Abstract
Fingerprint lock cannot work effectively in the case of finger cut or desquamating. Besides, the structure of electronic locks is different from most wooden doors’ and security doors’, and it is also too time-consuming and laborious to change the existing structures. This paper presents a method of opening the door by a mobile robot at home. The robot receives wireless commands and calls the door fixed camera to capture a photo of the visitor. After that, it makes a visual servo based path planning after the verification of the visitor autonomously, then moves from a certain place to the interior door and opens the door. The mobile robot consists of a fixed base 4 degrees of freedom manipulator and a camera. This article focuses on the extraction of work space of the robot, path planning, face recognition , lock positioning, and robotic motion control. Using visual C++ development environment and image processing technology, a controller of the mobile robot to open the door is proposed, the effectiveness of the proposed method is also demonstrated through experiments.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Ahonen T, Hadid A, Pietikäinen M (2006) Face description with local binary patterns: application to face recognition. IEEE Trans Pattern Anal Mach Intell 28(12):2037–2041. doi:10.1109/TPAMI.2006.244
Blanc G, Mezouar Y, Martinet P (2005) Indoor navigation of a wheeled mobile robot along visual routes. In: Proceedings of the 2005 IEEE international conference on robotics and automation, pp 3354–3359. doi:10.1109/ROBOT.2005.1570628
Cui Y (2002) Image processing and analysis: the method and application of mathematical morphology. Science Press, Beijing (in Chinese)
Hart PE, Nilsson NJ, Raphael B (1968) A formal basis for the heuristic determination of minimum cost paths. IEEE Trans Syst Sci Cybern 4(2):100–107. doi:10.1109/TSSC.1968.300136
Heikkilä M, Pietikäinen M (2006) A texture-based method for modeling the background and detecting moving ojects. IEEE Trans Pattern Anal Mach Intell 28(4):657–662. doi:10.1109/TPAMI.2006.68
Huo W (2005) Robots dynamics and control. Higher Education Press, Beijing (in Chinese)
Li JS, Li XH (2007) Digital image processing. Tsinghua University Press, Beijing (in Chinese)
Ojala T, Pietikäinen M, Harwood D (1996) A comparative study of texture measures with classification based on feature distributions. Pattern Recogn 29(1):51–59. doi:10.1016/0031-3203(95)00067-4
Ojala T, Pietikäinen M, Mäenpää T (2002) Multiresolution gray-scale and rotation invariant texture classification with local binary patterns. IEEE Trans Pattern Anal Mach Intell 24(7):971–987. doi:10.1109/TPAMI.2002.1017623
Philips PJ, Grother P, Micheals RJ et al (2003) Face recognition vendor test 2002 results. IEEE Int Workshop Anal Model Faces Gestures 44. doi:10.1109/AMFG.2003.1240822
Wu G (2010) The research of service robot vision-based object grasping and software development. A dissertation submitted to Southeast University for the academic degree of master of engineering (in Chinese)
Zhao G, Pietikäinen M (2007) Dynamic texture recognition using local binary patterns with an application to facial expressions. IEEE Trans Pattern Anal Mach Intell 29(6):915–928. doi:10.1109/TPAMI.2007.1110
Zhao W, Chellappa R, Rosenfeld A, Phillips PJ (2003) Face recognition: a literature survey. ACM Comput Surv 35(4):399–458. doi:10.1145/954339.954342
Zhu XC, Liu F, Hu D (2014) Digital image processing and image communication. Beijing University of Posts and Telecommunications Press, Beijing (in Chinese)
Acknowledgments
Project supported partly by the National Natural Science Foundation (61374040), Scientific Innovation program (13ZZ115), Hujiang Foundation of China (C14002), Graduate Innovation program of Shanghai (54-13-302-102).
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Zhejiang University Press and Springer Science+Business Media Singapore
About this paper
Cite this paper
Ma, Xm., Wang, Cl., Cao, L. (2017). Visual Servo-Based Control of Mobile Robots for Opening Doors. In: Yang, C., Virk, G., Yang, H. (eds) Wearable Sensors and Robots. Lecture Notes in Electrical Engineering, vol 399. Springer, Singapore. https://doi.org/10.1007/978-981-10-2404-7_39
Download citation
DOI: https://doi.org/10.1007/978-981-10-2404-7_39
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-2403-0
Online ISBN: 978-981-10-2404-7
eBook Packages: EngineeringEngineering (R0)