Wireless Control And Target Detection Research Of Mobile Robot

In recent years, robot technology has developed rapidly and played an increasingly important role in the areas of health, welfare facilities, and family. Service robots can perform more complex operating activities based on visual inspection, such as robot can identify customers in the restaurant and provide water cup, etc. New technologies and methods are applied for service robot to make it more intelligent and commercial. In life application, the robot’s moving target detection in the dynamic environment is a hot spot in the aspect of intelligent robot. A mobile robot prototype was developed with multiple sensors based on the wireless monitoring and navigation of indoor service robot. The control system and the experimental study were developed to solve the problem of moving target detection in the process of the robot’s forward and dynamic environment.The design of the robot system was determined according to the requirements of the project and function of this robot. On the basis of design, mechanical design and parts processing were carried on. According to the requirements of the robot control, the STM32 was used as the core of the embedded control system and the PC control software was designed based on MFC. In order to improve the robot’s embedded computing power, the embedded real-time operating system μC/OS-II was transplanted for control system and the flexible task scheduling mechanism was used to realize the management of multitasking. According to the moving target detection problem in dynamic environment, a feature point detection combined with optical flow method was proposed which was used to detect moving object broke into robot vision in real-time. The method was wrote under the VS2010 and make use of OpenCV vision library.The experimental prototype debug was carried on in the completion of mechanical and control system reliability analysis. According to the project’s need, two experiments were carried out. In view of the wireless control requirements, the remote control of the robot exploring experiment was done. Experimental results showed that the robot can enter into the interested region and carry out explore activities under artificial control. The experiment of moving targets detection in dynamic environment was also done. Experimental results showed that the robot can use the algorithm designed in this paper and perform target detection in real-time.