Research And Design Of The Nursing Robot Control System For The Elderly

The nursing robot is mainly to provide voice chat, health information management, interactive entertainment and other services for the elderly. It can help to reduce the negative mood of psychological loneliness for the elderly and alleviate the social pressure caused by nursing shortage. Taking the ability of elderly people to accept new things into account, the robot must have the characteristics of low cost and easy operation. Besides, it must ensure the reliability and safety of the nursing robot.First of all, this thesis introduces the domestic and foreign development status and trend of nursing robot. According to existing research base and actual demand, we proposed the overall architecture of the nursing robot and complete the design of the mechanical structure. The robot is designed to work in a typical Client-Sever mode. The server based on ARM microcontroller core, which adopts dual processor redundancy control system, is responsible for the management and driving of all underlying equipment and monitoring the running state of the robot. The client using Lenovo Mini host named Q180, is mainly in charge of the realization of speech recognition, interactive entertainment and other functions. The robot could work both in automatic roaming mode and manual remote control mode.Based on the proposed design scheme, we complete the hardware design of the underlying control system, including power management circuit, dual processor control circuit, motor drive circuit, communication circuit and expansion circuit. When designing the circuit and PCB, we should pay more attention to the electromagnetic compatibility and reliability of the system.Based on embedded real-time operating system ?C/OS-? and cortex kernel microcontroller software interface standard, the thesis planned the task priority of the main and redundancy processor reasonably, established the communication protocol between the upper and lower system and completed the design of the software, including the closed loop speed control based on PID algorithm communication between server and client and ultrasonic obstacle avoidance etc. At last, this thesis completed the module debugging and mobile platform test.Much tests and application shows that the nursing robot has the advantages of reasonable structure, stable performance, safety and reliability, easy to use, strong openness and low cost. The nursing robot meets the design requirements and has great popularization and application value.