Design And Realization Of The Community Oriented Intelligent Security Service Robot System

Nowadays,burglary cases show a gradually increasing trend.According to the relevant institutions survey,half of the burglary cases have been occurred in these residential districts with weak security forces,some residential districts even reached eighty percent.Although these districts have been installed with monitor and alarm systems,there are still mission detection?false negatives?monitoring blind angles as well as more and more sophisticated theft means.That makes the security way based on security personnel not to meet the daily needs.So intelligent robots being applied becomes necessary,also will be the final development trend.According to the above environment,a kind of intelligent security service robot system for community has been designed.This intelligent security service robot system is made up of an intelligent security service robot?magnetic navigation lines?WIFI wireless video transmission and the monitoring center.In order to better implement the security function and intelligence of robot system,the overall scheme design of the security service robot was launched at the first.The wheel structure with different drive is applied to the robot chassis;A camera platform with two degrees of freedom is equipped at the top of the robot;Its shell is composed of 3D printing;a number of ultrasonic and infrared sensors are equipped at the waist of the robot;The magnetic field detection circuit is installed at the bottom of the robot;The brushless motor drive circuit,the robot control panel and the open source hardware platform named raspberry are designed in the internal.It's very important to design a kind of all-weather precision autonomous navigation method to improve the patrol efficiency and security quality of the robot.In view of the more closely community living environment and the beautiful demand,the autonomous navigation technology based on magnetic nails is adopted.It has the characteristics of flexibility,expansion and being changed easily.In order to achieve the real-time communication between the security robot and security ? monitoring personnel,a wireless video transmission based on the socket programming with the WIFI signal carrier is designedTo improve the intelligent level of the security service robot system,the application of the visual system is the key.First,human face model is set up in YIQ color space,and the idea of clustering is applied in face model.Second,Adaboost is used to detect face regions in the initial frame.Then,skin color and face contour features is adopted to filter the face regions detected by Adaboost.Besides,the screened regions is tracked through matching the mean shift vector,and the search windows are adjusted adaptively.Finally,in all video frames,the face detection anf tracking of strangers and suspicious personnel in community environmrny is realized by means of running the above-mentioned detection and tracking algorithm repeatedly and mixedly.In the end,the magnetic nail navigation?wireless video transmission as well as multiple faces adaptive detection and tracking of the intelligent security service robot system have been verified.Experiment results indicate that the intelligent security service robot can achieve autonomous navigation on the different trajectories,can realize the wireless video transmission outdoors,and the dynamic detection and tracking of multiple faces can be realized under different environments,what's more,has the good performance in each aspect.