Research On Key Technologies Of Indoor Service Robot

With the vigorous development of robotics technology,intelligent robots have been widely used in industrial production,family services,medical and other fields.As an important branch of intelligent robots,service robots are an important way to solve social contradictions such as aging population and rising labor costs.The obstacle avoidance,path planning and other functions of service robots are the basis for its ability to provide good services.In response to this realistic demand,this paper completed the design and construction of the indoor service robot prototype.The main work contents and achievements are as follows:(1)Based on the application scenario of indoor environment,the overall mechanical mechanism of service robot and its important components such as omnidirectional mobile chassis,manipulator and robot head are designed.The three-dimensional model of the service robot is established by SolidWorks.(2)Kinematics analysis of omni-directional mobile chassis is carried out,and R-RRT~* algorithm is proposed for the path planning function of service robot.The RRT~* algorithm is improved by means of connected domain sampling and ellipse sampling.The simulation results of complex map scenarios show that R-RRT~* algorithm can locate the target area quickly and improve the computational efficiency.Compared with standard RRT algorithm and RRT~* algorithm,this algorithm has the advantages of low memory occupation,fast convergence speed and short caculation time.(3)In order to make the service robot enter the working position accurately after reaching the target area,an improved preview algorithm is proposed.The algorithm uses YOLOv3 to recognize the rectangular workstation image and then detects the identified workstation corner to get the workstation entry point.The relative position coordinates between the workstation and the robot are obtained by coordinate transformation.The coordinates are input into the improved preview algorithm to make the robot enter the workstation accurately in a specific position and posture.Finally,the simulation experiment is completed in MATLAB.The simulation results show that the robot can enter the working position accurately in different positions with a specific attitude through the improved preview algorithm.(4)According to the mechanical structure and functional requirements of the service robot,the hardware structure of the robot control system is designed,and the key components such as motors,controllers and drivers are selected and designed.Based on the hardware system of the robot,the software design of the service robot is completed based on the software architecture of AutooSAR.The experimental prototype is applied to the actual scene to realize the path planning experiment of the service robot.The experimental results show that the RRRT~* algorithm proposed in this paper can plan a collision-free path for the service robot from the starting point to the target range.