The System Design Of Helpage Service Robot

As a member of the robots' family,it should not only have the basic function of service robot like independent movement,positioning,navigation and obstacle avoidance,but also has have a flexible robotic arm to finish some simple service orders:the function of communication with people?the ability to deal with emergencies and a good man-machine interactive features,etc.Helpage service robot is a part of an integrated system including motion drive,robot control,voice communication,image recognition,remote operation and human-computer interaction.In this paper,we introduced the designed by helpage service robot system structure,the hardware design,function realization and experimental verification of the hardware system,etc.Specific content as follows:(1)Helpage service robot hardware design of control system.As a mobile platform of robot,the use of FPGA and DSP as the controller system,using wireless communication network,design of the sensor and the connection circuit of the controller and designe verilog control program realized the function of each module.(2)The design of manipulator control system.Mechanic arm using d-h method modeling,the solution of inverse kinematics,the design of mechanical arm for path planning algorithm and simulation experiment,the mechanic arm teleoperation control was achieved.(3)The design of localization system.Firstly the odometer location and the orientation of inertial sensor,Pn P visual research and experiments analysis;Then,combined with the advantages of each navigation and positioning,using the method of weighting and the localization algorithm of this system.(4)The design of human-computer interaction system.Human-computer interaction interface mainly including helpage service robot sensor information display,environment video image,map Settings,the robot posture,mechanical arm,the robot motion platform control,grab objects and signposts QR code identification,etc;Including mechanical arm simulation,communication Settings,GSM,such as serial port debugging auxiliary Settings interface(5)The design of communication system.Helpage service robot communication including PC communication with robot and mobile.The PC communicate with robot adopts the UDP protocol;PC and mobile communication using GSM as communication platform.Finally,The system debugging and the robot motion platform positioning and mechanical arm movement experiment.Complete robot indoors positioning in the laboratory environment;using the results of simulation to set the mechanical arm control command and comparing the simulation results and actual situation,to verify the accuracy of the mechanical arm control.