| Robots are playing a more and more important role in people’s work and life.The nave food distribution robot in the catering industry has appeared and been put into use,but the delivery food service is still delivered manually by takeout workers,which is time-consuming and laborious.Therefore,the concept of outdoor autonomous food delivery robot came into being.The concept of outdoor autonomous meal delivery robot is an automatic scheme to solve the problem of delivering meals inside and outside the campus.In addition to loading quantitative meals,the autonomous meal delivery robot should have the ability to walk independently,avoid obstacles in real time,track the established route and communicate with the upper control switchboard and the user’s mobile phone app.These are the necessary functions of the robot in the working process.Therefore,it is very important for the normal work of the robot to establish a set of robot control system to ensure the realization of the above functions.Firstly,the working process of the robot is analyzed,and the working mechanism and mobile form of the autonomous meal delivery robot are designed according to the actual needs in the process of meal delivery.Through the decomposition of the working process of the autonomous meal delivery robot,the classification of the system functional modules is realized,and the idea of modular design is adopted to design respectively.Secondly,the design of controller hardware includes the selection of main control chip and other modules,the selection of external function modules,and the design of control circuit and main control circuit of each function module.STM32F103 is selected as the main control chip of the control system and the minimum system is built.On this basis,the design and selection of other functional modules are carried out: the circuit design and motor selection of the control scheme of the two motors of the walking module are carried out,the power module circuit that can output a variety of voltages is designed,and the sensor module circuit jointly controlled by lidar and infrared sensor is designed.The communication module is a kind of external module.Summarize each module and complete the design of the hardware control circuit of the autonomous meal delivery robot.Thirdly,the software designation selects μC / OS-Ⅱ as the robot control system framework,which is divided into seven functional modules according to the working functions of the robot.The control program task under the system framework is designed by modules.Among them,the speed control strategy of robot walking module is mainly designed.In the design process,the BP-PID speed control algorithm is analyzed,the advantages and disadvantages of BP-PID algorithm in speed control and the complexity in the implementation process are analyzed.Using the idea of Levenberg Marquardt algorithm,the BP neural network algorithm is improved,and the L-M BP-PID speed controller is designed.Then,using the combination of simulation model verification and physical connection verification,the function of each sub module is verified to verify the accuracy of hardware control circuit and software task program design.For the two motor control schemes of the walking module,the simulation model verification is built respectively,the GPS module control is physically verified,and the infrared sensing control in the sensing module is physically verified.The lidar control is physically verified,and the key,display module and communication module are also physically verified.The field scene verification is carried out on the control system platform of the autonomous meal delivery robot.During the field scene verification,the robot walking process and obstacle avoidance behavior,response speed and tracking accuracy are observed.Through simulation and experimental analysis,the control system meets the expected goal of the subject design,and the effectiveness of the robot control system is verified in theory and practice.Finally,it makes a summary and prospect. |
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