| With the continuous improvement of people's requirements for air travel and the gradual development of public services towards intelligence and networking,robotics technology has gradually begun to be applied in the field of airport services.The application of service robots in airports can not only alleviate the pressure of service personnel,and provide humanized service for passengers,but also complete security patrol tasks more quickly,with saving a lot of time and labor costs.Therefore,the development and research of relevant technology of airport service robots has good application market and prospects.This dissertation analyzed the function and technical index of the robot,and designs a service robot based on vision guidance for airport service.This dissertation mainly completed the parametric design of the structure,the design of the control system of the airport service robot and the design of visual guidance system.Through the modular design idea,the software design and the hardware selection of each functional module were carried out.Furthermore,this dissertation completed the software interface design and programming of the airport service robot.Finally,the prototype of the robot test was built and the test was carried out.In the tests,the trajectory tracking and human-computer interaction functions of the test prototype of airport service robot were realized.The main contents of this dissertation are as follows:1)This dissertation studied the literature of service robots at home and abroad,and described the development of service robots at home and abroad.The technology of service robots was introduced from the research of background,definition,types and uses of service robots.At last,the functional requirements of service robots were analyzed.2)According to the functional requirements of airport service robot,this dissertation analyzed and compared several mobile schemes of robot platform,and lastly determined the omni-directional mobile mode.The characteristics of omnidirectional wheels and the principle of omnidirectional motion were analyzed and the mechanical structure of omnidirectional mobile platform was introduced.Then,this dissertation carried out the mechanical parametric design of omnidirectional mobile platform and established the three-dimensional model of the robot.At last,kinematic analysis of three-wheel omnidirectional wheels structure was carried out.3)This dissertation designed the overall scheme of the motion control system of the airport service robot,and selected the hardware of all kinds of components,including MCU main control board,motor,motor governor,RGB camera,upper computer,gray sensor,TOF range finder,power supply and so on.The communication interface and circuit of each module were designed,and the hardware construction of omni-directional mobile platform of the robot was completed.4)This dissertation carried out the software design of the control system of the airport service robot,including the programming of the motion control program of the single chip computer,the design of the man-machine interface of the host computer,and the programming of the communication settings between the various system modules.The omni-directional movement and trajectory tracking functions of the robot are tested on the site with the prototype of the robot.Finally,the stability of the control system and the motion characteristics of the omni-directional movement of the airport service robot prototype designed in this dissertation were verified. |
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