Design And Implementation Of Unmanned Dinning Vehicle On High-speed Rail

With the advent of intelligent and service-oriented era,more and more robots come into our life,replacing people doing high-risk or repetitive tasks.China independently developed high speed train offers people more convenience.However,the single working environment results in high flow rate of train staff.Under these backgrounds,it is necessary to replace staff by machine to accomplish repetitive work.Besides,there is not a dinning vehicle that aims at high-speed train.An unmanned dinning vehicle was designed and accomplished according to the high speed train's environment.The main research and work includes the following aspects.First of all,make clear of meal delivery requirements and investigate the environment of high speed train.Design the size of vehicle according to the investigation,choose Trio Motion Coordinator,Mecanum wheel and other suitable hardwares on the basis of aisle's feature.After assembling dining vehicle,configure hardware to cooperate working with each other.Then,write control programs according to the features of coordinator and wheels,making sure this vehicle can achieve the function of moving,avoiding obstacles,opening boxes,and inquiring routers' signal density.After that,study path planning algorithm that fits movement features of dinning vehicle,find an optimal path in multiple shortest paths to be the suitable path for dinning vehicle.At last,simulate train environment in laboratory to test its performance.Calculate an optimal path according to path planning algorithm mentioned above,transmit key coordinates to Motion Coordinator using MODBUS TCP protocol,so that dinning vehicle can move from start position to destination,accomplishing meal delivery function.