CN103335652A - Dining room path navigation system and method of robot - Google Patents

Abstract

The invention belongs to the technical field of robot path navigation, and discloses a robot restaurant path navigation system and a navigation method. The restaurant path navigation system of the robot includes: a control module, a touch screen and a stepping motor; wherein, the control module is connected to the touch screen and the stepping motor respectively; the touch screen is used to display the coordinate points of the restaurant; Restaurant coordinate point; used to start from the restaurant coordinate point corresponding to the initial position of the robot, and sequentially input a plurality of sequentially adjacent restaurant coordinate points; used to input stay data; used to send the path data and stay data to the control module; The control module is used to generate a corresponding pulse signal according to the path data and the stay data, and is used to send the pulse signal to the stepper motor; the stepper motor is used to drive the hub of the robot according to the pulse signal, so that robot movement.

Description

A robot restaurant path navigation system and navigation method

technical field

The invention belongs to the technical field of robot route navigation, and in particular relates to a robot restaurant route navigation system and a navigation method.

Background technique

With the further development of science and technology, robot technology has gradually entered people's field of vision. In the current robot system, the visual servo control system is usually used to complete the navigation. The stability of the control system is not high, and on the other hand, the cost of visual servo control is relatively high.

Contents of the invention

The purpose of the present invention is to propose a robot path navigation system and navigation method. The present invention has the functions of obstacle detection, person identification, blocking prompt sound, work prompt sound and barrier prompt, etc.

In order to achieve the above-mentioned technical purpose, the present invention adopts the following technical solutions to achieve.

Technical solution one:

A restaurant path navigation system for a robot, characterized in that it includes: a control module, a touch screen and a stepping motor; wherein the control module is connected to the touch screen and the stepping motor respectively;

The touch screen is used to display restaurant coordinate points; used to determine the restaurant coordinate points corresponding to the initial position of the robot according to the initial position of the robot in the restaurant; Adjacent restaurant coordinate points; used to input stay data; used to send route data and stay data to the control module; there are m*n restaurant coordinate points, m is the number of columns of restaurant coordinate points, and n is restaurant coordinate points The number of rows, m and n are all natural numbers greater than 1; the path data includes the input order of the plurality of sequentially adjacent restaurant coordinate points and the plurality of sequentially adjacent restaurant coordinate points; the stay data includes robot The restaurant coordinate point corresponding to the stay point position and the residence time of the robot stay point; the plurality of sequentially adjacent restaurant coordinate points include the restaurant coordinate point corresponding to the robot stay point position;

The control module is used to generate a corresponding pulse signal according to the path data and the dwell data, and is used to send the pulse signal to the stepper motor;

The stepper motor is used to drive the hub of the robot according to the pulse signal to make the robot move.

Features of the present invention and further improvement are:

The restaurant path navigation system of the robot also includes: a Hall sensor, an angular velocity sensor and an acceleration sensor, and the control module is connected to the Hall sensor, the angular velocity sensor and the acceleration sensor respectively;

The Hall sensor is used to measure the instantaneous linear velocity of the robot during the movement of the robot, and is used to send the instantaneous linear velocity of the robot to the control module; the angular velocity sensor is used to measure the instantaneous angular velocity of the robot during the movement of the robot , used to send the instantaneous angular velocity of the robot to the control module; the acceleration sensor is used to measure the acceleration of the robot during the movement of the robot, and is used to send the acceleration of the robot to the control module; the control module is used to The instantaneous linear velocity, instantaneous angular velocity and acceleration are used to obtain the position and angle of the robot using the dead reckoning positioning method.

The restaurant route navigation system of the robot also includes at least two ultrasonic sensors respectively connected to the control module, wherein at least one ultrasonic sensor is located at the front of the robot, and at least one ultrasonic sensor is located at the left side of the robot; The ultrasonic sensor is used to detect obstacles located in front of the robot; the ultrasonic sensor located on the left side of the robot is used to detect obstacles located on the left side of the robot.

The restaurant route navigation system for a robot further includes at least two pyroelectric sensors respectively connected to the control module, and the at least two pyroelectric sensors are both used to detect whether there is infrared radiation radiated by a human body in front of the robot.

Technical solution two:

A restaurant path navigation method for a robot, based on a robot path navigation system according to claim 1, comprising the following steps:

S1: Display the restaurant coordinate points on the touch screen, and determine the restaurant coordinate points corresponding to the initial position of the robot according to the initial position of the robot in the restaurant; Input the point to the touch screen; and input the stay data to the touch screen; the touch screen sends the path data and the stay data to the control module; there are m*n coordinate points in the restaurant, m is the number of columns of the coordinate points in the restaurant, and n is the coordinate point in the restaurant The number of rows, m and n are all natural numbers greater than 1; the path data includes the plurality of sequentially adjacent restaurant coordinate points and the order in which the plurality of sequentially adjacent restaurant coordinate points are input to the touch screen; The stay data includes the restaurant coordinate point corresponding to the robot stay point position and the stay time corresponding to the robot stay point position; the plurality of sequentially adjacent restaurant coordinate points include the restaurant coordinate point corresponding to the robot stay point position;

S2: The control module generates a corresponding pulse signal according to the path data and the dwell data, and sends the pulse signal to the stepping motor;

S3: The stepper motor drives the hub of the robot according to the pulse signal to make the robot move. The robot will stay according to the stay data.

Features of the present invention and further improvement are:

In step S3, every set time, the control module uses the dead reckoning positioning method to obtain the position and angle of the robot, and then corrects the position and angle of the robot; the control module uses the dead reckoning positioning method to obtain the position and angle of the robot The process of the position and angle of the robot is as follows: During the movement of the robot, the Hall sensor is used to measure the instantaneous linear velocity of the robot, and the instantaneous linear velocity of the robot is sent to the control module;

During the movement of the robot, the angular velocity sensor is used to measure the instantaneous angular velocity of the robot, and the instantaneous angular velocity of the robot is sent to the control module;

During the movement of the robot, the acceleration sensor is used to measure the acceleration of the robot, and the acceleration of the robot is sent to the control module;

The control module obtains the instantaneous linear velocity, instantaneous angular velocity and acceleration of the robot, and obtains the position and angle of the robot by the dead reckoning positioning method.

In step S3, during the movement of the robot, when there is an obstacle in front of the robot, the ultrasonic sensor located at the front of the robot is used to obtain the obstacle distribution information in front of the robot, and the obstacle distribution information is sent to the control module; the control module sequentially Send interrupt signal, right turn signal and straight forward signal to the stepper motor, the stepper motor stops working first, then controls the robot to complete the right turn operation, and then controls the robot to go straight;

When the robot is going straight, use the ultrasonic sensor on the left side of the robot to obtain the obstacle distribution information on the left side of the robot; when there is no obstacle on the left side of the robot, the control module sends an interrupt signal, a left turn signal and Go straight signal, the stepper motor first stops working, then controls the robot to complete the left turn operation, and then controls the robot to go straight.

In step S3, during the movement of the robot, at least two pyroelectric infrared sensors are used to detect whether there is infrared radiation radiated by the human body in front of the robot; when at least one pyroelectric infrared sensor detects that there is infrared radiation radiated by the human body in front of the robot, The detected human body radiation signal is sent to the control module; the control module sends an interrupt signal to the stepper motor, and sends an avoidance voice signal to the voice module; the stepper motor stops working, and the voice module sends out an avoidance voice according to the avoidance voice signal; the avoidance The voice is pre-set in the voice module; when all the pyroelectric infrared sensors cannot detect the infrared rays radiated by the human body, the control module cannot receive the human body radiation signal, and the control module sends a straight signal to the stepper motor, and the stepper motor controls the robot Continue straight ahead.

The beneficial effects of the present invention are: the robot's travel track can be preset through the touch screen, a reasonable dwell time can be set for any path point in the process of the robot's travel and positioning, and appropriate voice prompt service and load weight can be provided, thereby completing the corresponding tasks. Service tasks, such as water delivery, coffee delivery, food delivery, etc. And it has functions such as obstacle detection, person identification, blocking sound, work sound and barrier prompt.

Description of drawings

Fig. 1 is a structural diagram of a restaurant path navigation system of a robot;

Fig. 2 is the workflow diagram of the second single-chip microcomputer;

Figure 3 is a schematic diagram of the position and angle of the robot.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing:

With the development of society, the quality of human resources and the cost increase, some basic service work is gradually becoming less and less willing to do, so more advanced service mechanical and electronic products are required to replace people to complete more common service work. At the same time, it is required that the cost should not be too high, the system has good adaptability, high system stability, good human-computer interaction and more appropriate prompt settings, etc.

As a robot in the civil basic service industry, the stability of its visual servo control system needs to be further improved, and the visual servo control system has the disadvantages of high complexity and high cost. This invention proposes a semi-intelligent path planning system based on human-assisted path planning , first use the information input by people on the touch screen to construct a priori map, and then use the dead reckoning algorithm and path analysis algorithm to drive a specific route on a specific map. And in the process of driving, on the one hand, rely on various types of sensors to ensure the safety of the robot system and the safety of the outside world; For display and information processing, the present invention further greatly improves the possibility of the robot being applied to the basic service industry, and further enhances the reliability.

The present invention takes the catering service industry as the background, and uses restaurants and other generally more regular environments as the target area to design the robot system. Generally speaking, the restaurant environment meets the following conditions: First, the seat distribution is relatively regular, and the general layout adopts a dot matrix. After the reference point is selected, integer coordinates can be used to represent most of the table positions and the positions of important reference objects. Second, the objects in the restaurant scene are relatively fixed. Generally, it only needs to identify and process people and objects, and there are few uncertain factors. It only needs to complete certain actions such as carrying objects and transporting objects. Third, it is convenient to set a relatively clear voice prompt.

As shown in Figure 1, it is a structural diagram of a restaurant path navigation system for a robot. In an embodiment of the present invention, a restaurant path navigation system for a robot includes: a control module, a touch screen, a stepping motor, and a plurality of pyroelectric Infrared sensor sensor, multiple ultrasonic sensors, Hall sensor, angular velocity sensor, acceleration sensor and voice module, divide the control module into the first single-chip microcomputer and the second single-chip microcomputer, which can reduce the cost, the first single-chip microcomputer and the second single-chip microcomputer through the RS232 serial port connection, the second single-chip microcomputer is respectively connected to the voice module and the touch screen, and the first single-chip microcomputer is respectively connected to the stepping motor, a plurality of pyroelectric infrared sensor sensors, a plurality of ultrasonic sensors, Hall sensors, angular velocity sensors and acceleration sensors.

The embodiment of the present invention is also provided with a GPS chip, a host computer, a smoke sensor, a temperature sensor, and a solar panel; the GPS chip, the smoke sensor, and a temperature sensor are all arranged on the robot, the solar panel is connected to the first single-chip microcomputer, and the host computer passes through a wireless channel. Realize information interaction with the robot.

In the embodiment of the present invention, the second single-chip microcomputer adopts STC12LE5A60S2 single-chip microcomputer, and the touch screen adopts TFT6448BS-5.7 bus-type liquid crystal display, and TFT6448BS-5.7 bus-type liquid crystal display is a liquid crystal display (with touch screen) specially designed for single-chip microcomputer users, and it adopts a resolution of The 640*480 5.7-inch true-color TFT screen can provide a simple high-speed 8-bit bus to connect with the STC12LE5A60S2 microcontroller, and supports 256-color display. It can be directly connected with MCS51 series MCU, MCS96 series MCU, MC68 MCU, ARM processor and digital signal processing unit (DSP). In the TFT6448BS-5.7 bus-type liquid crystal display, X and Y coordinates can be directly input without calculating the address. This bus-type liquid crystal display has the characteristics of low power consumption, light and thin (height 8.5mm), wide temperature (-30 degrees to 70 degrees), adjustable brightness (8 kinds of brightness can be adjusted by software), etc. Its 20 pins are defined as follows: Pin 1 5V—LCD screen logic power supply 5V, Pin 2 5V—LCD screen logic power supply 5V, Pin 3 D0—data bus INOUT 3.3/5V, pin 4 Pin A0—address line 0IN3.3/5V, pin 5 D1—data bus INOUT3.3/5V, pin 6 A1—address line 1IN3.3/5V, pin 7 D2—data bus INOUT3.3 /5V, pin 8 CSJ—chip select signal, low level is effective for screen operation IN3.3/5V, pin 9 D3—data bus INOUT3.3/5V, pin 10 GND—logic ground of LCD screen 0V, 11th pin D4—data bus INOUT3.3/5V, 12th pin GND—LCD logic ground 0V, 13th pin D5—data bus INOUT3.3/5V, 14th pin GND—LCD Logic ground 0V, No. 15 pin D6—data bus INOUT3.3/5V, No. 16 pin GND—LCD logic ground 0V, No. 17 pin D7—data bus INOUT3.3/5V, No. 18 pin RDJ— Read operation signal, low-level active IN3.3/5V, No. 19 pin WRJ—write operation signal, low-level active IN3.3/5V, No. 20 pin-NC.

In the embodiment of the present invention, the restaurant coordinate point is displayed on the touch screen. In the embodiment of the present invention, there are 16*8 restaurant coordinate points, that is, the number of rows of the restaurant coordinate point is 8, and the column number of the restaurant coordinate point is 16; then according to The initial position of the robot in the restaurant, determine the restaurant coordinate point corresponding to the initial position of the robot; assuming that the robot needs to stop 10 times during a tour, and diners can take off the corresponding items during each stop, then the stay data needs to be Input to the touch screen; according to the positions of the 10 stay points and the layout of the restaurant, starting from the restaurant coordinate point corresponding to the initial position of the robot, input a plurality of sequentially adjacent restaurant coordinate points to the touch screen (by handwriting and touch pen input to In the touch screen), among the above-mentioned sequentially adjacent restaurant coordinate points, there is at least one adjacent restaurant coordinate point around each restaurant coordinate point (that is, the upper, lower, left, and right sides of each restaurant coordinate point); then Input the stay data to the touch screen (input into the touch screen by handwriting and touch pen); the first 10 data of the stay data are the restaurant coordinate points corresponding to the positions of the 10 stay points, and the last 10 data are the stay time of the 10 stay points , in the stay data, the i-th data corresponds to the i+10 data; the touch screen sends the path data and the stay data to the second single-chip microcomputer. The path data includes the plurality of sequentially adjacent restaurant coordinate points and the order in which the plurality of sequentially adjacent restaurant coordinate points are input to the touch screen. The second single-chip microcomputer processes the path data and the stay data, and sends the processed data to the first single-chip microcomputer.

In the embodiment of the present invention, as shown in Figure 2, it is the working flow diagram of the second single-chip microcomputer. After the second single-chip microcomputer is turned on, at first the SPI interface, the touch screen interface (the interface connecting the second single-chip microcomputer and the touch screen) and the SCI interface are initialized, and then Use the circular scanning method to establish a two-dimensional coordinate system. The two-dimensional coordinates correspond to the structure of the restaurant, and the coordinates corresponding to the initial position of the robot are the origin; then touch detection and serial port information detection are performed. Touch detection is used to determine whether there is data sent to the touch screen. The second single-chip microcomputer, if there is no touch detection, then continue to touch detection, if there is, process the data from the touch screen, send the processed data to the first single-chip microcomputer through the RS232 serial port, and at the same time transmit the processed data through Bluetooth wireless data transmission Send it to the host computer by way, and then return to continue touch detection; the serial port information detection is mainly used to detect whether there is a voice signal from the first microcontroller (including power-on voice signal, avoidance voice signal or delivery voice signal), if not, continue Perform serial port information detection, if there is, send the voice signal to the voice module, and at the same time send the voice signal to the host computer through Bluetooth wireless data transmission, and then return to continue serial port information detection.

The process of the second MCU processing the path data is as follows: there are 128 restaurant coordinate points generated on the touch screen, and these restaurant coordinate points are respectively numbered 0, 1...127 (numbered from left to right and from bottom to top), According to the order in which multiple sequentially adjacent restaurant coordinate points are input to the touch screen, the numbering of multiple sequentially adjacent restaurant coordinate points is marked as ADD_num[j], where j is an integer greater than or equal to 0; Neighboring restaurant coordinate points perform the following difference calculation:

N=ADD_num[j+1]-ADD_num[j], the resulting difference N is divided into four values, namely: 1, -1, 16, -16. According to these four differences, the following definitions are made:

If N=1, add 1 to the right turn flag, clear the forward straight flag, clear the backward straight flag, and assign 1 to the start (0->16) flag. Judgment: If the right turn flag is equal to 1, turn right first, and then go straight to the right; otherwise, go straight one step.

If N=-1, add 1 to the left turn flag, and assign 1 to the start (0->16) flag. Judgment: If the left-turn flag is equal to 1 and the straight-forward flag is not equal to 0, then the straight-forward flag is cleared, and the execution is to turn left first, and then go straight to the left; if the left-turn flag is equal to 1 and If the flag bit of going straight backward is not equal to 0, then the flag bit of going straight backward is cleared to 0, and the execution is to turn right first, and then go straight one step to the right; if the flag bit of left turn is not equal to 1, it is executed to go straight one step forward.

If N=16, judge: if the start (0->16) flag is equal to 1, add 1 to the straight forward flag, clear the right turn flag to 0, and clear the left turn flag to 0. If the right turn flag is equal to 1, turn left first, and then go straight to the left; otherwise, go straight one step; if the start (0->16) flag is not equal to 1, go straight one step.

If N=-16, add 1 to the flag of going straight backward, and judge: if the flag of going straight backward is equal to 1 and the flag of going straight forward is not equal to 0, then the flag of going straight forward is cleared, and the execution is right first Turn, and then go straight one step; if the flag of going straight backward is equal to 1 and the flag of going straight backward is not equal to 0, then the flag of going straight backward is cleared, and the execution is to turn left first, and then go straight to the left one step ; If the flag bit of going straight backward is not equal to 1, go straight one step forward.

In the embodiment of the present invention, the voice module adopts the ISD1760 voice chip or the ISD-4004 voice chip. The ISD-4004 voice chip is small in size and adopts CMOS technology. Noise and high-density multi-level flashing storage display, segmented recording and playback, long storage time after power failure, good sound quality, easy operation, its ISP interface is compatible with single-chip microcomputer, and the recording time can be up to 16 minutes, so the present invention The embodiment uses it to build a multi-address voice reminder module. All operations of the voice chip must be controlled by the second single-chip microcomputer, and the operation commands can be sent through the serial communication interface (SPI interface or Microwire serial interface). The voice chip adopts multi-level direct analog storage technology, and each sampling value is directly stored in the on-chip flash memory, which can reproduce voice, music, tone and effect sound very realistically and naturally, avoiding the general solid-state recording circuit Quantization noise and "metallic noise" due to quantization and compression. Its sampling frequency can be 4.0kHz, 5.3kHz, 6.4kHz or 8.0kHz. The lower the sampling frequency, the longer the recording and playback time, but the sound quality will decrease.

In the embodiment of the present invention, the preset voice is stored in the flash memory by recording, which can be stored for 100 years (typical value) in case of power failure, and can be recorded repeatedly 100,000 times. The preset voices include power-on voice, avoidance voice and delivery voice. The power-on voice is used to prompt that the robot system is starting up, the avoidance voice is used to prompt pedestrians in front of the robot to avoid, and the delivery voice is used to prompt that the item has been delivered, for example, When starting up, the second single-chip microcomputer control voice module sends out the following start-up voice: "Hello, the robot service system is starting... please wait!"; The first single-chip microcomputer sends an avoidance voice signal, and when the second single-chip microcomputer receives the avoidance voice signal from the first single-chip microcomputer, the control voice module sends out the following avoidance voice: "Hello, please give way!" After the pedestrians in front of the robot avoid , the robot continues to move forward; when the robot reaches the stop point, the robot provides items to diners or other people. At this time, the first single-chip microcomputer sends a delivery voice signal to the second single-chip microcomputer, and the second single-chip microcomputer controls the voice module to send out the following delivery Voice: "Hello, your item has been delivered, please accept it!". In the embodiment of the present invention, the preset voice can be modified at any time as required.

In the embodiment of the present invention, the first single-chip microcomputer adopts the MC9S12XS128 single-chip microcomputer, and the MC9S12XS128 single-chip microcomputer is a kind of in the xs12 series 16-bit single-chip microcomputer of Freescale Company, the highest access crystal oscillator frequency is 48MHz, and can be overclocked to 96MHz through phase-locking, and its internal structure mainly It is composed of basic CAN function blocks of single-chip microcomputer, and the basic structure includes: central processing unit xs12 (CPU), 2 asynchronous serial communication interfaces (SCI), 2 synchronous serial communication interfaces (SPI), 8-channel input capture/output Comparing timer, 1 8-channel pulse width modulation module and 49 independent digital I/O interfaces (20 of which have external interrupt and wake-up functions), also has 128KB Flash ROM, 8KB RAM and 2KB EEPROM in the microcontroller , the CAN function block includes two msCAN controllers compatible with the CAN2.0A/B protocol. These rich internal resources and external interface resources can meet the processing of various data by the microcontroller and meet the requirements for sending and receiving CAN network data. In addition MC9S12XS128 MCU integrates two msCAN12 modules, which can realize the gateway node function of high and low speed CAN network.

MC9S12XS128 single-chip microcomputer, as the main controller of the robot, is responsible for analyzing and processing data (data from the second single-chip microcomputer), determining the position of the robot, wireless data transmission in the direction of the upper computer (PC), self-sensor information processing, and robot control in the entire robot navigation system. The function of coordinating operation among the various modules of the navigation system. The MC9S12XS128 single-chip microcomputer divides the stay data sent by the STC12LE5A60S2 single-chip microcomputer, and divides the stay data into the restaurant coordinate points corresponding to the positions of the 10 stay points and the stay time of the 10 stay points.

After the MC9S12XS128 MCU is turned on, first initialize the SCI interface, PWM (Pulse Width Modulation), Bluetooth interface, and analog-to-digital conversion, and then perform communication verification on the serial port between the MC9S12XS128 MCU and the STC12LE5A60S2 MCU. If the verification fails, return to restart Carry out the initialization operation; if the verification is successful, then receive the data from the STC12LE5A60S2 microcontroller, and then control the stepping motor according to the data from the STC12LE5A60S2 microcontroller, and at the same time, start the two pyroelectric infrared sensors on the head of the robot and the one on the front of the robot The ultrasonic sensor then controls the stepping motor according to the information fed back by the pyroelectric infrared sensor or the ultrasonic sensor. The MC9S12XS128 single-chip microcomputer can send the above-mentioned feedback information to the host computer through Bluetooth wireless transmission.

In the embodiment of the present invention, three ultrasonic sensors are provided, and the three ultrasonic sensors are respectively arranged on the front, left and right sides of the robot. The ultrasonic sensor adopts the SRF06 ultrasonic sensor. It is DC5V, the quiescent current is less than 2mA, the TTL level sensing angle is not more than 15 degrees, the detection distance is 2cm-450cm, and the accuracy can reach 1mm; the pin description is as follows: VCC-power supply voltage, trig-control terminal, echo-receiving terminal , GND-ground. During the movement of the robot, when there are obstacles 2cm-450cm in front of the robot, the ultrasonic sensor obtains the obstacle distribution information in front of the robot, and sends the obstacle distribution information to the first single-chip microcomputer; the first single-chip microcomputer sends interrupts to the stepping motor in turn signal, right turn signal and straight ahead signal, the stepper motor stops working first, then controls the robot to complete the right turn operation, and then controls the robot to go straight; in the process of the robot going straight, use the ultrasonic sensor on the left side of the robot to obtain the obstacle on the left side of the robot Object distribution information; when there is no obstacle on the left side of the robot, the first single-chip microcomputer sends an interrupt signal, a left-turn signal and a straight-going signal to the stepper motor in sequence, and the stepper motor first stops working, and then controls the robot to complete the left-turn operation, and then controls The robot goes straight.

In the embodiment of the present invention, two pyroelectric infrared sensors are installed at the head position of the robot. The signal determines the identity of the obstacle encountered. As long as one of the pyroelectric infrared sensors detects the infrared rays radiated by the human body, the first single-chip microcomputer will send an avoidance voice signal to the second single-chip microcomputer. At the same time, the first single-chip microcomputer sends an interrupt signal to the stepping motor, and the stepping motor stops working. The single-chip microcomputer controls the voice module to send out the avoidance voice; the avoidance voice is pre-set in the voice module; when the person in front of the robot leaves, all pyroelectric infrared sensors cannot detect the infrared rays radiated by the human body, and the first single-chip microcomputer cannot receive the human body radiation When the signal is signaled, a straight signal is sent to the stepper motor, and the stepper motor controls the robot to continue straight forward.

In the embodiment of the present invention, every set time, the first single-chip microcomputer uses the dead reckoning positioning method to obtain the position and angle of the robot, and then corrects the position and angle of the robot; the dead reckoning positioning method is low in cost and does not require an external environment Information; As shown in Figure 3, it is the position and angle schematic diagram of robot, and the first single-chip microcomputer adopts attitude reckoning positioning method to obtain the position and angle process of robot as follows:

Set the coordinates of the robot at time t as (x _t , y _t ), and the angle as θ _t , the following differential equation of motion can be obtained:

In the above formula, V _t represents the instantaneous linear velocity of the robot, and ω _t represents the instantaneous angular velocity of the robot.

Let l represent the running mileage of the robot, then dl=V*dt, substituting it into (1) formula has

Integrating both sides of (2) at the same time, we have

Let Δl represent the step size of the robot, and Δt _i be the time spent by the system at the step i step, then we have

Substituting formula (4) into formula (3), the following estimated formula can be obtained

In the experiment, at the beginning, Δl=0; Δt ₀ =0, we can get x ₀ =0; y ₀ =0; θ ₀ =0, the Hall sensor adopts CS1018, CS1028, CS2018, etc. 12 magnetic steels are evenly installed on the wheel hub, and the wheel will input 12 pulses every week of operation. After the robot starts to move, Δl=πD/12, where D is the diameter of the driving hub.

For angle measurement, the MB245 angular velocity sensor and the acceleration sensor MMA7620 produced by Murata are used to complete the angle measurement. The angle is finally obtained by integral. The calculation procedure is as follows:

According to the obtained linearity and angle values, and then using formula (5), it can be known that the odometer generates a pulse every Δl, and the system responds to this pulse signal and calculates the time-consuming Δt of this segment of travel, as well as the angular velocity at this moment. After calculation The increment of vehicle coordinates and angles in this section of the journey is obtained, and finally the instantaneous pose of the robot system (that is, the position and angle of the robot) is accumulated.

12 magnets are evenly installed on the two driving hubs of the robot, and the wheels input 12 pulses every week of operation. During the movement of the robot, the instantaneous linear velocity of the robot is obtained by the Hall sensor; the angular velocity sensor is produced by Murata. The MB245 angular velocity sensor; the acceleration sensor uses the MMA7620 three-week acceleration sensor.

In the embodiment of the present invention, the stepper motor is used as the actuator of the power part of the robot, and its control accuracy is high, which can meet the requirements of the robot for position control accuracy; when the robot reaches the stop point, the first single-chip microcomputer sends an interrupt signal to the stepper motor , the stepper motor stops working, and the robot stops moving; when there are people or other obstacles in front of the robot, the first single-chip microcomputer sends an interrupt signal to the stepping motor, the stepping motor stops working, and the robot stops moving. In the embodiment of the present invention, the robot completes steering control by means of differential speed of two driving hubs.

In the embodiment of the present invention, the temperature sensor adopts DS18B20 digital temperature sensor, which is a single bus digital temperature sensor produced by DALLAS company, which has miniaturization, low power consumption, high performance, strong anti-interference ability, simple connection circuit, etc. Advantages, it is especially suitable for forming a multi-point measurement and control system, and can directly convert the temperature into a serial digital signal and send it to the first single-chip microcomputer for processing. When the temperature exceeds the preset temperature, the first single-chip microcomputer sends an interrupt signal to the stepping motor, and the stepping motor stops working; when the temperature is lower than the preset temperature, the first single-chip microcomputer controls the stepping motor to start working again.

In the embodiment of the present invention, when the smoke sensor senses the smoke, it sends a corresponding signal to the first single-chip microcomputer, and the first single-chip microcomputer judges whether the concentration value of the smoke is greater than the set threshold value, and if it is greater than the set threshold value, it sends a signal to the voice module through the second single-chip microcomputer. Send a voice signal, and the voice module can issue a corresponding smoke prompt voice. The smoke sensor adopts MQ-2 smoke sensor, which has signal output indication function, can carry out dual signal output (analog output and TTL level output), and the effective output signal is low level (the signal light is on when the output is low level, and can be directly connected to single-chip microcomputer); can output 0~5V voltage in analog quantity (the higher the smoke concentration, the higher the voltage); it has good sensitivity to liquefied petroleum gas, natural gas, city gas, and smoke; it has a long service life and reliable stability And fast response and recovery characteristics, it can be used as a gas leakage monitoring device for homes or factories, suitable for detecting liquefied petroleum gas, butane, propane, methane, alcohol, hydrogen, smoke, etc.

In the embodiment of the present invention, the robot carries a GPS positioning chip. The positioning chip uses the NMEA0813 protocol to transmit the information received by the GPS through a serial port. Therefore, if you want to obtain GPS information and display it on the computer (host computer), It is necessary to complete the processing of the NMEA0813 protocol. The NMEA0813 protocol supported by the GPS positioning chip includes $GPRMC (recommended positioning information), $GPVTG (ground velocity information), $GPGGA (positioning information), $GPGSA (current satellite information), $GPGSV (visible satellite information), $GPGLL (geolocation information). Among them, $GPRMC and $GPGGA include the main positioning information. The value of each field in each data packet adopts ASCII code, separated by ','.

The upper computer mainly completes the following functions: 1. Realize the synchronous display of the robot position; 2. Realize the real-time display of GPS information; 3. Realize the real-time display of the robot status and the real-time data interaction between the upper computer and the robot.

The display of various information of the robot depends on the data interaction between the upper computer and the robot, so a simple and effective data transmission process is essential. In terms of hardware, the present invention adopts wireless bluetooth data transmission technology to complete data interaction; the robot uses serial port communication to send the sent data to the bluetooth sending device, through which the data is sent to the upper computer, and the upper computer sets the bluetooth The port is mapped to the serial port, and then the overall data exchange is completed through the software to read and write the serial port.

Through data interaction, the host computer will obtain the location information and status information sent back by the robot in real time. Through the judgment and processing of the information, the location information and the current state of the robot (whether it is normal, whether there are obstacles in front, whether there are people in front, etc.), will sound an alarm if it encounters an abnormality.

In the embodiment of the present invention, the robot navigation system (especially the first single-chip microcomputer) can also be powered by the solar battery panel, for example, the first single-chip microcomputer can be powered by connecting the solar battery panel to the first single-chip microcomputer. The first single-chip microcomputer provides a 220V external AC interface and a USB interface, which can provide emergency power when working outdoors.

All in all, in the present invention, the robot's trajectory can be preset through the touch screen, and then the outside world can set a reasonable dwell time, a processing mode after the sensor detects specific information, and an appropriate voice prompt service for any path point during the robot's travel and positioning. Set up with the load items to complete the corresponding service tasks, such as water delivery, coffee delivery, meal delivery, etc. During the roving process of the robot, the robot has functions such as obstacle detection, person identification, blocking prompt sound, work prompt sound and barrier prompt. In the present invention, the path setting has considerable repeatability. The present invention also has the following characteristics: 1. Good semi-intelligent path planning service enhances the reuse rate of the present invention and improves the portability of the present invention. 2. Excellent human-computer interaction can make the present invention have stronger object adaptability and make the operation of the present invention more flexible. 3. You can freely set the stay time on the waypoint to complete various public services. 4. With various detection information on the path, such as obstacle detection, speed detection, image recognition, person identification, etc., to ensure the reliability and safety of the robot during the path driving. 5. It has various safety detection functions, such as fire detection, gas leakage detection and robot power detection, etc., which can realize the safety warning of the public system and the stable work of the robot. 6. The upper computer can feed back the working status and external information of each robot in real time, and process it into an easier-to-accept program interface, making it easy for people to obtain information.

The present invention is aimed at robot navigation in a generally more regular environment, and has made a new attempt of restaurant indoor navigation. First, the present invention completes the establishment of a two-dimensional coordinate system with its own positive direction and initial position as the zero point, and generates The primary dot matrix map is suitable for most environments, and it has better completed the detection, quantization coding and voice interaction of touch screen information; secondly, the present invention completes the path information through the RS232 communication between the first single-chip microcomputer and the second single-chip microcomputer. The encoding and decoding of the corresponding information is completed through the algorithm of difference matching; finally, the real-time communication between the robot and the host computer based on the wireless Bluetooth data transmission technology is completed.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims (8)

1. a restaurant route navigation system of robot, it is characterized in that, comprises: control module, touch screen and stepping motor; Wherein, described control module connects touch screen and stepping motor respectively; The touch screen is used to display restaurant coordinate points; used to determine the restaurant coordinate points corresponding to the initial position of the robot according to the initial position of the robot in the restaurant; Adjacent restaurant coordinate points; used to input stay data; used to send route data and stay data to the control module; there are m*n restaurant coordinate points, m is the number of columns of restaurant coordinate points, and n is restaurant coordinate points The number of rows, m and n are all natural numbers greater than 1; the path data includes the input order of the plurality of sequentially adjacent restaurant coordinate points and the plurality of sequentially adjacent restaurant coordinate points; the stay data includes robot The restaurant coordinate point corresponding to the stay point position and the residence time of the robot stay point; the plurality of sequentially adjacent restaurant coordinate points include the restaurant coordinate point corresponding to the robot stay point position; The control module is used to generate a corresponding pulse signal according to the path data and the dwell data, and is used to send the pulse signal to the stepper motor; The stepper motor is used to drive the hub of the robot according to the pulse signal to make the robot move. 2. The restaurant route navigation system of a kind of robot as claimed in claim 1, is characterized in that, also comprises: Hall sensor, angular velocity sensor and acceleration sensor, and described control module is respectively connected Hall sensor, angular velocity sensor and acceleration sensor ; The Hall sensor is used to measure the instantaneous linear velocity of the robot during the movement of the robot, and is used to send the instantaneous linear velocity of the robot to the control module; the angular velocity sensor is used to measure the instantaneous angular velocity of the robot during the movement of the robot , used to send the instantaneous angular velocity of the robot to the control module; the acceleration sensor is used to measure the acceleration of the robot during the movement of the robot, and is used to send the acceleration of the robot to the control module; the control module is used to The instantaneous linear velocity, instantaneous angular velocity and acceleration are used to obtain the position and angle of the robot using the dead reckoning positioning method. 3. The restaurant route navigation system of a kind of robot as claimed in claim 1, is characterized in that, also comprises at least two ultrasonic sensors respectively connected control module, wherein, at least one ultrasonic sensor is positioned at robot front, at least one ultrasonic sensor Located on the left side of the robot; the ultrasonic sensor located at the front of the robot is used to detect obstacles located in front of the robot; the ultrasonic sensor located on the left side of the robot is used to detect obstacles located on the left side of the robot. 4. The restaurant route navigation system of a kind of robot as claimed in claim 1, is characterized in that, also comprises at least two pyroelectric sensors respectively connected to the control module, and the at least two pyroelectric sensors are all used to detect Whether there is infrared radiation radiated by the human body in front of the robot. 5. a restaurant route navigation method of a robot, based on a kind of robot route navigation system according to claim 1, is characterized in that, comprises the following steps: S1: Display the restaurant coordinate points on the touch screen, and determine the restaurant coordinate points corresponding to the initial position of the robot according to the initial position of the robot in the restaurant; Input the point to the touch screen; and input the stay data to the touch screen; the touch screen sends the path data and the stay data to the control module; there are m*n coordinate points in the restaurant, m is the number of columns of the coordinate points in the restaurant, and n is the coordinate point in the restaurant The number of rows, m and n are all natural numbers greater than 1; the path data includes the plurality of sequentially adjacent restaurant coordinate points, and the order in which the plurality of sequentially adjacent restaurant coordinate points are input to the touch screen; The stay data includes the restaurant coordinate point corresponding to the robot stay point position and the residence time of the robot stay point; the plurality of sequentially adjacent restaurant coordinate points include the restaurant coordinate point corresponding to the robot stay point position; S2: The control module generates a corresponding pulse signal according to the path data and the dwell data, and sends the pulse signal to the stepping motor; S3: The stepper motor drives the hub of the robot according to the pulse signal to make the robot move. 6. a kind of robot path navigation method as claimed in claim 5, is characterized in that, In step S3, every set time, the control module uses the dead reckoning positioning method to obtain the position and angle of the robot, and then corrects the position and angle of the robot; the control module uses the dead reckoning positioning method to obtain the position and angle of the robot The process of the position and angle of the robot is as follows: During the movement of the robot, the Hall sensor is used to measure the instantaneous linear velocity of the robot, and the instantaneous linear velocity of the robot is sent to the control module; During the movement of the robot, the angular velocity sensor is used to measure the instantaneous angular velocity of the robot, and the instantaneous angular velocity of the robot is sent to the control module; During the movement of the robot, the acceleration sensor is used to measure the acceleration of the robot, and the acceleration of the robot is sent to the control module; The control module obtains the instantaneous linear velocity, instantaneous angular velocity and acceleration of the robot, and obtains the position and angle of the robot by the dead reckoning positioning method. 7. A kind of robot path navigation method as claimed in claim 5, it is characterized in that, in step S3, in the process of robot motion, when there is obstacle in front of robot, utilize the ultrasonic sensor that is positioned at robot front to acquire robot The obstacle distribution information in front sends the obstacle distribution information to the control module; the control module sends an interrupt signal, a right turn signal and a straight signal to the stepper motor in turn, the stepper motor first stops working, and then controls the robot to complete the right turn operation, Then control the robot to go straight; When the robot is going straight, use the ultrasonic sensor on the left side of the robot to obtain the obstacle distribution information on the left side of the robot; when there is no obstacle on the left side of the robot, the control module sends an interrupt signal, a left turn signal and Go straight signal, the stepper motor first stops working, then controls the robot to complete the left turn operation, and then controls the robot to go straight. 8. A kind of robot route navigation method as claimed in claim 3, it is characterized in that, in step S3, in the process of robot motion, utilize at least two pyroelectric infrared sensors to detect whether there is infrared ray radiated by a human body in front of the robot ; When at least one pyroelectric infrared sensor detects that there is infrared radiation from the human body in front of the robot, the detected human body radiation signal is sent to the control module; the control module sends an interrupt signal to the stepper motor, and sends an avoidance voice signal to the voice module ; The stepper motor stops working, and the voice module sends out the avoidance voice according to the avoidance voice signal; the avoidance voice is pre-set in the voice module; When the signal is radiated to the human body, the control module sends a straight forward signal to the stepper motor, and the stepper motor controls the robot to continue straight forward.

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