Construcción e implementación de un robot móvil usando un SBC (Single- Board Computer) para aplicaciones de transporte de insumos médicos en el Centro de Salud tipo C Lizarzaburu en la ciudad de Riobamba.

Abstract

The present titling work focuses of the mobile robot construction with differential configuration, which is responsible for transporting medical supplies within the Health Center Type C Espoch-Lizarzaburu, in order to lighten the work and optimize the personal time in most relevant activities. Before the construction of the study prototype of the mechanical and electronic components that make up the prototype; the construction of the prototype was made in fiberglass for its strength and durability. The implementation was based in artificial vision for the detection of static and dynamic obstacles; for this purpose, a Kinnect sensor and an SBC Rasperry Pi 3 were used, which is responsible for the acquisition and processing of images of the environment of the robot. As a whole, an odometric system was developed based on the equations that govern the differential kinematics of the robot and encoders that establish the position and speed; together with the locomotion control system, they are responsible for robot navigation autonomously. To optimize data processing, an Arduino Mega was used to navigate the prototype, with serial communication with the Raspberry Pi. It was considered the robot interactive design that facilitates the insertion of the robot to the staff of the Health Center giving it with a face that resembles it to a person. The tests were performed based on nonpopulation sample observations, applying statistical inference methods that resulted in a displacement of ±2.38 cm with respect to the real distance, an accuracy of ±0.26 cm and a time delay of 0.04 seconds in its route. It is recommended for future work the use of gauges in the compartments to determine where the load is located; optimizing the functions and autonomy of the prototype.