Design And Realization Of Intelligent Service Robot Control System

With the continuously economic and social development,income per capita and consumption level have increased constantly,which promotes the progress of catering industry.To improve the efficiency of service,reduce running costs,boost more profits and create entertainments at the same time,many hotels and restaurants have been introducing robots in catering service.According to the problem that the traditional service robot has a large path deviation and a long correction time,which is not intelligent enough,this thesis designed an intelligent robot,which can provide meal order and delivery service.On the back of this robot,there will be a tablet with android system to check guests' orders,empty seats and bills.At the same time,the front server will organize a unified management with menu,bill and varieties of dishes etc.Based on ARM processor and controlled by Stm32,this robot receives the instructions of order,then transfers them to the controller through serial ports,and provides automatic delivery service with wi-fi communication.It will send dishes to designated tables according to the given lines: in the given lines,objective points are established by setting the landmark cards;RFID radio frequency module will help the robot to discern the designated tables;the voice module will then remind customers of the delivery;finally,the robot will go back via the original routes after customers check the reception of dishes on the Android tablet.This thesis introduces the whole design of this robot system.Generally,catering robot system is controlled by STM32 hardware module,RFID positioning module,infrared obstacle avoidance module,WIFI communication module,magnetic sensor composed of tracking module,drive module,power supply module,etc.This thesis uses the fuzzy control method by introducing the position deviation and its rate based on the robot motion status for input control system,and PWM duty cycle for output control system to calibrate the tracking deviation and improve the stability of this catering robot.With testing for each module and the whole system,the intelligent robot in this thesis achieves the basic functions and meets the requirement of system design with autonomous tracking,obstacle avoidance,positioning,ordering and delivery functions under the simulation environment.