Structure Design And Environmental Perception Research Of Smart Home Service Robot

In the future development of smart home area, the application of home service robot will be more and more. Smart home system as the main body and service robot for auxiliary, both to cooperate with each other, meet user more demand for family life. In the practical application of home service robot, and only after the position mobile of robot can be accurately to other actions, such as the fetch, obstacle avoidance, camera and so on. In order to make the motion more accurate, this paper made the following several aspects.First, from the structure design, environmental perception system and wireless positioning, etc., analyzed the research status at home and abroad in recent years, and based on this, studying the movement structure and environmental awareness of the home service robot. Second, the analysis of home service robot motion system structure and control system structure. First to design the car body structure and drive system. To analyse its kinematics and dynamics, in order to improve the trajectory precision of robot, the track and motion parameters of the forward kinematics model and inverse kinematics model is analyzed. From the robot dynamics model analysis, showing the relationship between sports and driving force. In the end, to analyse the structure of its control system and related control circuit, and to implement the collection and transmission of the environment perception data. Third, in the analysis of the robot’s environmental awareness,through its own location sensing to research the location and shape of the external environment perception, the robot can automatic obstacle avoidance. In the location sensing system model, using the improved kalman filtering algorithm to deal with the wireless signal for obtaining more accurate signal value; At the same time, an improved k-means clustering method of position calculating, makes the three different positioning of the multipoint coordinates locate in a two-dimensional coordinate system, the conventional k-means algorithm for clustering is used to the positioning coordinate error size, after getting the coordinate error of different classification, using the adjacent trilateral positioning method of reference coordinates and each kind of cluster centroid distance tocompare, and finding the smallest distance cluster centroid as the final positioning coordinates. After the service robot can realize self orientation, to do optimal obstacle avoidance perception research from the situation of single and multiple obstacles faced by it, make it can be in the position of indoor smooth implementation. Fourth, the application of the matlab simulation software system and analogue experiment verify the robot obstacle avoidance behavior and trajectory. In the case of a successful robot obstacle avoidance, through the data comparison of the point information by actual measurement and the ideal point information by estimating, the accurate obstacle avoidance of robot proved.Through the above research of the home service robot motion system structure and environmental perception, and the corresponding experimental analysis, it can lay a foundation for the perception in smart home system movement.