| With the acceleration of the pace of work and life, people need to extricate themselves from domestic chores; meanwhile along with global aging of the population, more elderly people are in need of care, therefore the research of home robot with functions of cleaning, entertainment and assistant has been attached great importance by countries all over the world. Moreover, due to urban expansion, burglary increase and the frequent occurrence of fire in using gas and large numbers of home appliances, home security alarm system research has been increasingly active. To meet the needs of these two aspects, the home robot alarm system is designed.At present, in most alarm systems the warning information was sent to the remote computer, but the computer is inconvenient to take, so it can't meet the needs of people viewing alarm information at anytime anywhere. Compared with computer, mobile phone is relatively more prevalent, low cost, much easy to carry, particularly in recent years the GPRS network provides wireless access of internet for mobile phone, this makes phone become the most important and the most common terminal equipment in internet. Therefore, in this paper the alarm information is designed to send to the user's mobile phone, this will not only compensate for the above shortcomings, but add man-made intervention to the system, thus achieves a more convenient and reliable alarm system.The system mainly consists of two parts: detection of two anomalies of fire and human intrude in domestic environment and sending the alarm information as MMS form robot to the user's phone via GPRS networks. Based on the analysis of the characteristics of the fire, we start with flame color, brightness and modal characteristics to achieve fire detection. Human intrude situation is judged by face detection. Based on the analysis of various color spaces and face models, we choose the oval clustering of Anil K. Jain for color segmentation in YCrCb color space, and use geometric feature extraction methods to complete the ultimate detection. MMS sending alarm uses GPRS network as the carrying network, mainly including there modules: GPRS network connections, MMS PDU encapsulation and coding, and MMS sending implementation.Finally experiments were made on the home robot named Pioneer3. Experiments showed that the home robot system can accurately detect fire and human intrusion, send information to the user's mobile phone, thus proved the feasibility of the system. The system is low-cost, flexible, reliable, and can be widely used not only in alarm system, but in remote monitoring system. |
