NCCU Security Warrior: An Intelligent Security Robot System

This paper introduces the intelligent security robot developed by National Chung Cheng University (NCCU). The robot is named "Security Warrior" and consists of six systems including vision, motion, robot arms, power estimation, remote supervise and sensory systems. The vision system is used to carry out human detection and tracking. The motion system is built by using embedded systems and used to achieve motion planning in real time. The robot arms are the useful devices for the robot. Equipped with the arms, our robot can perform more tasks such as gesture expression or grasp functions. In order to avoid the robot shutdown suddenly, the power estimation system has been employed. For the robot, the sensory system is one of the important parts. With the fire detection sensor, the security robot can detect fire alarm in the environment. Path planning are accomplished by using the multi-sensor fusion. Body sensors can detect intruders. Combining the sensory and remote supervising systems, the owner can get notice whether there are any situations occurred through the PDA and GSM module. We have successfully implemented and tested our security robot.