摘要：进入21世纪以来，国内外众多学者开始投身研究并开发室内环境下服务型机器人，在理论和实际的应用中取得了令人满意的成果。由于电气控制系统是机器人完成所有一系列操作的关键，所以国内外学者十分重视对该系统的研究，并且迅速变成了一个服务型机器人领域的热点。从增强餐厅服务智能车系统的准确性与平稳性切入，本文对该电气控制系统进行了深入的研究，使得智能车可以自主进行导航与避障，同时精准定位，具备清晰的人机互动界面，确保餐厅服务智能车能为顾客们提供自主点菜、送取菜等餐饮服务。本文根据餐厅中会遇到的情况同时根据餐车自身所需要的稳定性与点单、送餐两种模式的要求，设计符合该一系列要求的电气控制系统。

硬件电路是根据系统按照功能模块化来进行设计，具体分为电机驱动模块、测距避障模块、导航定位模块、人机接口模块五个模块。电机驱动模块由直流无刷电机驱动模块和步进电机顶升模块组成，实现对直流无刷电机的控制；避障模块由超声波测距避障传感器模块组成，保证小车对于顾客的安全；导航定位模块由磁条导航传感器和RFID定位传感器组成，实现小车的定位以及进行导航，从而达到自主在餐厅进行移动过程；人机接口模块由红外遥控器传感器组成，实现人机交互的功能。

本文采用以单片机作为主核心板，PLC 控制顶升电机的一套磁带导引智能餐车中央控制系统。以STM32F407主核心板配合两部直流无刷电机采用中置差速的方式驱动左右两个车轮。同时主控板连接所选择的各个传感器对整个系统进行控制。最终通过对智能餐车进行电气控制系统设计，可以实现小车按照磁条进行自主路径导航，并且可以在遇到障碍物的情况停下来并发出警示，同时具备人机交互功能，客户自主进行点餐，智能餐车完成点餐、送餐。

关键词： 磁导航；电气控制系统；智能餐车；功能模块

Design of Electric Control System for Magnetic Navigation Smart Dining Car

Abstract：Since we entered the 21st Century, a great number of learned man domestic and overseas have begun to devote themselves to the research and development of service robots in indoor environments and have achieved satisfactory results in both theoretical and practical applications. Because the electrical control system is the key to the robot to complete all series of operations, it has been highly valued by scholars at home and abroad and has become a research hotspot in the field of service robots. In order to improve the reliability and stability of the restaurant service smart car system, this article conducts an in-depth research on the electric control system of the restaurant smart car, so that the smart car can autonomously navigate and avoid obstacles, at the same time precise positioning, with clear human-computer interaction. The interface ensures that the restaurant service smart car can provide customers with food and beverage services such as ordering and delivery. Based on the conditions encountered in the restaurant, this article designs an electrical control system that meets the requirements in accordance with the requirements for the stability of the dining car itself, and the requirements for both order and meal delivery.

The hardware circuit is designed according to the function modularization of the system, and is specifically pided into five modules: a motor drive module, a distance measurement obstacle avoidance module, a navigation positioning module, and a human-machine interface module. The motor drive module is composed of a brushless DC motor drive module and a stepping motor jacking module to realize the control of the brushless DC motor. In order to ensure the safety of the car to customers, ultrasonic ranging is used to avoid obstacles; navigation and positioning The module is composed of a magnetic stripe navigation sensor and an RFID positioning sensor to realize the positioning and navigation of the trolley so as to achieve the autonomous movement process in the restaurant. The human-machine interface module is composed of infrared remote controller sensors and realizes the human-machine interaction function.