Design And Experimental Research Of Intelligent Restaurant Service Robot Based On LIDAR

Robot has been widely used in various industries gradually since its birth.Nowadays,with the serious aging of China’s population,the shortage of working-age labor supply and other conditions are increasingly aggravating,the social demand for robots is also increasing.As a labor-intensive industry,most restaurants still rely on manual food delivery.The process is monotonous and repetitive,and the efficiency of food delivery is low,and it is easy to bring safety problems in the process of food delivery.Therefore,in view of the current development status of the catering industry,this topic designed an intelligent restaurant service robot prototype suitable for the restaurant environment.The restaurant service robot is equipped with ROS system and takes LIDAR as the main sensor.It can effectively avoid obstacles and plan the route of food delivery,so as to realize the function of food delivery.The main research contents of this paper are as follows:(1)Based on the comprehensive analysis of the research and application of restaurant service robot at home and abroad,and combining with the current restaurant environment,this paper proposes the design technical requirements of a new type of intelligent restaurant service robot,and introduces the working process.Solid Works software is used to complete the mechanical structure design of the restaurant service robot and the theoretical calculation and selection of the driving motor are carried out.Using ANSYS software to do the finite element analysis of the main stress parts,the results show that the designed parts meet the requirements of use;According to the function of the restaurant service robot,the appearance of the robot is designed.On this basis,the control system hardware of the restaurant service robot is analyzed and selected.(2)The kinematics of the restaurant service robot was modeled,and the kinematics equation of the robot and the relationship between the motion state of the robot and the linear velocity of the two driving wheels were deduced.The navigation position of the robot was calculated based on the odometer.Respectively using ADAMS software for robots under no-load and full load working condition of two kinds of straight,rotation and turning three motions are analyzed in the simulation,the results show that the robot under the condition of full load of three kinds of motion and light almost unanimously,androids will be able to work under the condition of full load,which will provide referential basis for the structure design for the prototype.(3)The localization and path planning of the restaurant service robot are studied.Firstly,several common positioning methods and map representation methods are compared and analyzed,and the combination of LIDAR and odometer is selected to carry out combined positioning.Gmapping algorithm is selected as the algorithm of environmental raster map construction,and the actual scene mapping experiment is carried out.~*algorithm is used for global path planning,and DWA algorithm is used for local path planning.The above two algorithms are deeply analyzed and path planning simulation is carried out in Gazebo and Rviz environments of ROS system.The results show that the above algorithms can plan a safe and optimal path without collision and meet the practical requirements.(4)The prototype of the restaurant service robot was completed.On this basis,the linear precision test of 0.5m/s and 1m/s straight line driving 2.5m and 5m,and the precision test of clockwise and counterclockwise rotation were carried out with the prototype.Then,the robot obstacle avoidance experiment and food delivery function experiment are carried out.The test and experimental results show that the restaurant service robot designed has high accuracy,can automatically avoid obstacles and realize the function of food delivery,and meet the design requirements of the subject.