Design And Research Of Autonomous Elevator Robot

The increasing population aging of society and the cost of labor is getting higher and higher.In many cases,robots have begun to replace human work.In hotels,hospitals and office buildings,mobile robots for transporting goods or guiding services have good market demand.Considering that such a robot generally needs to move autonomously between different floors,a new mobile robot that realizes autonomously taking an elevator by recognizing and operating the elevator button was designed and implemented in this subject,and it can provide services such as cross-floor transportation and building inspections.Firstly,according to the functional requirements and working environment of the robot,the overall design of the robot was carried out,and the structural scheme,control system structure and button recognition method of each module of the robot were clarified.The threedimensional structure design of the robot was completed by using SolidWorks software,and the finite element analysis and strength check of the key components were carried out.The designed robot chassis used four-wheel drive with independent steering function,and realized the elevator button operation function through the upper four-degree-of-freedom manipulator.On this basis,kinematics models of the robot chassis and the manipulator were established,and the left and right steering mode of the chassis and the working space of the manipulator were simulated by MATLAB software,which provided a theoretical basis for the robot motion control strategy.Then,the control system based on distributed control idea was designed,including the selection of control system components and sensors,the design of control system hardware construction and software.Thirdly,the elevator button recognition and positioning process for local highlight conditions was completed,and a button image processing method based on brightness feature extraction was proposed to improve the accuracy and reliability of recognition.Finally,with the purpose of verifying the main functions of the robot,the prototype of the robot movement was verified by the chassis motion function experiment,the manipulator button operation experiment and the cross-floor service function experiment.The experimental results verified the rationality of robot design with autonomously elevator taking function and the correctness of theoretical research.