摘要
针对酒店服务机器人的软件交互控制问题,在合理选择系统硬件和通信后,设计了一套系统软件。根据系统需求,对软件整体结构进行了分析研究,设计了智能交互层、导航层和电机驱动运动控制层的软件。在智能交互方面,进行了目标点采集程序的设计,站点子程序初始化、交互子程序初始化;完成了语音信息读取、房卡信息读取和触控信息读取的信息采集设计,以及信息辨识和功能实现的程序设计。在智能导航方面,完成了地图构建、机器人定位和自主导航的程序设计。在电机驱动运动控制方面,设计了基于离散PID算法的运动控制程序。经试验验证,整个软件系统能够对机器人进行精准的控制。
Aiming at the problem of software interaction control of hotel service robot, this paper designed a set of system software after reasonable selection of system hardware and communication. According to the system requirement, the software was analyzed and studied ,and the software of intelligent interaction layer,navigation layer and motor drive motion control layer was designed. In the aspect of intelligent interaction, the paper designed the target point acquisition program, the initialization of the station idea program and the initialization of the interactive subroutine. This paper completed the information acquisition design of speech information reading, reading of room card information and reading of touch control information, and the programming of information identification and function realization. In the aspect of intelligent navigation, the program design of map construction, robot positioning and autonomous navigation was completed. A motion control program based on discrete PID algorithm was designed in motor drive motion control. Through the robot control test, the whole software system can control the robot accurately.
出处
《电器与能效管理技术》
2017年第24期29-34,共6页
Electrical & Energy Management Technology
基金
上海市科委重点攻关项目(16111107802
16111108202)
关键词
智能交互层软件
自主导航层软件
电机驱动层软件
PID算法
intelligent interactive software
autonomous navigation software
motor drive system software
PID algorithm
