發(fā)布時間：2018-06-19 05:43

  本文選題：智能安保服務(wù)機器人 + 磁釘導(dǎo)航　； 參考：《江蘇科技大學(xué)》2017年碩士論文

【摘要】：現(xiàn)如今入室盜竊案件顯現(xiàn)出了逐步遞增的趨勢,據(jù)相關(guān)機構(gòu)的調(diào)查,一半的盜竊案件發(fā)生在安保力量薄弱的住宅小區(qū),部分地區(qū)甚至達(dá)到了八成。盡管這些地區(qū)裝設(shè)了監(jiān)控、報警系統(tǒng),但仍存在漏檢、漏報等情況,諸多監(jiān)控死角以及越來越高明的盜竊手段也使得以往以人員防范為主的安保方式越來越無法滿足社區(qū)的日常需求,因此利用智能機器人執(zhí)行安保任務(wù)變得很有必要,也將是最終的發(fā)展趨勢。本文針對上述環(huán)境,設(shè)計了一種社區(qū)智能安保服務(wù)機器人系統(tǒng)。智能安保服務(wù)機器人系統(tǒng)主要由智能安保服務(wù)機器人、磁釘導(dǎo)航線路、WIFI無線視頻傳輸和監(jiān)控中心組成。為了更好地實現(xiàn)機器人系統(tǒng)的安保職能與智能性,本文首先展開了智能安保服務(wù)機器人系統(tǒng)的整體方案設(shè)計,該機器人底盤采用差速驅(qū)動的輪式結(jié)構(gòu);頂端配備一個二自由度的視覺云臺;殼體由3D打印而成;腰部裝配有若干超聲波、紅外傳感器,底部配有磁場檢測電路;內(nèi)部還設(shè)計了無刷電機驅(qū)動電路、機器人控制板以及raspberry硬件開源平臺。如何設(shè)計一種全天候的精確自主導(dǎo)航方式,對于提高機器人的巡視效率和安保質(zhì)量至關(guān)重要。鑒于社區(qū)居住環(huán)境比較緊密且有美觀要求,因此本文采用了基于磁釘?shù)淖灾鲗?dǎo)航技術(shù),利用磁釘進(jìn)行導(dǎo)引,其靈活性較好,易于改變和擴充路徑。為了實現(xiàn)安保服務(wù)機器人與安保人員、監(jiān)控人員之間的實時通訊,本文設(shè)計了一種基于socket編程以WIFI信號為載體的無線視頻傳輸方式。為了提高安保服務(wù)機器人系統(tǒng)的智能化水平,視覺系統(tǒng)的應(yīng)用是其關(guān)鍵所在。文中首先在YIQ顏色空間中建立人臉模型,并將聚類的思想應(yīng)用于人臉模型中,采用膚色和人臉輪廓特性篩選出由Adaboost算法在起始幀中檢測出的人臉區(qū)域,將篩選后的區(qū)域匹配均值漂移向量進(jìn)行跟蹤,并自適應(yīng)調(diào)整搜索窗口。然后往復(fù)運行上述檢測與跟蹤算法,來實現(xiàn)對社區(qū)環(huán)境中陌生人及可疑人員的人臉進(jìn)行檢測與跟蹤。最后,文中對智能安保服務(wù)機器人系統(tǒng)在磁釘導(dǎo)航、無線視頻傳輸以及多人臉自適應(yīng)檢測與跟蹤進(jìn)行了實驗驗證。實驗結(jié)果表明,智能安保服務(wù)機器人能夠在不同的軌跡線路中實現(xiàn)自主導(dǎo)航,能夠在室外實現(xiàn)無線視頻傳輸,并能在不同的環(huán)境下實現(xiàn)多人臉的動態(tài)檢測與跟蹤,在各個方面均表現(xiàn)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.
【學(xué)位授予單位】：江蘇科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：2038729