Development Of A Robot Mobile Platform For Family Service

Currently, Robotics and IOT (Internet of Things) technology is developing rapidly, family-oriented service robot has a board development prospect. Therefore, in this paper an intelligent robot mobile platform has been designed that can achieve autonomous positioning and navigation based on the company's developing family service robot.Firstly the overall system design and the feasibility have been discussed; Secondly the design of software and hardware of this system have been introduced, the hardware design includes power circuit design, motor driving circuit design, PCB circuit board design and hardware selection; the software design includes master software design, driving motor software design, sensor software design; Finally the reliability of the system's hardware and circuit has been tested by serial port debugging assistant, to verify the feasibility of the system design. Based on the functions of modules, the system consists three parts:software layer, driving layer, hardware layer. The software layer is mainly responsible for the overall control of the mobile platform such as navigation, positioning, motion control; the driving layer is mainly responsible for driving motors and sensors to work properly; the hardware layer is mainly the hardware and circuits of the system. It chooses the Intel mini desktop PC (NUC) as the system's master, the development environment of system is Linux, and it use the laser ranging LIDAR to be the sensor for navigation and positioning. According to demands of system, self-designing the PCB circuit board, choosing Arduino Nano and Arduino Mega2560 as control modules of motors and sensors, the data communication between master and control modules is by USB-Serial interface. The driving motor is stepper motor, and the control chip need stepper motor driver to control stepper motors.The following is the characters of this robot mobile platform:autonomous positioning and navigation, and making plan for the route, through the laser ranging LIDAR and controlling algorithm; controlling the motion of the robot mobile platform; self-designed PCB circuit board, easily expand its functions, such as sensor extension; having a certain reliability and power endurance. In the current development of Robotics technology, this kind of robot mobile platform has a certain value for the research of intelligent robots, such as family service robot.