| With the improvement of the living standards of modern society and the acceleration of China's aging population process,intelligent and automatic commercial service robots are widely applied in public venues.Tour-guide robot is a kind of highly intelligent commercial service robot,which can replace or assist human commentators,provide guided visit,interesting explanations,information consultation and other services,help public venues reduce labor costs effectively,improve the level of intelligence and tourism service,and will become an essential intelligent equipment for public venues to enhance the attraction and service ability.In this paper,according to the project requirements of an aerospace theme history exhibition,the overall design requirements of the navigation robot are sorted out,and an autonomous navigation voice interactive tour-guide robot is developed.According to the characteristics and requirements of the operation scene of the tour-guided robot,this paper studies the positioning and navigation,voice interaction,venue equipment linkage and other aspects,and selects the AGV technology for positioning and navigation to improve the reliability.Select the AIUI voice interaction scheme of iFLYTEK,optimize and improve the voice interaction database according to the proprietary information of the venue,and select the appropriate control mode in various communication modes according to the characteristics of the controlled equipment,to improve the reliability and compatibility of the joint control of the venue equipment.According to the requirements of the appearance and function of the tour-guide robot,the design of the appearance and internal structure is completed.Based on the positioning and navigation methods,select the six-wheel chassis layout and differential drive method,and the overall design of the tour robot is finally completed.The tourguide robot uses master-slave system framework,elaborates the components selection and the software and hardware development process of each system in detail,compiles the communication protocol of the tour-guide robot based on the ModBus-RTU protocol according to the actual control requirements,and completes the interaction strategies and the design of user interface of the tour-guide robot according to the project requirements.The feasibility of differential drive method is verified by the kinematics model of the tour-guide robot.On the basis of this,the simulation models of fuzzy self-tuning PID motion controller and PID motion controller are designed based on Simulink.The simulation and comparison tests of the speed response of the two motion controllers are carried out.The result shows that the fuzzy self-tuning PID motion controller performs better than the PID motion controller. |
PDF Full Text Request