Design and architecture solutions for service robot waiter with a specialized system of payload stabilization

Petr A. Smirnov
Saint Petersburg Federal Research Center of the Russian Academy of Sciences, Saint Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences (SPIIRAS), Laboratory of Autonomous Robotic Systems, Postgraduate Student, Junior Research Scientist, 39, 14 line V.O., Saint Petersburg, 199178, Russia, tel.: +7(911)262-96-39, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 23 December 2020

Abstract
Application of robotic devices in subject domains, where monotonous routines have to be performed promptly and accurately, is a relevant problem, particularly in complicated epidemiological situations. In this paper the design of robot waiters is analyzed and a design is proposed for stabilization of payload during delivering. Common applied problems in the robotic service domain are associated with the need to use such robots on mostly even, flat surfaces or with the arrangement of special structures that simplify the movement of a robotic device along a given route. The proposed solution potentially provides for cheaper, simpler and more optimized application of the robotic device indoors, inside the restraunt due to the developed buffer mechanism and the system of gyroscopic stabilization of the trays, as well as the implemented control system based on the PID controller and the PWM generator, which ensures the smooth movement of the robot (from the starting point to the destination point). Based on the proposed solution, we get a fully functional robotic device that does not require additional investments in the reconstruction of the restaurant premises, completely replaces the waiter when delivering food and drinks to the client's table, and also attracts new customers due to its novelty and practicality.

Key words
Robot waiter, stabilization, PID-controller, buffer mechanism, gyroscope.

DOI
https://doi.org/10.31776/RTCJ.9210

Bibliographic description
Smirnov, P., 2021. Design and architecture solutions for service robot waiter with a specialized system of payload stabilization. Robotics and Technical Cybernetics, 9(2), pp.151-160.

UDC identifier:
004.896:007.52

References

1. 2019. GOST R 60.0.0.4-2019/ISO 8373:2012 Roboty I Robototekhnicheskiye Ustroystva. Terminy I Opredeleniya [National State Standard R 60.0.0.4-2019/ISO 8373:2012 Robots and Robotic Devices. Terms and Definitions]. (in Russian)
2. Vatamaniuk, I.V. and Iakovlev, R.N., 2019. Obobschennye teorreticheskiye modeli kiberfizicheskih system [Generalized theoretical models of cyber-physical systems]. Izvestia Yugo-Zapadnogo gosudarstvennogo universiteta [Bulletin of the South-West State University], 23(6), pp.161-175. DOI: 10.21869/2223-1560-2019-23-6-161-175. (in Russian).
3. Iakovlev, R.N., 2018. Primeneniye sredstv intellektualnogo analiza dlya resheniya zadach optimizatsii deyatel’nosti sklada [The use of intelligent analysis tools to solve the problems of optimizing warehouse activities]. Izvestia Yugo-Zapadnogo gosudarstvennogo universiteta [Bulletin of the South-West State University], 22(6), pp.127-135. DOI: 10.21869/2223-1560-2018-22-6-127-135. (in Russian).
4. Kovalev, A., Pavliuk, N., Krestovnikov, K. and Saveliev, A., 2019. Generation of Walking Patterns for Biped Robots Based on Dynamics of 3D Linear Inverted Pendulum. In: International Conference on Interactive Collaborative Robotic, Springer, Cham, pp.170-181. DOI: 10.1007/978-3-030-26118-4_17.
5. Nguyen, V., Saveliev, A. and Ronzhin, A., 2020. Mathematical Modelling of Control and Simultaneous Stabilization of 3-DOF Aerial Manipulation System. In: International Conference on Interactive Collaborative Robotics, Springer, Cham, pp.253-264. DOI: 10.1007/978-3-030-60337-3_25.
6. Medvedev, M.Y., Kostyukov, V.A. and Pshikhopov, V.Kh., 2020. Optimization of the motion of a mobile robot on a plane in the field of a finite number of repeller sources. SPIIRAS Proceedings, 19(1). DOI: 10.15622/sp.2020.19.1. (in Russian).
7. Bulgakov, D.S., 2017. Robotizirovannaya kukhnya v gostinichno-restorannom komplekse [Robotic kitchen in a hotel and restaurant complex.]. Nizhegorodskaya nauka. Economic Sciences, 4. (in Russian).
8. Osinova, A.A., Tatarinova, Ya. V. and Efa, S.G., 2012. PR and innovation in the restaurant business. Siberian State Aerospace University named after academician M. F. Reshetnev, 7-2, pp.278-280.
9. Omair, Mohd. et al., 2015. An Autonomous Robot for Waiter Service in Restaurants. Bangladesh: Department of Electrical and Electronic Engineering. BRAC University, pp.1-43.
10. Aymerich-Franch, L. and Ferrer, I., 2007. The implementation of social robots during the COVID-19 pandemic. ArXiv preprint, 03941. 2020.
11. Yong Jin, Zhenjiang Qian, Shengrong Gong and Weiyong Yang, 2020. Learning transferable driven and drone assisted sustainable and robust regional disease surveillance for smart healthcare. In: IEEE/ACM Transactions on Computational Biology and Bioinformatics. DOI: 10.1109/TCBB.2020.3017041.
12. Thanh, V.N., Vinh, D.P., Nghi, N.T., Nam, L.H. and Toan, D.L.H., 2019. Restaurant Serving Robot with Double Line Sensors Following Approach. In: 2019 IEEE International Conference on Mechatronics and Automation (ICMA). DOI: 10.1109/icma.2019.8816404.
13. Wan, A.Y.S., Soong, Y.D., Foo, E., Wong, W.L.E. and Lau, W.S.M., 2020. Waiter robots conveying drinks. Technologies, 8(3), p.44. DOI: 10.3390/technologies8030044.
14. Miguel Garcia-Haro, J., Martinez, S. and Balaguer, C., 2018. Balance computation of objects transported on a tray by a humanoid robot based on 3D dynamic slopes. In: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). DOI: 10.1109/humanoids.2018.8624920.
15. Nagy, Á., Csorvási, G. and Vajk, I., 2018. Path tracking algorithms for non-convex waiter motion problem. Periodica Polytechnica Electrical Engineering and Computer Science, 62(1), pp.16–23. DOI: 10.3311/ppee.11606.
16. Zuiani, F., Vasile, M., Palmas, A. and Avanzini, G., 2012. Direct transcription of low-thrust trajectories with finite trajectory elements. Acta Astronautica, 72, pp.108–120. DOI: 10.1016/j.actaastro.2011.09.011.
17. Krestovnikov, K., Saveliev, A. and Cherskikh, E., 2020. Development of a circuit design for a capacitive pressure sensor, applied in walking robot foot. In: 2020 IEEE 20th Mediterranean Electrotechnical Conference (MELECON), pp.243-247. DOI: 10.1109/MELECON48756.2020.9140509.
18. Krestovnikov, K., Cherskikh, E. and Zimuldinov, E., 2020. Combined Capacitive Pressure and Proximity Sensor for Using in Robotic Systems. In: Proceedings of 15th International Conference on Electromechanics and Robotics «Zavalishin’s Readings» (ER(ZR) 2020), Springer, Singapore, pp.513-523. DOI: 10.1007/978-981-15-5580-0_42.
19. Rubtsova, J. and Iakovlev, R., 2020. Comparative analysis of approaches to depth map generation for robot navigation. In: International Conference on Interactive Collaborative Robotics, Springer, Cham, pp.265-272. DOI: 10.1007/978-3-030-60337-3_26.
20. Wescott, T., 2000. PID without a PhD. Embedded Systems Programming.
21. Khusainov, A.Sh., 2011. Ekspluatacionnye Svoystva Avtomobilya [Operational Properties of the Vehicle]. Russia, Ulyanovsk: UESTU Publ., p.110. ISBN 978-5-9795-0888-7. (in Russian).
22. Dolmatovskiy, Yu.A., 1975-1976. Stroim Avtomobil [Constructing a Vehicle]. Modelist-Konstruktor, 10, 1, 5, 7, 9, 11. (in Russian).
23. Pelpor, D.S., 1988. Giroskopicheskiye pribory i sistemy [Gyroscopic devices and systems]. In: Giroskopicheskiye Sistemy [Gyroscopic Systems], 2nd ed. Мoscow: Vysshaya Shkola Publ., p.424. ISBN 5-06-001186-0. (in Russian).
24. Matveev, V.V. and Raspopov, V.Y., 2009. Osnovy Postroyeniya Besplatformennykh Inercial’nykh Navigacionnykh System [Fundamentals of Building Strapdown Inertial Navigation Systems], 2nd ed. Saint Petersburg: TSNII «Elektropribor» Publ., p.280. ISBN 978-5-900780-73-3. (in Russian).