Application of smartphone and autonomous mobile robot to real-time indoor surveillance

• Main Authors: Shih-Yao Juang, 莊世耀
• Other Authors: Jih-Gau Juang
• Format: Others
• Language: en_US
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/73648515300346238265

碩士 === 國立臺灣海洋大學 === 通訊與導航工程學系 === 100 === The purpose of this study is to integrate image processing techniques, fuzzy theory, wireless communications, and smart phone to a wheeled mobile robot (WMR) for real-time moving object recognition, tracking and remote surveillance. Image processing and fuzzy control algorithms are coded by C# language. Zigbee is utilized to transmit command signals between the webcam, the WMR, and the computer. The WMR uses webcam to capture its surroundings. Classification of color features is based on Hue-Saturation-Value (HSV) color space. The WMR calculates the relative position of the target object through image processing and distance computation algorithms. Fuzzy system is applied to servo motor of the WMR and robot controller design. In this study, experiments are divided into three parts. In the first part, via Bluetooth communication, a smart phone is utilized to control the WMR forward, backward, turn left, and turn right, directly. The second part put focus on target tracking control. The WMR can track specific target by the HSV algorithm and fuzzy controller. The target can be clearly seen on the smart phone via the webcam on the WMR. In the third part, the WMR is applied to surveillance usage. The WMR can be controlled remotely by a smart phone via WIFI. The WMR uses infrared sensor and fuzzy controller to obstacle avoidance and wall following control. The WMR can perform indoor patrol and monitor its surroundings. The home site conditions can be clearly seen on the smart phone. Experiments show that the proposed control design and system integration of the wheeled mobile robot works well in indoor real-time surveillance.