采用磁传感器的餐厅服务机器人导引控制方法

计算机工程与科学

采用磁传感器的餐厅服务机器人导引控制方法

朱琳1,2,郭健1,吴益飞1,李胜1,章伟1

(1.南京理工大学自动化学院,江苏南京 210094;2.中国兵器工业计算机应用技术研究所,北京 100089)

收稿日期:2016-08-16 修回日期:2017-02-15 出版日期:2018-05-25 发布日期:2018-05-25
基金资助:
国家自然科学基金（61673214,61673217,61673219）；天津市科技重大专项与工程项目（15ZXZNGX00250）；江苏省“六大人才高峰”项目（XNYQC-CXTD-001）

A guided control method for restaurant

service robots using magnetic sensors

ZHU Lin1,2,GUO Jian1,WU Yi-fei1,LI Sheng1,ZHANG Wei1

(1.School of Automation,Nanjing University of Science and Technology,Nanjing 210094;

2.Chinese Armament Industrial Computer Applied Technology Institute,Beijing 100089,China)

Received:2016-08-16 Revised:2017-02-15 Online:2018-05-25 Published:2018-05-25

摘要/Abstract

摘要：

针对餐厅环境复杂、定位精度低等问题，提出了一种以磁传感器为核心的餐厅服务机器人导引控制方法。该方法通过安装在机器人底盘的磁传感器感知铺设在地面下的磁条，使得机器人能够平滑、准确地沿着磁条运动，在运动的过程中，结合地标模块感知到的地标信息，获取精准的位置信息和工作状态。最后将该方法应用于一种实际餐厅服务机器人，实现了机器人在餐厅内的精准定位与导航。实验结果表明，本文所提方法性能可靠、成本较低、实用性较强，具有较广阔的应用前景。

关键词: 餐厅服务机器人, 送餐, 磁传感器, 导引控制

Abstract:

Aiming at the complex restaurant environment and low positioning accuracy, a guided control method based on magnetic sensors is proposed for restaurant service robots. The proposed method can make the robot sense the magnetic stripe through the magnetic sensors set up on the bottom of the robot so as to move along the magnetic stripe smoothly and precisely. In the moving process, by combining the landmark information sensed by the landmark module, the robot can get the precise position and work state. Finally, the method is applied to a real restaurant service robot to realize the precise positioning and navigation in the restaurant. Experimental results show that the proposed method has reliable performance, low cost, strong practicality and wide application prospect.

Key words: restaurant service robot, food delivering, magnetic sensor, guided control

朱琳1,2,郭健1,吴益飞1,李胜1,章伟1. 采用磁传感器的餐厅服务机器人导引控制方法[J]. 计算机工程与科学.

ZHU Lin1,2,GUO Jian1,WU Yi-fei1,LI Sheng1,ZHANG Wei1.

A guided control method for restaurant

service robots using magnetic sensors

[J]. Computer Engineering & Science.