| With the shortage of labor force and the rapid development of catering industry,the demand of catering service robot is improving and the function also is perfecting.Aiming at the existing problems of the catering robot machine such as the high cost,the limited delivery number of dishes at a time and the food safety of exposed meals,this paper presents a novel Low-cost catering service robot.The following work is mainly accomplished:1)In the aspect of mechanical structure design,the whole structure of the catering service robot system are designed.According to the requirement,the three-dimensional model is designed,the prototype is manufactured and assembled.It can realize the function that,in a sealed environment,the dishes are shipped in 6 trays at a delivery time.The design of drive system and main body are focused.2)In the design of motion controller,the overall architecture of the cooperative controller based on mobile terminal is completed,after the analysis of the movement control requirement of the catering service robot.The design,fabrication and welding of the multi-core heterogeneous controller are completed,and the control of all movement of the machine body is realized.The multi-core heterogeneous controller adopts the front and rear management mode which can improve the response speed and real-time performance of the system,and has the expandable interface for the follow-up development of the service robot.3)In the software aspect,the data acquisition system based on mobile terminal sensor and the intelligent spot-feeding system are designed.And the modules programming and testing of the multi-core heterogeneous controller are completed in the ?C/OS-II operating system.Through the basic test,the design of the catering service robot prototype and motion control system operate normally,and can realize the corresponding function.The correctness and feasibility of the whole design scheme is proved,which provides a good support for the development of the service robot. |
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