面向社区的智能安保服务机器人系统的设计与实现

发布时间：2018-06-19 05:43

本文选题：智能安保服务机器人 + 磁钉导航　；参考：《江苏科技大学》2017年硕士论文

【摘要】：现如今入室盗窃案件显现出了逐步递增的趋势,据相关机构的调查,一半的盗窃案件发生在安保力量薄弱的住宅小区,部分地区甚至达到了八成。尽管这些地区装设了监控、报警系统,但仍存在漏检、漏报等情况,诸多监控死角以及越来越高明的盗窃手段也使得以往以人员防范为主的安保方式越来越无法满足社区的日常需求,因此利用智能机器人执行安保任务变得很有必要,也将是最终的发展趋势。本文针对上述环境,设计了一种社区智能安保服务机器人系统。智能安保服务机器人系统主要由智能安保服务机器人、磁钉导航线路、WIFI无线视频传输和监控中心组成。为了更好地实现机器人系统的安保职能与智能性,本文首先展开了智能安保服务机器人系统的整体方案设计,该机器人底盘采用差速驱动的轮式结构;顶端配备一个二自由度的视觉云台;壳体由3D打印而成;腰部装配有若干超声波、红外传感器,底部配有磁场检测电路;内部还设计了无刷电机驱动电路、机器人控制板以及raspberry硬件开源平台。如何设计一种全天候的精确自主导航方式,对于提高机器人的巡视效率和安保质量至关重要。鉴于社区居住环境比较紧密且有美观要求,因此本文采用了基于磁钉的自主导航技术,利用磁钉进行导引,其灵活性较好,易于改变和扩充路径。为了实现安保服务机器人与安保人员、监控人员之间的实时通讯,本文设计了一种基于socket编程以WIFI信号为载体的无线视频传输方式。为了提高安保服务机器人系统的智能化水平,视觉系统的应用是其关键所在。文中首先在YIQ颜色空间中建立人脸模型,并将聚类的思想应用于人脸模型中,采用肤色和人脸轮廓特性筛选出由Adaboost算法在起始帧中检测出的人脸区域,将筛选后的区域匹配均值漂移向量进行跟踪,并自适应调整搜索窗口。然后往复运行上述检测与跟踪算法,来实现对社区环境中陌生人及可疑人员的人脸进行检测与跟踪。最后,文中对智能安保服务机器人系统在磁钉导航、无线视频传输以及多人脸自适应检测与跟踪进行了实验验证。实验结果表明,智能安保服务机器人能够在不同的轨迹线路中实现自主导航,能够在室外实现无线视频传输,并能在不同的环境下实现多人脸的动态检测与跟踪,在各个方面均表现出良好的性能。
[Abstract]:Nowadays, burglaries are gradually increasing. According to the investigation, half of the burglaries occurred in residential areas with weak security forces, and even reached 80% in some areas. Although monitoring and alarm systems have been installed in these areas, there are still cases of missing checks and reports. A lot of surveillance dead corners and increasingly sophisticated means of theft also make it increasingly difficult to meet the daily needs of the community in the way of security, which used to be mainly personnel protection, so it is necessary to use intelligent robots to carry out security tasks. Will also be the final development trend. In this paper, a community intelligent security service robot system is designed. Intelligent security service robot system is mainly composed of intelligent security service robot, magnetic nail navigation line WiFi wireless video transmission and monitoring center. In order to realize the security function and intelligence of the robot system better, the whole scheme design of the intelligent security service robot system is first carried out in this paper. The chassis of the robot adopts the wheeled structure of differential drive. The top is equipped with a two-degree-of-freedom visual head; the shell is made of 3D printing; the waist is fitted with a number of ultrasonic, infrared sensors and a magnetic field detection circuit at the bottom; and a brushless motor drive circuit is also designed inside. Robot control board and raspberry hardware open source platform. How to design an all-weather accurate autonomous navigation is very important to improve the patrol efficiency and security quality of the robot. In view of the compact community living environment and aesthetic requirements, this paper adopts the autonomous navigation technology based on magnetic nail, using magnetic nail to guide, its flexibility is better, and it is easy to change and expand the path. In order to realize the real-time communication between the security service robot and the security personnel and the monitor personnel, this paper designs a wireless video transmission mode based on socket programming with WiFi signal as the carrier. In order to improve the intelligent level of security service robot system, the application of visual system is the key. Firstly, a face model is established in the YIQ color space, and the idea of clustering is applied to the face model. The face regions detected by Adaboost algorithm in the starting frame are selected by using skin color and face contour characteristics. The filtered region matching mean drift vector is tracked and the search window is adjusted adaptively. Then the detection and tracking algorithms mentioned above are run back and forth to detect and track the faces of strangers and suspicious people in community environment. Finally, the intelligent security service robot system in magnetic nail navigation, wireless video transmission and multi-face adaptive detection and tracking are verified. The experimental results show that the intelligent security service robot can realize autonomous navigation in different trajectory lines, wireless video transmission outside, and dynamic detection and tracking of multiple faces in different environments. Show good performance in all aspects.
【学位授予单位】：江苏科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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