Service robot and control method thereof

Abstract

The invention provides a service robot and a control method thereof. The service robot and the control method thereof have the advantages that automatic hunting and autonomous obstacle avoiding can be achieved, and therefore the reliability and the stability of a system can be improved. The service robot comprises a body and a motion control system; the motion control system is arranged on the body and comprises an STM32 embedded type main control board and an arduino control board; a first interface of the STM32 embedded type main control board is connected to a user machine through an RS232 serial port; a second interface is externally connected to all drivers arranged in a walking mechanism in the body through a CAN bus, the drivers control direct current motors, and the direct current motors are connected to the corresponding drivers in a feedback mode through installed encoders; a third interface is externally connected to an infrared photoelectric switch sensor through an analog-to-digital conversion circuit; and a fourth interface is externally connected to the first interface of the arduino control board through the CAN bus. According to the service robot and the control method thereof, automatic hunting and walking and autonomous obstacle avoiding of the robot can be realized, and the service robot and the control method thereof can be used for a relatively complex environment and have good economic and social benefits.

Description

technical field [0001] The invention relates to the technical field of control systems, in particular to a service robot capable of automatic line-seeking walking and autonomous obstacle avoidance and a control method thereof. Background technique [0002] With the development of society and the advancement of science and technology, in recent years, more and more service robots have entered the daily life of human beings such as welcoming guests, catering, rescue, and guardianship. Service robots have shown a broader market than industrial robots. space. Therefore, service robots have become a new hotspot in the field of robotics research. [0003] The service robot is mainly composed of two parts, the mechanical structure and the control system. The control system is the basis for the service robot to realize various functions. The motion control is an important part of the robot control system. The quality of the motion control is important for the robot to realize other...

AI Technical Summary

Problems solved by technology

Invention patent CN102087759A discloses a traceable medical communication service robot. The line-finding part of the patent emits infrared light through the gallium arsenide infrared light-emitting diode installed in the reflective photodetector at the bottom, and receives the emitted light through the phototransistor. , which is greatly affected by the intensity of ambient light, has poor stability, and it does not have an obstacle avoidance function, and cannot cross obstacles when there are obstacles on the line

Invention patent CN104090575A discloses an automatic line patrol robot control system and an automatic line patrol robot, which integrates infrared line hunting and infrared obstacle avoidance modules into one STM32 main control board, and requires the corresponding control board to have a multi-access ADC function, resulting in its sampling Long time, slow response

Invention patent CN105867375A discloses a walking control system and control method of a service robot, which uses two magnetic navigation sensors installed at the front and rear ends of the chassis to find lines. Detect the magnetic stripe signal on the ground to judge the distance of the car body offset track, and the information collection is prone to errors

[0005] In general, the motion control of service robots has achieved remarkable results, but there is still much room for improvement in terms of motion control stability, reliability, and flexibility

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