The Study of an Indoor Service Robot System

• Main Authors: Mu-Jen Ting, 丁穆仁
• Other Authors: Mu-Chun Su
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/9uhj58

碩士 === 國立中央大學 === 資訊工程研究所 === 97 === There are more old people in Taiwan now. Because of the Chinese custom, elder person lives at home with their children rather than in sanatorium. It is very danger when all family out of home in the daytime. We worry about the distance home service only send character message when an accident happened. The message lacks for some view of the situation in real time. For this reason, this paper went to design an indoor service system to get the view for worry fast. The system uses a robot for human-computer interface. We use the commercial robot platform to be an interface, design a fuzzy control system for the robot, and control it through the wireless network in this paper. Combining the indoor monitoring system erected in the building, we use the camera as the main tracking and navigating tool. Consider about revising the camera with oblique, we use the method of statistics and only need a few images in order to reduce the complexity of erecting this system. It used the three order polynomial function to estimate the image change to track the robot. The results of estimating also make use of revising the height of robot and the input of fuzzy system. The system watch whether old man fallen or someone opened door with accelerometer RF-module. Computer will start the robot to serve when it judges the accident takes place. In the end, we simulate a general family’s indoor situation with office in CSIE building, and do several different experiments to test this system’s stability and efficiency. This paper proves the indoor service robot is workable, convenient and expandable.