| Nursing helpmate robot is a kind of autonomous indoor mobile robot, operating in hospitals, can be applied to promote hospital automation, protect medical care personnel from cross contamination. The research of this paper is supported by project of "Key Technologies of Nursing Helpmate Robot" , funded by the HeiLong Jiang Natural Science Fund.The paper overviews the developing situation of nursing helpmate robot, analyzes several familiar control system architectures, and the hybrid control system architecture' s characteristic is summarized. Also, the analysis of the implementation model is expatiated in detail.Theorize the model of kinematics and dynamics for tricycle platform. The topological map localization technology based on RFID landmark in the structured environment is studied, and the dead reckoning principles is formulated. Modularize the helpmate robot control system based on RS-485 bus framework. Porting the real-time kernel μC/OS-II to the LPC2106 hardware platform is implemented successfully, communication software under μC/OS-II is developed.The motor driving system based on AVR is developed, including DC motor driving, tachometer unit and the stepper driving. The integral separated PID algorithm is adopted to maintain the motor speed stable.The robot sensor technology is introduced, through the analysis of the ultrasonic sensor working principles, the ultrasonic sensor module is developed. The sixteen ultrasonic modules are linked with I~2C bus. The voltage shortage monitoring module is designed. |
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