Design And Application Of Indoor And Outdoor Multipurpose Mobile Robot Based On 5G+

As an intelligent system integrating environmental perception,dynamic decisionmaking and planning,behavior control and execution,mobile robot has been applied more and more in various fields such as industry,agriculture,service industry and medical industry.However,with the continuous expansion of application scenarios,new requirements are put forward for the functions and performance of mobile robots.Based on this situation,this thesis designs an indoor and outdoor multi-purpose mobile robot based on 5G.The main work includes:(1)Mechanical movement structure design of four-wheel differential-driven mobile robot.Four DC servo motors and a high-power reducer are used to complete forward,backward,turning and other operations under the control of the instructions from the main control board,which ensure that the mobile robot has greater flexibility and power,climbing and obstacle-surmounting ability.(2)Pose modeling of mobile robot based on odometer.The mathematical model of mobile robot movement is established.Under the given initial position condition,the moving distance and direction of the mobile robot are calculated by the pulse signals collected by Houle encoder on the left and right wheels,and then the real-time position of the mobile robot can be deduced.(3)Design and implementation of mobile robot system.By using high-performance STM32F4 as the main control board,multi-sensor fusion technology and control algorithm are adopted to achieve positioning,navigation and obstacle avoidance functions.Specifically,the infrared tracking sensor and RFID sensor with PID algorithm,the loosely coupled GPS/INS inertial navigation system with Kalman filter algorithm are used to realize indoor and outdoor navigation,respectively.The ultrasonic sensor and laser radar sensor are used to avoid obstacles.(4)Human-computer interaction and application of mobile robot.The mobile robot is equipped with an integrated three-color alarm light to remind the robot state,a twoway intercom camera to monitor the surrounding environment,and an industrial touch screen to control and display the mobile robot parameters.At the same time,wireless handle and 5G network communication are used to monitor the mobile robot remotely.