Development of the Human Following Robot Control System Using HD Webcam

2018 International Electrical Engineering Congress (iEECON) Pub Date : 2018-03-01 DOI:10.1109/IEECON.2018.8712220

Jutarat Jommuangbut, Kiattisak Sritrakulchai

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引用次数: 1

Abstract

Recently, robot is widely used in many applications to support human, especially in industrial application. The mobile robot is used for transporting of raw materials or goods between different locations. Human following robot, which is the one of mobile robot type, is used for tracking target by detection through attached the device such as sensor or camera. Then, the information is sent to the PC or laptop to command the robot movement. However, the large size and high weight of PC or laptop affect the performance of robot movement. In this work, Raspberry Pi is used as processor instead of PC or laptop to control the human following robot by receiving the information from HD webcam. HD webcam is used to tracking colors, which are on the human target. The tracking colors, which are red, blue, and green, are depended on the program setting. OpenCV library is used to connect between HD webcam and Raspberry Pi and enhance the performance of the library working and processor of the Raspberry Pi. Afterwards, human following robot is used to track the human target in various movements with a space between human target and human following robot. According to the results, Raspberry Pi can operate like PC or laptop as processor and improve the movement of the human following robot.

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基于高清网络摄像头的人跟随机器人控制系统的开发

近年来，机器人被广泛应用于许多辅助人类的应用中，特别是在工业应用中。移动机器人用于在不同地点之间运输原材料或货物。人类跟随机器人是移动机器人的一种，它是通过附着传感器或摄像头等设备，对目标进行检测跟踪的机器人。然后，将信息发送到PC或笔记本电脑，以命令机器人运动。然而，PC或笔记本电脑的大尺寸和高重量影响了机器人的运动性能。在这项工作中，树莓派作为处理器代替PC或笔记本电脑，通过接收高清网络摄像头的信息来控制人类跟随机器人。高清网络摄像头用于跟踪人类目标上的颜色。跟踪颜色，即红色、蓝色和绿色，取决于程序设置。OpenCV库用于高清摄像头与树莓派之间的连接，增强树莓派库工作和处理器的性能。然后，利用人跟随机器人对人目标进行各种运动的跟踪，并在人目标与人跟随机器人之间留出一定的距离。根据研究结果，树莓派可以像个人电脑或笔记本电脑一样作为处理器操作，并改善人类跟随机器人的运动。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2018 International Electrical Engineering Congress (iEECON)

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