Design of home service robot system in the environment of simulated smart home

Abstract: In order to solve the problem that most home service robots do not have walking function or only have simple obstacle avoidance ability, this paper designs a home service robot system based on STM32. The whole system consists of wheeled robot, XBee coordinator, RFID smart floor and host computer. The wheeled robot is composed of a main board, a Sensor module, a radio frequency module, a steering gear module, a power module, and a robot metal body. The sensor module includes an electronic compass, an infrared sensor, and an RFID card reader. The motherboard is developed with the ARM Cortex-M3 core microprocessor STM32F103VCT6 as the core, and the sensor module data information is collected to realize the communication connection between the robot and the XBee coordinator. The system satisfactorily and efficiently completes the set tasks through independent decision-making in the environment of simulating the smart home, and can meet the application requirements of the home service robot.

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 scheme simulates the smart home environment, simplifies the positioning method, effectively utilizes the low-cost and low-power characteristics of ZigBee technology [3], and designs a wheel robot of suitable size to test. The test results show that the robot can achieve the expected target. And reflects a strong ability to make decisions.

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.

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.

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. .

The wheeled robot is a task execution device that travels between the kitchen and the living room to accurately and efficiently execute various command tasks sent by the user object, and sends the robot coordinate data to the XBee Coordinator for the following work.

First, the XBee module on the wheeled robot needs to initialize and send incoming network requests to implement node access. Then, the XBee module receives the task command data transmitted by the XBee coordinator, and the motherboard initializes each sensor module. The RFID reader reads the smart floor coordinate data and sends it to the XBee Coordinator. The electronic compass acquires the current posture information of the robot. The infrared sensor detects the obstacle distance of the environment in which the robot is located, and the main board controls the moving wheel composed of two consecutive rotating servos. The robot moves the path to the target position through the autonomous decision-making planning path, and starts the robot arm to grab the articles, wherein the robot arm is composed of a plurality of angle steering gears. With the robotic arm holding the grabbed item, the path is again planned to move to the final location, and the robotic arm accurately places the item at the target location. After completing the mission, the robot returns to the starting position and enters the sleep mode.

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