传输到120米以外的手机上，使用0.5克、10毫安时的电池供电，时间长达6小时。实时的第一个bug视图可以以每秒5帧的速度进行流式传输。这套系统在一对黑暗的甲虫身上成功地进行了测试，这对甲虫可以在户外自由游荡，研究人员指出，他们还可以把它安装在蜘蛛或飞蛾上，或者其他任何可以处理有效载荷的物体上。（实验结束后，研究人员从昆虫身上取出了电子设备，没有观察到对它们行为有明显的不良影响。）
The researchers are already thinking about what it might take to put a wireless camera system on something that flies, and it’s not going to be easy—a bumblebee can only carry between 100 and 200 mg. The power system is the primary limitation here, but it might be possible to use a solar cell to cut down on battery requirements. And the camera itself could be scaled down as well, by using a completely custom sensor and a different type of lens. The other thing to consider is that with a long-range wireless link and a vision system, it’s possible to add sophisticated vision-based autonomy to tiny robots by doing the computation remotely. So, next time you see something scuttling across the ground, give it another look, because it might be looking right back at you.
研究人员已经在考虑将无线摄像系统安装到会飞的东西上可能需要什么，而且这并不容易——一只大黄蜂只能携带100到200毫克。电力系统是这里的主要限制，但是使用太阳能电池可以减少电池需求。通过使用完全定制的传感器和不同类型的镜头，相机本身也可以缩小。另一个需要考虑的问题是，通过远程无线连接和视觉系统，可以通过远程计算为微型机器人增加复杂的基于视觉的自主性。所以，下次你看到什么东西在地上飞驰时，看仔细点，因为它可能也正在看着你。
素材来源：
https:\/\/spectrum.ieee.org\/automaton\/robotics\/robotics-hardware\/uw-micro-camera
https:\/\/homes.cs.washington.edu\/~gshyam\/
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