Automatic Delivery with Robot

• Main Authors: CHU, CHIEN-WEI, 朱建威
• Other Authors: CHANG, RONG-GUEY
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/z584t2

碩士 === 國立中正大學 === 資訊工程研究所 === 106 === In recent years, robot applications have prevailed, and many industries have begun to invest in the development of related applications. For the catering industry, a large amount of manpower is required, and the main focus is on combining. Therefore, we hope that this part of the meal can be replaced by a robot, because it can reduce the time spent by manpower on the move, but in the existing meal delivery robot, the guests can only take their own meals, in order to let The food delivery system is more user-friendly, so we combine the mobile robot and the robotic arm, and finally place the meal on the fixed table through the arm. In this paper, we use robots to propose an effective method for the meal delivery system. We divide the system into four phases. In the first stage, since most of the food feeding environment is indoors, the robot needs to construct a map for the environment, and use a laser sensor to make the real scene back to the surrounding object to construct the scene. In the second stage, the map generated in the first stage is used as the basis for indoor navigation. The shortest path is calculated from the starting point to the end point of the map. We call it the global planning. In the third phase, we are called regional planning for obstacle avoidance, immediate avoidance, and re-planning of obstacles on the path. The last stage is the operation of the robot arm. The robot must know the height of the table to place the meal. Therefore, the icon is used as the height of the table edge, and the image is used to identify the position of the icon and operate the arm rotation angle according to the position. Different from the existing feeding robots, our new three or four stages make the robots closer to the human service guests. In addition to perceiving the reality around the laser, we also use the computer vision to identify the height of the table. Control the position of the arm rotation. Our system not only provides the concept of a mobile robot combined with a robotic arm, but also provides a service on the food delivery system. Guests do not need to spend their own time to take their own meals, and the waiter does not need to spend time on repetitiveness. In terms of the action, the sharing of labor saving time is achieved. It is believed that with the development of our research, it will be helpful for the domestic robot industry and the catering industry.