Research On Control Technology For Automatic Delivery Robot

With the continuous improvement of the national economy and living standards,ecommerce has developed rapidly,but the problems in the express industry have seriously affected the user's good experience to some extent,especially the last kilometer problem has become increasingly prominent.In this paper,the research object is the automatic delivery robot which completes the delivery task in the university campus.The robot control scheme,the control system design of express cabinet,obstacle detection,pedestrian and vehicle/bicycle detection algorithm research and simulation analysis are studied.In the study of the control scheme of the automatic delivery robot,analyze the composition of the express box control system firstly,then the controller is selected,and finally the design of each module of the express robot cabinet is completed,which provides the theoretical basis for the subsequent design of the control system.The automatic delivery robot consists of the robot body and the express box.The body part is the basis for the robot to realize its own operation.The cabinet part not only undertakes the express storage task,but also can accurately determine the position of the express according to the user's instructions and take out the express.For this reason,a kind of control system based on STM32 single chip microcomputer is designed,which mainly includes hardware design and software design.The hardware design includes selecting the required hardware,completing the hardware connection diagram,and building an experimental platform based on the hardware connection diagram;the software design is mainly to write the program for the entire pickup process,and run the written program in the experimental platform.The obtained results verify the feasibility of the designed control system.Obstacle detection is particularly important during the autonomous operation of an automatic delivery robot.In order to ensure the accuracy of obstacle detection for the delivery robot,multi-sensor information fusion technology is researched,and adaptively weighted fusion algorithms are used to fuse the detected data.The simulation results show that the fusion model has good fusion performance,effectively solve the problem of onesided data of a single sensor,realizes the recognition of static and dynamic obstacles more accurately and reliably.The research results lay a foundation for the future research of obstacle avoidance of delivery robot.The successful research of automatic delivery robot based on campus environment will provide a good reference for the automatic delivery of express delivery in other semi-closed environments(such as industrial parks and large residential communities),and then provide an effective and feasible solution for solving the last kilometer problem in a larger scope.Figure51;Table3;Reference.55...