introduction
With the development of artificial intelligence and sensor technology, robots have entered the daily life environment from the structural environment of the factory. The robot can not only complete the work autonomously, but also work together with people to complete tasks or complete tasks under the guidance of people. Home service robots are an important part of smart home systems, and their role in life is increasingly important. At present, most of the home service robots do not have the walking function or only have simple obstacle avoidance capabilities. The research of robots relies a lot on simulation, but the actual situation and simulation results may be very different. There are also some studies that complicate the problem and instead take more detours.
Aiming at the shortcomings of current home service robots and the requirements of modern intelligent service robots, this paper proposes a design scheme of home service robot system based on STM32. The program simulates the smart home environment, simplifies the positioning method, effectively utilizes the low-cost and low-power characteristics of ZigBee technology, and designs a wheel robot of suitable size to test. The test results show that the robot can achieve the desired goal and reflect Strong self-determination ability.
1 system overall design
The entire home service robot system consists of four main components, including an analog smart home environment with RFID smart floor, a mobile wheeled robot, an XBee coordinator, and a host computer.
The smart home environment is designed to be 3.25 meters long and 2 meters wide. It is covered with an RFID smart floor and is divided into two rooms, the kitchen and the living room. The door in the middle is 0.3 meters wide. The kitchen has appliances such as sinks, shelves, smart refrigerators, and living rooms with dining tables and dining chairs. The arrangement of the RFID smart floor provides accurate positioning for the robot. The wheeled robot is responsible for transporting items between the kitchen and the living room to the client, which is the core part of the entire system. The XBee Coordinator is a wireless transmission module based on ZigBee technology, which is responsible for the fast and stable transmission of data. The host computer is mainly responsible for data reception, processing and release of control commands.
2 System working principle and process
The main workflow of the system is: the upper computer inputs the task command, and the command is sent to the wheeled robot through the XBee coordinator. After receiving the task command, the robot starts from the sleep mode, reads the intelligent floor RFID positioning information, and uploads the real-time position information to the upper computer to display the robot motion track. The robot detects the posture of the obstacle and the surrounding obstacles through the sensor module, and moves the target to the target position to grab the item and transport it to the final target position for use by the service object. Among them, wheeled robots are the focus of the overall system design.
2.1 XBee Coordinator Workflow
The XBee Coordinator is the first XBee network node to be started. It mainly completes the networking function and data transmission and reception function of the XBee network. The networking functions include the establishment of the XBee network and the access of the child nodes.
First, each module including hardware and software is initialized after the XBee coordinator power-on reset. Then, start scanning the channel, perform energy detection, select the channel, and select the appropriate PAN ID. After the success, the network ID and channel are broadcast, and the XBee network is established. After that, the XBee coordinator enters the listening state, waiting for the child node to send the network access request signal. After receiving the network access request, the coordinator allows the child node to access the network and allocate the network short address to the child node, which implements the node network access function. Finally, the XBee Coordinator sends the host computer data to the child node RF module to start the wheeled robot. After receiving the data request from the child node, it will receive the data and transmit it to the host computer through the serial cable. This is the data transmission and reception function. .
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