Abstract
Through the simulation and design of the robot's mechanical structure and control system, this paper presents a home service robot that can perform sweeping, scrubbing, and fetching functions in an indoor environment. we first introduce the development of home service robots and similar products, and then designs and demonstrates the mechanical structure of the robot through simulation software. Next, the control system of the robot is described, which is mainly divided into positioning, vision, gripping structure, and multi-task drive control. Moreover, this paper also experimentally verifies the positioning recognition and stereo matching of the vision control part. The experiments prove that such a general computer vision system can be applied to the designed robots. Possible directions for the development of this home service robot are also proposed.
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