Control Of Meal Delivery Robot Based On Mobile APP

At the end of 2019,with the occurrence of COVID-19,under the normal management of epidemic situation,there are certain safety risks in manual delivery of meal.In order to solve the safety problems of manual delivery of takeaway,a meal delivery robot control based on mobile app is proposed.This research has important practical significance.According to the application requirements and urgent problems of the meal delivery robot,this paper makes an in-depth analysis of the meal delivery robot,and defines the research goal,specific control scheme and all functions.At the same time,in terms of program design,according to the modular design idea,the mobile APP,server terminal and lower computer side are designed separately,and the design requirements are verified through the actual joint commissioning and inspection.The main research contents of this paper are as follows:(1)According to the demand analysis of the meal delivery robot,the control scheme of the meal delivery robot is proposed.The main scheme is as follows: after the user completes ordering and placing an order,the user sends the control instruction to the meal delivery robot through the mobile app,and the server receives and processes the control instruction and distributes it to the designated lower computer,which independently performs the meal delivery task according to the instruction content.According to the above control scheme of the meal delivery robot,complete the software structure design of the meal delivery robot,and complete the hardware circuit design and hardware selection including the main and auxiliary controllers according to the remote control needs of the meal delivery robot.(2)This paper focuses on the path planning algorithm of the meal delivery robot.By listing and comparing the commonly used global and local path planning algorithms,select the global path planning algorithm Dijkstra and the local path planning algorithm artificial potential field method suitable for the meal delivery robot.In order to solve the local minimum and unreachable problem of the artificial potential field method,based on the new potential field formula,an obstacle avoidance strategy combining the rolling window method and the artificial potential field method with dynamic parameter adjustment is proposed,and the algorithm integrating global and local path planning is applied to the path planning of the meal delivery robot.It can find the shortest path to avoid obstacles in real time.(3)In order to realize the data command exchange of mobile APP,server terminal and lower computer side,and the remote control of meal delivery robot,the meal delivery robot control APP is developed.Through the front-end framework uni-app and the back-end Node.js environment to build the front-end interface and back-end instruction and data processing program of mobile APP.With the help of TCP communication protocol,establish safe and stable instruction communication between end-to-end.Use Mongo DB database to store relevant data of users and meal delivery robot to ensure the accuracy of meal delivery.And use KEIL software to build the motor control program to control the route of the robot by adjusting the duty cycle of the motor.The main functions of mobile APP control include: user ordering,realtime display,meal delivery,server data sending and receiving,as well as the movement of meal delivery robot,obstacle avoidance,unlocking and taking meals.(4)Test according to the module to detect all the functions of the meal delivery robot in the campus environment.The test results show that the meal delivery robot meets the design needs,achieves the expected design effect and has good working performance.