MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION PROJECT MECHATRONICS ENGINEERING TECHNOLOGY RESEARCH, DESIGN, MANUFACTURE OF DISTRIBUTED CONTROL SERVICE ROBOT SYSTEM ADVISOR: ASSOC. NGUYEN TRUONG THINH STUDENT: NGUYEN THI TUONG VY HO THANH TUNG BUI CHI TOAN SKL010417 Ho Chi Minh City, January, 2023 HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY OF MECHANICAL ENGINEERING DEPARTMENT OF MECHATRONICS BACHELOR THESIS RESEARCH, DESIGN, MANUFACTURE OF DISTRIBUTED CONTROL SERVICE ROBOT SYSTEM SUPERVISOR: ASSOC. NGUYEN TRUONG THINH STUDENT’S NAME: NGUYEN THI TUONG VY STUDENT’S ID STUDENT: 19146430 STUDENT’S NAME: HO THANH TUNG STUDENT’S ID STUDENT: 19146421 STUDENT’S NAME: BUI CHI TOAN STUDENT’S ID STUDENT: 19146405 Ho Chi Minh City, January 2023 HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY OF MECHANICAL ENGINEERING DEPARTMENT OF MECHATRONICS BACHELOR THESIS RESEARCH, DESIGN, MANUFACTURE OF DISTRIBUTED CONTROL SERVICE ROBOT SYSTEM SUPERVISOR: ASSOC. NGUYEN TRUONG THINH STUDENT’S NAME: NGUYEN THI TUONG VY STUDENT’S ID STUDENT: 19146430 STUDENT’S NAME: HO THANH TUNG STUDENT’S ID STUDENT: 19146421 STUDENT’S NAME: BUI CHI TOAN STUDENT’S ID STUDENT: 19146405 Ho Chi Minh City, January 2023 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY OF MECHANICAL ENGINEERING CAPSTONE PROJECT EVALUATION FORM (FOR ADVISOR USE ONLY) Title of thesis: Research, Design and Manufacture of Distributed Control Service Robot System Major: Mechatronics Committee Number Student’s name 01 (SN 01): Nguyen Thi Student’s ID: 19146430 Tuong Vy Student’s name 02 (SN 02): Bui Chi Toan Student’s ID: 19146405 Student’s name 03 (SN 03): Ho Thanh Tung Student’s ID: 19146421 Advisor: Assoc.
Nguyen Truong Thinh Name of Institute: University of Technology and Education COMMENTS 1. COMMENTS ON ATTITUDE AND BEHAVIOR OF STUDENTS. COMMENTS ON RESULTS OF CAPSTONE PROJECT 2. Structure of the capstone project.
Results of capstone project. Capstone strengths and weaknesses. EVALUATION MAX ACHIEVED No. CONTENT POINT POINT 1.
Structure of the capstone project 30 Student follows exactly the format for capstone project given by 10 FME The motivation of the project is clearly provided in the thesis 10 The NEED of project is clearly showed in the thesis 10 2. Main contents (demonstration that students have ability to): 50 Apply knowledge of math, engineering, and science 5 Analyze and interpret data 10 Design and manufacturing the system, component or process to 15 meet needs Improvement and development in future 15 Use the software and technical tool to solve the problem 5 3. Real-life applications of capstone project 10 4. Products of capstone project 10 Total 100 4.
CONCLUSIONS Accept Reject HCMC, dd/mm/yy: Advisor (Signature and Name) ii HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY OF MECHANICAL ENGINEERING CAPSTONE PROJECT EVALUATION FORM (FOR REVIEWER USE ONLY) Title of thesis: Research, Design and Manufacture of Distributed Control Service Robot System Major: Mechatronics Committee Number Student’s name 01 (SN 01): Nguyen Thi Student’s ID: 19146430 Tuong Vy Student’s name 02 (SN 02): Bui Chi Toan Student’s ID: 19146405 Student’s name 03 (SN 03): Ho Thanh Tung Student’s ID: 19146421 Advisor: Assoc. Nguyen Truong Thinh Name of Institute: University of Technology and Education COMMENTS 1. Structure of the capstone project. Results of capstone project.
Capstone strengths and weaknesses. Questions and Suggestions. MAX ACHIEVED CONTENT POINT POINT 1. Structure of the capstone project 30 Student follows exactly the format for capstone project given by 10 FME The motivation of the project is clearly provided in the thesis 10 The NEED of project is clearly showed in the thesis 10 2.
Main contents (demonstration that students have ability to): 50 Apply knowledge of math, engineering, and science 5 Analyze and interpret data 10 Design and manufacturing the system, component or process to 15 meet needs Improvement and development in future 15 Use the software and technical tool to solve the problem 5 3. Real-life applications of capstone project 10 4. Products of capstone project 10 Total 100 7. CONCLUSIONS Accept Reject HCMC, dd/mm/yy: REVIEWER (Signature and Name) iv ACKNOWLEDGEMENT First of all, we would like to express our sincere thanks to Ho Chi Minh City University of Technology and Education and Openlab laboratory for creating opportunities and favorable conditions during the learning and training process.
, so that we can absorb more useful knowledge in the classroom learning process as well as valuable experiences in practice. Next, we would like to express our deepest gratitude Assoc. Nguyen Truong Thinh, who has imparted to us many useful specialized knowledge and social knowledge. The team is extremely grateful to the teacher's enthusiastic guidance, thanks to his close monitoring and all-time support, which has promoted the progress of the group's project, the team was able to complete the proposed schedule.
We would also like to thank the Open Lab members for their support during the implementation of the project. However, our knowledge still has certain limitations. Therefore, it is inevitable that there will be shortcomings in the process of completing this thesis. We are looking forward to receiving sincere comments from the teachers so that we can gain more valuable experience and improve our project.
Once again, our team sincerely thanks! v TÓM TẮT ĐỀ TÀI Hiện nay, robot dần trở nên phổ biến và được áp dụng rộng rãi trong nhiều lĩnh vực khác nhau giúp cho cuộc sống con người trở nên tiện lợi hơn. Các loại robot công nghiệp đang được các nhà máy, doanh nghiệp sử dụng rất nhiều, nó góp phần cải tiến quy trình sản xuất cũng như giảm thiểu sức lao động của con người và tăng độ chính xác cho hệ thống. Về lĩnh vực dịch vụ, một trong những phương pháp dùng để thu hút khách hàng rất hiệu quả hiện nay đó là áp dụng các công nghệ hiện đại, tiên tiến vào quy trình dịch vụ, điều này đã gợi sự tò mò của khách hàng và thúc đẩy đến sự trải nghiệm mới mẻ. Áp dụng robot vào quy trình phục vụ khách hàng là một trong những ứng dụng được áp dụng nhiều nhất của robot trong lĩnh vực này.
Trong dự án ban đầu đề ra, chủ yếu tập trung nghiên cứu, thiết kế, chế tạo robot dịch vụ có thể mang thức ăn, nước uống, tương tác với khách hàng và có thể di chuyển tự động trên các quỹ đạo đã được lập trình sẵn. Nhận thấy sự cần thiết và tính sáng tạo đổi mới cao hơn, dự án phát triển thêm về hệ phân tán robot. Ở dự án này, tập trung nghiên cứu các phương pháp điều khiển phân tán đa robot, sử dụng 3 robot dịch vụ đảm nhiệm từng vai trò riêng trong môi trường làm việc là nhà hàng để phục vụ cho mục tiêu nghiên cứu chính. Các robot cùng với các chức năng: lễ tân, nhân viên gọi món, nhân viên phục vụ món.
Các robot có thể giao tiếp và phối hợp với nhau làm việc, tiếp nhận các dữ liệu, thông tin khách hàng và truyền đạt với nhau hoàn toàn tự chủ. Đặc biệt hơn, các robot có thể biết và ghi nhớ vị trí của nhau, nếu vô tình đi ngang nhau thì có thể tự tránh né một cách dễ dàng. Ngoài ra, hệ robot phân tán có thể lập trình chỉnh sửa các chức năng sao cho có thể làm việc được trong các môi trường khác như bệnh viện, khách sạn,… Kết quả thực nghiệm cho thấy, các robot làm việc với đúng chức năng đặt ra, hệ thống hoạt động tốt, truyền thông tin đầy đủ và chính xác, được khách hàng trải nghiệm đánh giá cao, thích thú, có thể đầu tư phát triển hơn để đưa vào vận hành thực tế. vi ABSTRACT IN ENGLISH Currently, robots are gradually becoming popular and widely applied in many different fields to make human life more convenient.
Industrial robots are being used a lot by factories and businesses, it contributes to improving the production process as well as reducing human labor and increasing the accuracy of the system. In the service sector, one of the most effective methods to attract customers today is to apply modern and advanced technologies to the service process, which has aroused the curiosity of customers. and promote new experiences. Applying robots to the customer service process is one of the most applied applications of robots in this field.
In the initial project, mainly focused on researching, designing and manufacturing service robots that can carry food, drink, interact with customers and can move automatically on the orbits that have been determined. Realizing the need and higher innovation creativity, the project further develops the distributed robot system. In this project, focus on researching multi-robot distributed control methods, using 3 service robots to take on separate roles in a restaurant working environment to serve the main research objective. Robots with functions: reception, order staff, food service staff.
The robots can communicate and coordinate with each other to work, receive data, customer information and communicate with each other completely autonomously. More specifically, the robots can know and remember each other's positions, if they accidentally pass each other, they can dodge themselves easily. In addition, the distributed robot system can be programmed to edit functions so that it can work in other environments such as hospitals, hotels, etc. Experimental results show that the robots work with the correct functions.
performance, the system works well, transmits complete and accurate information, is highly appreciated and enjoyed by customers, and can be invested in more development to put into practice. vii CONTENTS CAPSTONE PROJECT EVALUATION FORM. i CAPSTONE PROJECT EVALUATION FORM. vi ABSTRACT IN ENGLISH.
viii LIST OF TABLES. xii LIST OF FIGURES. xiii Capstone Project Proposal. xv CHAPTER 1: INTRODUCTION.2 Overview of Service Robot.1 Service Robot Overview.2 Robot application in F&B industry.4 Reasons for choosing topic.5 Objectives of the topic.7 Limit of topics.
5 CHAPTER 2: THEORETICAL BASIS.2 Definition of service robot.3 Definition of Distributed System.4 Robot Knowledge and Dynamics.1 Kinematics of the Robot Platform. 10 CHAPTER 3: DESIGN OF MECHANICAL SYSTEM.3 Requirements in mechanical design.4 Matrix of ideas to determine the design option.5 Design of the movable pedestal. 15 viii CHAPTER 4: ENGINE SELECTION CALCULATION AND TRANSFER RATE DISTRIBUTION .2 Calculation of engine selection .3 Transmission Ratio Distribution.5 Calculation and testing of shafts.1 Test shaft for fatigue strength: .2 Static strength test shaft: .1 Test drive according to dynamic load capacity .2 Test drive according to static load capacity:. 28 CHAPTER 5: ELECTRICAL-CONTROL SYSTEM DESIGN .2 Electric power system .1 Communication between computer-microcontroller and microcontroller- microcontroller .2 Communication between actuator microcontroller and sensor .7 Design of the center console.
34 CHAPTER 6: DISTRIBUTED SERVICE ROBOT SYSTEM .2 Proposed Distributed Service Robot System (3 robots) .3 Operation procedure of Distributed Service Robot System: .4 Data transmission methods between robots .5 Localize robot in 3D space .1 YOLO Network Architecture .7 Non-max suppression.1 World Coordinate system.2 Camera Coordinate System.3 Camera calibration purpose.4 Camera calibration methods.5 Calibration Camera Specific Steps.6 Determine the size of the object in the image.7 Locate real coordinates.8 Convert the coordinate system of each camera to the sample coordinate system.2 Most Common Types of Heuristic Functions Used In Path Planning Algorithms.3 Application of A* algorithm in path planning.7 Human interactive system.2 Structure of the interactive system.3 Speech processing and recognition.4 Speech to Text with Google API.1 Concept of Word Embedding.2 The Importance of Distributed Representation of Words.6 Classification of customer intent using classifier algorithms.1 Naive Bayes classifier.7 Compare two Text Classification Algorithm and choosing the best one. 69 CHAPTER 7: EXPERIMENT AND ASSESS THE RESULTS .2 Basic parameters of the robot .4 Distributed service robot system .2 Experiment with pixel ratio .3 YOLO’s training results .4 Possibility of positioning .5 Communication and data transmission between robots .6 Robot - Human Interactive System. 78 CHAPTER 8: CONCLUSIONS AND RECOMMENDATIONS. 82 xi LIST OF TABLES Table 3.