DESIGN AND CONSTRUCTION OF FACE DETECTION MOBILE ROBOT.
By
Steven Husein
A Bachelor’s Thesis Submitted to the Faculty of
ENGINEERING
Department of
MECHATRONICS
In partial fulfillment of the Requirements for the Degree of
BACHELOR OF SCIENCES WITH A MAJOR IN MECHATRONICS
SWISS GERMAN UNIVERSITY Campus EduTown – BSD City
Tangerang – 15339 Island of Java, Indonesia
www.sgu.ac.id
July 2010
STATEMENT BY THE AUTHOR
I hereby declare that this submission is my own work and to the best of my knowledge, it contains no material previously published or written by another person, not material which to a substantial extent has been accepted for the award of many other degree or diploma at any educational institution, except where due acknowledgement is made in the thesis.
_______________________________________ ________________
Steven Husein Date
Approved by:
________________________________________ __________________
Dipl-Ing. Maralo Sinaga, Advisor Date
________________________________________ __________________
Dr. Rusman Rusyadi ,co Advisor Date
ABSTRACT
DESIGN AND CONSTRUCTION FACE DETECTION MOBILE ROBOT
By
Steven Husein
SWISS GERMAN UNIVERSITY Bumi Serpong Damai
Dipl.Ing. Maralo Sinaga, Major Lecturer
The Objective of this thesis project is to build a mobile robot which can differ human from its surrounding by using face detection. This thesis will use webcam as the source to capture frame needed to apply face detection program. The face detection program used is based on haar-classifier library. The frame captured by the camera will be processed using Qt and OpenCV as the compiler. Qt and OpenCV will differentiate between human face and surrounding, then it will give output via serial port to a wireless device known as Xbee coordinator. Xbee coordinator will send data wirelessly to Xbee End Device, which will be connected to a microcontroller AVR atmega8535. The microcontroller will drive 2 servomotors and 1 stepper motor to adjust the mobile robot position and give feedback position to the laptop in order to move the robot closer to the face target.
Keywords: Face detection, Qt, OpenCV, Xbee, microcontroller.
DEDICATION
I dedicate this thesis to the mighty God, my family, my friends and my lecturer.
ACKNOWLEDGMENTS
The author wishes to thank you to Jesus Christ for His bless so author can finally finish the project. The author also wishes to thank:
All of Students in MT-8 for their support and help
My family and the people I love, for morale and financial support
Dipl-Ing Maralo Sinaga as the author’s main advisor and teacher
Ir. Arko Phd as the author’s sensor advisor and teacher
Dr. Rusman Rusyadi as the author’s co advisor, and programming teacher
Michael Henry for his help in programming
Ardian Susanto for his support in helping with robot design
Mr.Hudyana in his support for choosing the right camera
Saskia Hudyana in her support and help during thesis
TABLE OF CONTENTS
STATEMENT BY THE AUTHOR ... 2
ABSTRACT ... 3
DEDICATION ... 4
ACKNOWLEDGMENTS ... 5
CHAPTER 1 – INTRODUCTION ... 10
1.1 Background ... 10
1.2 Thesis Purpose ... 10
1.3 Thesis Scope ... 10
1.4 Problem Identification ... 11
1.5 Thesis limitation ... 11
1.6 Thesis Structure ... 11
CHAPTER 2 – LITERATURE REVIEW ... 13
2.1 Face Detection Robot ... 13
2.1.1 Developed Face, Person detection and tracking ... 13
2.1.2 Face Detection using background subtractions... 14
2.1.3 Face detection and recognition application in home appliances ... 15
2.1.4 Face Detection in Digital camera ... 16
2.2 Object Tracking ... 17
CHAPTER 3 – METHODOLOGY ... 19
3.1 Block Diagram ... 19
3.2 Mechanical Design... 20
3.3 Servomotor ... 21
3.4 Stepper Motor ... 26
3.4.1 Stepper Motor Types... 26
3.4.2 Torque generation by stepper motor ... 28
3.4.3 Unipolar Stepper Motor ... 30
3.4.4 Bipolar Stepper Motor ... 33
3.5 Microcontroller Board ... 33
3.6 Battery Supply ... 36
3.7 Webcam ... 37
3.8 Power Supply Unit ... 37
3.8.1 Voltage regulator 9V... 38
3.8.2 Voltage Regulator 5V ... 38
3.8.3 PCB Layout ... 39
3.9 Xbee Wireless Device ... 40
3.10 Face Detection ... 46
3.11 Infrared Sensor GP2D12 ... 48
3.12 Control Algorithm and Flowchart ... 49
CHAPTER 4 – RESULT & DISCUSSION... 54
4.1 Introduction ... 54
4.6 System Testing ... 70
CHAPTER 5 – CONCLUSION AND RECOMMENDATION ... 74
5.1 Conclusion ... 74
5.2 Recommendation ... 75
GLOSSARY ... 76
REFERENCES ... 77
APPENDIX-PROGRAM CODE ... 79
APPENDIX-TECHINCAL DRAWING ... 95
APPENDIX-TECHINCAL DRAWING ... 96
APPENDIX-MANUAL ... 106
APPENDIX-DATA SHEET ... 107
APPENDIX-BILL OF MATERIAL ... 122
CURRICULUM VITAE ... 123
LIST OF FIGURES Figure 2. 1. Face detection robot[12] ... 13
Figure 2. 2. Face and body detection and tracking[12] ... 14
Figure 2. 3. Subtracted background frame[8] ... 15
Figure 2. 4. Face Detection and recognition in home appliances [11] ... 16
Figure 2. 5. Face detection in digital camera.[9] ... 17
Figure 2. 6. Complete Object tracking system[3] ... 18
Figure 2. 7. Face tracking[3] ... 18
Figure 3. 1. Block Diagram of the mobile robot ... 18
Figure 3. 2. Mechanical design 3D ... 19
Figure 3. 3. Servomotor[6]... 20
Figure 3. 4. Dissembled Servomotor[6] ... 21
Figure 3. 5. RC servomotor[6] ... 22
Figure 3. 6. Servo motor test 10% duty cycle ... 23
Figure 3. 7. Servo motor test 90% duty cycle ... 24
Figure 3. 8. Cross-section of a variable reluctance motor[17] ... 25
Figure 3. 9. Principle of a Permanent Magnet stepper motor[17] ... 26
Figure 3. 10. Cross-section of a hybrid stepper motor[17] ... 27
Figure 3. 11. Unipolar stepper motor coils ... 29
Figure 3. 12 Wave Drive diagram[5] ... 30
Figure 3. 13. Full Step Drive diagram[5] ... 30
Figure 3. 14. Half Step Drive diagram[5] ... 30
Figure 3. 15. microstepping diagram[5] ... 31
Figure 3. 16. MikroAVR8535 ... 32
Figure 3. 17. Thunder powered battery ... 35
Figure 3. 18 Wireless webcam and video receiver ... 36
Figure 3. 19. 9V voltage regulator ... 37
Figure 3. 20. 5V voltage regulator ... 37
Figure 3. 21. PCB layout for electrical circuit ... 38
Figure 3. 22. Xbee wireless device ... 39
Figure 3. 23. Xbee pin numbers[16] ... 41
Figure 3. 24. Xbee Explorer USB Board[14] ... 42