Research And Realization Of Hardware Paltfrom For Service Robot Based On STM32

In the late 1980s,many scholars at home and abroad systematically carried out the service robot technology research and has gained rich research results in the theory and practice.Recently,the demand of the service robots at home and abroad is growing with the constant progress of service robot technology.The market of cleaning robot,education robot,entertainment robot,security robot and medical robot is undergoing rapid development.The application prospect of restaurant service robot is extensive.Firstly,this paper outlines the research background of service robot and current situation of the development and introduces the research contents and research methods.Then,the overall design scheme of this topic in the service robot including mechanical structure of robot,the selection of micro control chip,the design of control system hardware circuit and the software design of control system and control strategy.In addition,this paper also introduces the design of PC debugging software.The hardware platform design of service robot including driving DC motor,information collection of many sensor and exchanging data with PC software.Service robot complete the basic action by controlling of PC software on hardware platform.PC software analysis and display the motion information of service robot,and show trajectory by dead reckoning.In the aspect of control,obstacle distance information is obtained by ultrasonic measurement,course angle is obtained by gyroscope.The obstacle avoidance function of service robot is realized by the method of fuzzy control.This paper complete the service robot hardware platform,the development of drive program and motion control program based on hardware platform and the PC software by LabVIEW.Then,this paper complete the basic motion control of service robot by motion control debugging on hardware platform.The obstacle avoidance performance of service robot is test by building robot obstacle avoidance experimental environment.The experimental results prove that service robot obstacle avoidance by fuzzy control is effective.