Research And Implementation Of General Control System For Self-developed Service Robot

With the development of robotics and the improvement of people's living standards,service robots have gradually entered people's daily lives.There are more and more companies and Industry-university Research institutions specializing in the production of non-standard customized robots.These companies and institutions often can't rely on mass production of their service robots to make a profit.Limited research funds and fierce market competition have made reducing labor costs,improving design efficiency and ensuring design quality become serious problems that need to be resolved.In order to solve the problems of high specificity of control system software,long research and development cycle,and high cost encountered in the development of service robots,a universal control system suitable for independent research and development of service robots has been designed and developed.Through the analysis of the characteristics of the control system of the rocket tour-guide robot and penguin nursing robot which are being developed in the laboratory,categorize the commonalities and characteristics of their hardware systems and software systems,this paper proposes a solution to develop a universal control system for service robot independently developed by intelligent robot research base.The design is based on the Windows system,uses a cross platform C++ GUI application development framework Qt,SQLite database,uses the RS-485 bus to connect the main system and the subsystem,select Mod Bus-RTU protocol for communication.Then,the design adopts a modular design method,which is centered on the database.The functions of each module are independent of each other,and the structure of the interface is interconnected.Using the idea of software engineering,the control system requirements analysis,design,implementation and testing are completed in turn.Finally,the actual test experiment is carried out on the rocket tour-guide robot.tested the robot's tracking navigation,movement deformation and interaction.The test results show that the tour-guide robot can complete all the work.The universal control system of service robot meets the design requirements.Through the use of the self-developed universal control system for service robots,it solves the problem that a control system must be specially designed to match each research and development and design of a service robot in the intelligent robot scientific research base.Finally,it achieves the aim that shortened the developing time and reducing the upgrade and research and development cost of the control system software.