Design Of Domestic Service Robot System Based On STM32

With the development of the expanded application of power technology and electronics, the robot gradually comes into people’s life. Indoor service robot develops step by step because of its close to life, great application requirements and economic value. But most domestic service robot could not move or could just avoid barrier.In order to solve this problem,a new domestic service robot system with more functions should been created to work efficiently in the smart home environment.In recent years, with the development of sensor technology, kinds of sensors can be used in positioning and navigation of domestic service robot. With the maturity of the wireless sensor networks, it was possible to make the domestic service robot waking up real-time from any room of the house. ZigBee technology can be widely applied to the wireless sensor network with its short distance, low power consumption and other characteristics.According to the need of domestic service robot system and the technology theory of sensor and wireless communication, a domestic service robot system based on STM32 was proposed in this article. The aim of the system is to achieve that the service robot can provide the person a glass of water or other things from kitchen refrigerator in a smart home environment.When the domestic service robot receives the command which is sent by principal computer,it searches the coordinate database of RFID cards to position itself.In a smart home environment that the floor is covered with RFID plate, a robot can determine its own position and adjust its direction with the help of RFID reader and electronic compass. And relying on infrared sensor, it can also detect the barrier within a certain range. It shows strong ability of making independent decisions in the process moving from one room to another.The design program of domestic service robot system and its working process and the design of hardware and software were described in detail in this article.Hardware system is composed by STM32F103VCT6 control module,RFID positioning module,electronic compass navigation module,infrared obstacle avoidance module,XBee RF module,servo module and power supply.The circuit schematic diagrams of the hardware d sign were presented in this article.PC software uses Visual C++ language to realize the data collection of coordinate information and task command sending.Lower computer software implementations is based on MDK programming environment,using modular programming ideas,which is convenient to program and debug.As the result of the actual testing work of the modules and whole robot system shows that it can finish kinds of work in a smart home environment with strategies, and it shows strong ability of making independent decisions on path planning.The basic functions and design requirements of the system were realized.