Publication: Diseño de un robot móvil para estudio de la ocupación en habitaciones
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2015-03-05
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2015-03-05
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Abstract
Este proyecto trata principalmente de aumentar los campos de la robótica dentro de la
monitorización de entornos. Estas aplicaciones, que se intentan conseguir con la
robótica, únicamente son métodos de ayudar a las personas quitándoles la carga que
supone realizar esos trabajos, por eso se ha decidido realizar este proyecto.
Se pretende crear un robot móvil autónomo que sea capaz de monitorizar la detección
de personas en cada una de las habitaciones por las que vaya pasando, de esta forma
se tendrá una estimación del número de personas que se detecte en cada una, el
tiempo que se tarda en detectar a todas las personas dentro de la habitación y tiempo
en recorrer cada habitación.
Este proyecto ayudará para tomar decisiones a las personas o robots como, por
ejemplo, cómo reestructurar a sus empleados en las distintas salas, como planificador
de tareas a realizar por el robot en función de la ocupación de cada habitación en un
horario determinado o simplemente como vigilancia en su propia casa o
establecimiento.
El robot consta de un microcontrolador Arduino encargado de realizar el recorrido
autónomo por las diferentes estancias del recinto siguiendo la pared que tenga a su
izquierda mediante el uso de unos sensores de ultrasonidos para saber la distancia que
tiene respecto de las paredes para evitar choques. Cada vez que entre en una
habitación se notificará al robot mediante la utilización de un sensor de infrarrojos
situados en la parte inferior del robot que se encarga de leer un “código de barras”
negro para saber en la habitación a la que está accediendo el robot.
A partir del momento en el que se accede a la habitación, el robot, empezará a
detectar rostros de personas utilizando una cámara que está conectada a la Raspberry
Pi, que utiliza como ordenador, para lanzar el programa de detección de personas y de
la identificación de la habitación en la que se encuentra.
Además el robot se encuentra siempre en comunicación con un ordenador central al
que le irán llegando las detecciones de personas y los datos de los sensores infrarrojos
de las habitaciones para, a partir de esos valores, estimar la ocupación de cada
habitación así como el tiempo que le ha llevado en recorrer cada habitación.
This project is mainly to increase the fields of robotics in monitoring environments. These aplications, that try to be created using robotics, are only methods of helping people by taking away the burden for doing those jobs, so it’s done this Project. It aims to create an autonomous mobile robot capable of monitoring the detection of persons in each room while it’s going past, thus we’ll have an estimate of the number of persons detected in them, time takes to detect all persons inside each room and time takes to tour the room. This project will help to make decisions for people or robots, for example, how to restructure their employees in different rooms, such as scheduler to be performed by the robot based on the occupancy of each room at a specific time or simply as surveillance at home or establishment. The robot consists of an Arduino microcontroller responsible for carrying out the autonomous tour of the different rooms of the enclosure, following the wall that is on its left by using ultrasonic sensors to know the distance it has to walls to avoid collisions. Once it enters into a room the robot will be notified using an infrared sensor located at the bottom of the robot, which is responsible for reading a black "barcode" to know in the room that is accessing the robot. From the time when It accesses to the room, the robot will begin to detect human faces using a camera that is connected to the Raspberry Pi, which it’s used as a computer to launch the program to detect people and to know the room that is. Furthermore the robot is always in communication with a central computer, which will receive detections of number of people and the data of infrared sensor from that room, based on these values, to estimate the occupancy of each room as well as the time it has taken to tour each room.
This project is mainly to increase the fields of robotics in monitoring environments. These aplications, that try to be created using robotics, are only methods of helping people by taking away the burden for doing those jobs, so it’s done this Project. It aims to create an autonomous mobile robot capable of monitoring the detection of persons in each room while it’s going past, thus we’ll have an estimate of the number of persons detected in them, time takes to detect all persons inside each room and time takes to tour the room. This project will help to make decisions for people or robots, for example, how to restructure their employees in different rooms, such as scheduler to be performed by the robot based on the occupancy of each room at a specific time or simply as surveillance at home or establishment. The robot consists of an Arduino microcontroller responsible for carrying out the autonomous tour of the different rooms of the enclosure, following the wall that is on its left by using ultrasonic sensors to know the distance it has to walls to avoid collisions. Once it enters into a room the robot will be notified using an infrared sensor located at the bottom of the robot, which is responsible for reading a black "barcode" to know in the room that is accessing the robot. From the time when It accesses to the room, the robot will begin to detect human faces using a camera that is connected to the Raspberry Pi, which it’s used as a computer to launch the program to detect people and to know the room that is. Furthermore the robot is always in communication with a central computer, which will receive detections of number of people and the data of infrared sensor from that room, based on these values, to estimate the occupancy of each room as well as the time it has taken to tour each room.
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Keywords
Robótica, Microprocesadores, Robots móviles