Design And Implementation Of Security Robot Control System

With the problem of population aging,rising labor costs,and high quit rate of security personnel,the traditional security system has been difficult to adapt to modern security.The security robot is an intelligent robot applied in the field of security monitoring,which is more flexible than traditional systems.Combined with the traditional security system,the robot can be monitored in the monitoring center.In addition,the security robot can automatically patrol and start alarm system when detecting abnormal situation.At present,security robots are still in the development stage.So it has broad development potential and worth researching.There are several key technologies in security robots: navigation and location-based technology,motion control system,computer vision,and human-computer interaction.The main research content of this paper is the robot's motion control system.The main work and research contents are as follows:(1)According to the needs of the project,the robot is designed as a two-wheeled differential driving mobile robot.This kind of robot has a small rotation radius and more flexible movement without mechanical turning device.(2)This paper has analyzed and introduced the hardware system and software system in the process of robot design and implementation.When designing the hardware system,circuit is described based on the chip selected in detail.In software design,the motion control system is divided into several major tasks.Besides,we introduced the implementation of every modules used in every major tasks.(3)Communication software which used by navigation system is implemented under the Linux system.Moreover,we provided several application programming interfaces to the navigation system.(4)We have made four-generation security robots and their performance was tested.In addition,we realized the navigation based on pure odometer to certify the performance of our security robot.