[1]党志强,逄万山,程 龙,等.无接触送餐机器人[J].计算机技术与发展,2021,31(增刊):16-20.[doi:10. 3969 / j. issn. 1673-629X. 2021. S. 003]
　DANG Zhi-qiang,PANG Wan-shan,CHENG Long,et al.Contactless Food Delivery Robot[J].,2021,31(增刊):16-20.[doi:10. 3969 / j. issn. 1673-629X. 2021. S. 003]
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无接触送餐机器人()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
31
期数:
2021年增刊
页码:
16-20
栏目:
人工智能
出版日期:
2021-12-31

文章信息/Info

Title:
Contactless Food Delivery Robot
文章编号:
1673-629X(2021)S0016-05
作者:
党志强; 逄万山; 程 龙; 赵 玲; 王险峰
东北石油大学 计算机与信息技术学院,黑龙江 大庆 163318
Author(s):
DANG Zhi-qiang; PANG Wan-shan; CHENG Long; ZHAO Ling; WANG Xian-feng
School of Computer and Information Technology,Northeast Petroleum University,Daqing 163318,China
关键词:
送餐机器人; 模糊 PID; SLAM; 路径规划
Keywords:
meal delivery robot; fuzzy PID:SLAM; path planning
分类号:
TP242. 6
DOI:
10. 3969 / j. issn. 1673-629X. 2021. S. 003
摘要:
无接触送餐机器人,区别于传统寻迹机器人,克服地磁引导的缺点,搭配视觉传感器、激光传感器,通过 SLAM 实现完全自主化的定位、循迹、导航、送餐等任务。 使用 STM32F103RCT6 作为送餐机器人的地盘控制器,orangepi pc2 电脑开发板作为嵌入式开发板,使用 GT-38 无线单片机实现系统内 2. 4 GHz 无线 / CAN 有线通信,通过 WIFI、433 通信模块与app 和服务器进行连接,由服务器和 app 可直接进行控制。 并配备人机智能交互模块,可通过语音、控制面板等方式实现智能控制。 动力方面,使用 3. 2V20AH 磷酸铁锂电池组,提供稳定的电力支持,采用闭环驱动器 HBS86H 驱动 86 闭环步进电机进行送餐机器人的移动,可有效克服步进机丢步的问题。 通过 30A ACS712 霍尔电流传感器和 DC-DC 可调升压电源模块板可实时反馈电源电量情况,机器人可据此完成自主充电过程,实现真正的智能化。
Abstract:
The contactless food delivery robot,which is different from the traditional tracking robot and overcomes the disadvantage of geomagnetic guidance, equips with vision sensor, LiDAR ( lightlaser detection and ranging ) to realize fully autonomous positioning,tracking,navigation,food delivery and other tasks by SLAM. STM32F103RCT6 is used as the site controller of the meal delivery robot,orangepi pc2 computer development board as the embedded development board, using GT - 38 wireless MCU to realize the 2. 4 GHzwireless / CAN wired communication within the system. Connect with APP and server through WIFI and 433 communication module,which can be directly controlled by server and APP. And equipped with human-machine intelligent interaction module,intelligent controlcan be achieved through voice,control panel and other ways. In terms of power,3. 2V20AH lithium iron phosphate battery pack is used to provide stable power support. The closed - loop driver HBS86H is used to drive 86 closed - loop stepper motor to move the food delivery robot, which can effectively overcome the problem of losing the step of the stepping machine. Through 30A ACS712 Hall current sensor and DC-DC adjustable up voltage power module board,the power supply can be fed back in real time,so that the robot can complete the autonomous charging process and realize the real intelligence.

相似文献/References:

[1]渠吉庆,陈 禹,刘玉琪,等.基于语音识别智能家居系统的设计与实现[J].计算机技术与发展,2020,30(12):148.[doi:10. 3969 / j. issn. 1673-629X. 2020. 12. 026]
　QU Ji-qing,CHEN Yu,LIU Yu-qi,et al.Design and Implementation of a Smart Home System Based on Speech Recognition[J].,2020,30(增刊):148.[doi:10. 3969 / j. issn. 1673-629X. 2020. 12. 026]

更新日期/Last Update: 2021-09-10