CN107284544A - A kind of multi-functional General Mobile robot chassis and its application process - Google Patents
A kind of multi-functional General Mobile robot chassis and its application process Download PDFInfo
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- CN107284544A CN107284544A CN201710635057.2A CN201710635057A CN107284544A CN 107284544 A CN107284544 A CN 107284544A CN 201710635057 A CN201710635057 A CN 201710635057A CN 107284544 A CN107284544 A CN 107284544A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000008569 process Effects 0.000 title claims abstract description 6
- 238000011161 development Methods 0.000 claims abstract description 42
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 230000002452 interceptive effect Effects 0.000 claims abstract description 10
- 229910052744 lithium Inorganic materials 0.000 claims description 13
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 12
- 230000015572 biosynthetic process Effects 0.000 claims description 9
- 238000003786 synthesis reaction Methods 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 230000000087 stabilizing effect Effects 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 6
- 230000001815 facial effect Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000012549 training Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 230000004927 fusion Effects 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims 1
- 230000006870 function Effects 0.000 abstract description 18
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 230000006641 stabilisation Effects 0.000 abstract 1
- 238000011105 stabilization Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005266 casting Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Abstract
A kind of multi-functional General Mobile robot chassis and its application process, including bottom plate and the supporting plate being arranged above bottom plate, panel is provided with above the supporting plate, microphone is fixed with front side of the panel, the middle panel has laser radar, depth camera is provided with front side of the supporting plate, audio amplifier is provided with rear side of supporting plate, a pair roller and the universal wheel being arranged on front side of roller are provided with below the bottom plate, the motor that each roller is rotated is driven respectively with a pair between the pair of roller, gyroscope is fixed with the bottom plate, bluetooth module and power-supply system.The multi-functional compact stabilization of General Mobile robot chassis structure of the present invention, the design of robot and the addition of module can be conveniently carried out as needed, realize secondary development, highly versatile, the mutual transmission and reception of data are completed using the chassis, with a variety of functions such as two-dimensional map foundation, independent navigation, avoidance, recognition of face, interactive voice, Voice command motions.
Description
Technical field
The present invention relates to a kind of multi-functional General Mobile robot chassis and its application process.
Background technology
With the progress of science and technology, the research for robot technology is increasingly valued by people and paid close attention to.Phase
For comparing biped robot, wheeled mobile robot is in translational speed, operation stability, application, and bearing capacity etc. is more
Individual aspect all has obvious advantage, and the most key part of wheeled robot is then mobile chassis part.But existing wheel
Formula mobile chassis does not carry host computer mostly, and it is single to there is function, it is impossible to the problems such as carrying out secondary development.
The content of the invention
The present invention is improved above mentioned problem, i.e., the technical problem to be solved in the present invention is existing wheel type mobile bottom
Disk does not carry host computer mostly, and it is single to there is function, it is impossible to the problems such as carrying out secondary development.
Specific embodiments of the present invention are：A kind of multi-functional General Mobile robot chassis, including bottom plate and setting
It is provided with above supporting plate above bottom plate, the supporting plate on front side of panel, the panel and is fixed with microphone, the panel
Middle part, which has to be provided with rear side of depth camera, supporting plate on front side of laser radar, the supporting plate, to be provided with audio amplifier, the bottom plate
Side is provided with to have a pair between a pair roller and the universal wheel being arranged on front side of roller, the pair of roller drives each respectively
Gyroscope, bluetooth module and power-supply system are fixed with the motor that roller is rotated, the bottom plate.
Further, the motor drive module that control motor is opened and closed, the bottom plate sidepiece are provided with the bottom plate
The electric machine support for fixed drive motor is extended downwardly, output shaft of the roller through shaft coupling and motor, which is fixed, to be connected
Connect.
Further, the power-supply system includes lithium battery, Voltage stabilizing module and voltage regulating module.
Further, there is lower bottom part to be recessed for the cell support frame for placing lithium battery at the middle part of the bottom plate, described
The week side of boss of lithium battery is provided with the top of the Z-type support frame being fixed on bottom plate, the Z-type support frame and is fixed with positioned at supporting plate
The fixed mesa of lower section.
Further, have on the fixed mesa on Jetson TK1 development boards, the Jetson TK1 development boards and set
Wireless network card, Bluetooth Receiver are equipped with, the Jetson TK1 development boards connect with laser radar, depth camera, audio amplifier, microphone
Connect, and be equipped with Bluetooth Receiver and wireless network card.
Further, STM32 single-chip microcomputers and the encoder being fixed on rear side of motor, institute are further fixed on the bottom plate
STM32 single-chip microcomputers are stated to be connected with Jetson TK1 development board serial communications, the STM32 single-chip microcomputers and gyroscope, bluetooth module,
Encoder, motor drive module connection, the lithium battery through Voltage stabilizing module and voltage regulating module respectively with Jetson TK1 development boards,
Encoder, direct current generator, motor drive module connection.
Further, the bottom plate, supporting plate, panel and fixed mesa have multiple mounting holes.
Further, there is one or more supporting plate, the bottom plate and support between the bottom plate and panel
Between plate, set between supporting plate and panel and be fixedly connected with support column, every layer of the support column has four or more,
It is connected through a screw thread between the support column and bottom plate, supporting plate or panel or pin-and-hole is connected.
Present invention additionally comprises a kind of multi-functional General Mobile robot chassis application process, using such as claim
A kind of multi-functional General Mobile robot chassis described in 6, specifically includes in the following manner：
（1）STM32 single-chip microcomputers are to the corresponding drive signal of two-way motor drive module and pwm signal, motor drive module driving
Motor is operated, and realizes that speed governing, advance, retrogressing etc. are moved, two roller differentials are rotated, and universal wheel is realized as driven pulley and turns to fortune
It is dynamic.Motor encoder gathered data and is sent to STM32 single-chip microcomputers when operating；STM32 single-chip microcomputers pass through serial acquisition six
The acceleration and angle-data of axle gyroscope, and go out odometer information with encoder data progress fusion calculation, wherein including line
The information such as speed, X-axis coordinate, Y-axis coordinate, yaw angle, and it is sent to Jetson TK1；
（2）Jetson TK1 development boards transplant ROS robot operating systems, are realized by serial communication mutual with STM32 single-chip microcomputers
Mutually send, receive data；Jetson TK1 development boards are increased income algorithm by transplanting the Cartographer of Google, are used
The odometer information of gyroscope and encoder data that STM32 single-chip microcomputers are sent fusion come position and estimate chassis relatively on
The position at one moment；Jetson TK1 development boards are connected with laser radar by USB, gather the data of laser radar, then are passed through
The ranging data of laser radar collection constantly corrects the position of mobile chassis, and set up map, finally realizes two-dimensional map
Set up；
（3）Jetson TK1 development boards are connected with depth camera by USB, gather image information, and ROS platforms are built by programming
On recognition of face driving bag, call OpenCV storehouses, multi collect facial image completes training set, realize that easy face is known
Not；And depth camera can also gather image information, the visual angle of mobile chassis is visually dissolved in remote computer in real time,
Microphone and audio amplifier are connected with Jetson TK1 development boards.Microphone gathers the voice messaging of people, by ROS operating systems
Speech recognition that upper self-programming is built, synthesis system complete related audio processing, then pass through and scheme that spirit is semantic carries out clouds storehouse
Information matches, audio is sent out by audio amplifier, the function of interactive voice is finally realized, meanwhile, pass through semantic analysis, catch voice
The keyword inputted in information, carries out the output of relative keys order, then output order is sent into STM32 single-chip microcomputers, STM32
Single-chip microcomputer sends corresponding control signal to motor drive module, and motor motion finally realizes that Voice command mobile chassis is complete
Into motion；
（4）Calculated based on passage path planning algorithm in the priori two-dimensional map ROS systems built up to target position
The optimal path put, and a series of rate control instruction is sent to STM32 single-chip microcomputers, STM32 single-chip microcomputers send corresponding control
Signal processed realizes independent navigation to motor drive module, motor motion；In navigation procedure, with reference to the vision of depth camera
Information, carries out local path planning by dynamic window method, realizes avoidance.
Further, the Jetson TK1 development boards are equipped with wireless network card, Bluetooth Receiver, can use many calculating
Machine carries out remote control by LAN to mobile chassis, realizes that Multi computer cooperation completes corresponding control, remotely leads to multiple computers
Letter, Multi computer cooperation, distributed AC servo system mobile robot chassis；STM32 single-chip microcomputers pass through serial ports and the bluetooth being arranged on bottom plate
Module communicate, open Android mobile phone bluetooth, the motion parts of mobile chassis can directly be controlled by simple APP, such as advance, after
Move back, turn to, speed governing；STM32 single-chip microcomputers are connected by jtag interface and are provided with LCDs, and mobile chassis is shown in real time
Odometer and velocity information.
Present invention additionally comprises a kind of multi-functional General Mobile robot chassis in the method for Information Mobile Service robot of family,
Using a kind of multi-functional General Mobile robot chassis described above, in the following manner is specifically included：
（1）Jetson TK1 development boards are connected with depth camera by USB, gather image information, and ROS platforms are built by programming
On recognition of face driving bag, call OpenCV storehouses, multi collect facial image completes training set, realize that easy face is known
Not.ROS operating systems export specific instruction after Given Face is identified, the instruction is set into system switching, face is realized
Identification unblock robot；
（2）Microphone and audio amplifier are connected with Jetson TK1 development boards, microphone gathers the voice messaging of people, by ROS
Self-programming is built in operating system speech recognition, synthesis system are entered to complete related audio processing, then by scheming clever semanteme
The information matches of row clouds storehouse, the suitable sentence of answering of selection carries out phonetic synthesis, sends out audio by audio amplifier, finally realizes that voice is handed over
Mutual function, i.e. people and robot exchanges and dialogues；
（3）In home environment, it can realize that robot and child, old man carry out chat and accompanied and attended to by voice interactive function；And
And based on the indoor two-dimensional map having had built up, the keyword in speech input information can be caught by semantic analysis,
The output of relative keys order is carried out in ROS operating systems, then output command calls are performed into independent navigation function, passage path
Planning algorithm calculates the optimal path up to target location, in combination with the visual information of depth camera, passes through dynamic window
Mouthful method carries out local path planning, realizes Real Time Obstacle Avoiding；
（4）In navigation procedure, ROS operating systems send the speed command required for independent navigation into STM32 single-chip microcomputers,
STM32 single-chip microcomputers send corresponding control signal to motor drive module, and motor motion, final realize is transported by Voice command
It is dynamic to combine independent navigation function, therefore can realize that robot accepts owner's phonetic order and carries out specified location in home environment
Article transport；Corresponding infrared radio frequency module can also be increased, infrared signal is controlled using voice, and then control with red
The household electrical appliances of external switch, realize smart home.
Compared with prior art, the invention has the advantages that：The present invention and by STM32 single-chip microcomputers and Jetson
The ROS robot operating systems transplanted on TK1 development boards are combined, and the mutual transmission of data are completed with receiving, with two-dimensionally
Scheme a variety of functions such as foundation, independent navigation, avoidance, recognition of face, interactive voice, Voice command motion.And draw multiple USB
External tapping and USB turn serial port data line and use detachable support platform, can independently carry according to demand sensor with it is upper
Position machine, realizes secondary development.The shell of different machines people, the above-mentioned various functions of independent assortment, you can be used as application can be installed
Robot under the varying environments such as family, dining room, with very strong versatility, high degree saves development cost.
Brief description of the drawings
Fig. 1 is the structural representation of present example；
Fig. 2 is the structural representation of present example；
Fig. 3 is the theory structure block diagram of present example；
Wherein in figure：10- bottom plates, 20- supporting plates, 30- panels, 110- rollers, 120- universal wheels, 130- electric machine supports, 140-
Cell support frame, 141-Z type support frames, 150- fixed mesas, 40- Nvidia Jetson T1 development boards, 401- microphones,
402- laser radars, 403- depth cameras, 404- audio amplifiers, 50- STM32 single-chip microcomputers, 501- motors, the driving of 502- motors
Module, 503- encoders, 504- gyroscopes, 505- bluetooth modules, 601- lithium batteries, 602- voltage stabilizings and voltage regulating module, 70- supports
Post.
Embodiment
The present invention will be further described in detail with reference to the accompanying drawings and detailed description.
Referring to figs. 1 to Fig. 2, a kind of multi-functional General Mobile robot chassis, including bottom plate 10 and it is arranged at bottom plate 10
The supporting plate 20 of top, the top of supporting plate 20 is provided with panel 30.
In the present embodiment, there is one or more supporting plate 20, the bottom between the bottom plate 10 and panel 30
Between plate 10 and supporting plate 20, set between supporting plate 20 and panel 30 and be fixedly connected with support column 70, the support column 70 is every
Layer has four or more, is connected through a screw thread between the support column and bottom plate, supporting plate or panel or pin-and-hole coordinates
Connection.In the present embodiment, the bottom plate 10, supporting plate 20, panel 30 and fixed mesa have multiple mounting holes, can independently add
Plus module, multiple support columns, which are connected, to increase the number of support column in the way of freely adjusting height for example by using threaded connection
Amount finally realizes that support platform, bottom plate, panel are built layer by layer so as to improving the height of support column.
A pair roller 110 and the universal wheel 120 being arranged on front side of roller, the pair of roller are provided with below the bottom plate
Driven respectively in the motor 501 that each roller is rotated, the present embodiment with a pair between 120, described bottom plate 10 is set
There is the motor drive module 502 that control motor 501 is opened and closed, the bottom plate sidepiece has been extended downwardly for fixed drive motor
501 electric machine support 130, the roller 110 is fixedly connected through shaft coupling with the output shaft of motor 501.In the present embodiment
Motor be brush direct current motor, universal wheel 120 and the fixed of bottom plate 10 are determined, and are adjusted height and highly kept with roller 110
Unanimously, it is ensured that chassis level is placed.Bottom plate 10 uses stainless steel, with preferable comprehensive mechanical property, and all connections pass through
Bolt is fastened.
STM32 single-chip microcomputers 50, gyroscope 504, bluetooth module and power-supply system, encoder 503 have been further fixed on chassis
The afterbody of motor 501 is installed on, the power-supply system includes lithium battery 601, voltage stabilizing and voltage regulating module 602.
In order to realize the compact of structure and ensure the firm of chassis, in the present embodiment, under the middle part of the bottom plate 10 has
Bottom notch is used for the cell support frame 140 for placing lithium battery, and the week side of boss of the lithium battery is provided with the Z-type being fixed on bottom plate
Support frame 141.
The top of the Z-type support frame 141 is fixed with the fixed mesa 150 below supporting plate, and lithium battery 601 is drawn
Charging inlet and power switch, and voltage stabilizing, voltage regulating module 602 are connected to, it is that whole mobile robot chassis powers.
The front side of panel 30 is fixed with microphone 401, and the middle panel has laser radar 402, the supporting plate
Front side is provided with rear side of depth camera 403, supporting plate and is provided with audio amplifier 404.Heretofore described depth camera 403 is referred to
Such asKinect, Asus Xtion Pro etc. there is the depth camera of high-resolution.
Have on fixed mesa 150 on Jetson TK1 development boards 40, the Jetson TK1 development boards 40 and be provided with nothing
Gauze card, Bluetooth Receiver, the Jetson TK1 development boards 40 and microphone 401, laser radar 402, depth camera 403,
Audio amplifier 404, wireless network card, Bluetooth Receiver connection.
The theory structure of present example is as shown in figure 3, the program of STM32 single-chip microcomputers 50 is adopted and shown a C language, Jetson
The program of ROS robot operating systems is write using C Plus Plus in TK1 development boards 40：
In the present embodiment, STM32 single-chip microcomputers 50 give two-way motor drive module 502（Two motors are controlled respectively）Accordingly
Drive signal and pwm signal, the motor 501 of motor drive module 502 are operated, and realize that speed governing, advance, retrogressing etc. are moved.Move
Dynamic chassis uses tricycle structure, and the differential of two roller 110 is rotated, and universal wheel 120 realizes divertical motion as driven pulley.Driving electricity
Machine 501 gathered data of encoder 503 and is sent to STM32 single-chip microcomputers 50 when operating.
Acceleration and angle-data that STM32 single-chip microcomputers 50 pass through the axle gyroscope 504 of serial acquisition six.
STM32 single-chip microcomputers 50 are communicated by serial ports with the bluetooth module 505 being arranged on bottom plate, open Android mobile phone blue
The motion parts of mobile chassis can be controlled directly by tooth by simple APP, such as advance, retrogressing, steering, speed governing.
In the present embodiment, ROS robot operating systems are transplanted in Jetson TK1 development boards 40, are realized by serial communication
Sent mutually with STM32 single-chip microcomputers 60, receive data.
Jetson TK1 development boards 40 are connected with laser radar 402 by USB, gather the data of laser radar 402.ROS
In system, increased income algorithm, the gyroscope sent using STM32 single-chip microcomputers 50 by transplanting the Cartographer of Google
802 and the data fusion of encoder 503 odometer information come position and estimate chassis with respect to last moment position, Ran Houtong
The ranging data for crossing the collection of laser radar 402 constantly corrects the position of mobile chassis, and sets up map, final to realize two-dimensionally
The foundation of figure.
Jetson TK1 development boards 40 are connected with depth camera 403 by USB, gather image information.Built by programming
Recognition of face driving bag on ROS platforms, calls OpenCV storehouses, and multi collect facial image completes training set, realizes easy
Recognition of face.And depth camera 403 can also gather image information, visually mobile chassis is dissolved in remote computer in real time
Visual angle.
Microphone 401 and audio amplifier 404 are connected with Jetson TK1 development boards 40.The voice letter of the collection people of microphone 401
Breath, related audio processing is completed by self-programming is built in ROS operating systems speech recognition, synthesis system, then lead to
The semantic information matches for carrying out clouds storehouse of figure spirit are crossed, audio is sent out by audio amplifier 404, the function of interactive voice is finally realized.Together
When, by semantic analysis, the keyword in speech input information is caught, the output of relative keys order is carried out, then output is ordered
Send into STM32 single-chip microcomputers 50, STM32 single-chip microcomputers 50 send corresponding control signal to motor drive module 502, motor
501 motions, finally realize that Voice command mobile chassis completes motion.
Based on the priori two-dimensional map built, passage path planning algorithm is calculated up to target in ROS systems
The optimal path of position, and a series of rate control instruction is sent to STM32 single-chip microcomputers 50, STM32 single-chip microcomputers 50 are sent
Corresponding control signal is moved to motor drive module 502, motor 501, realizes independent navigation.In navigation procedure, with reference to depth
The visual information of camera 403 is spent, passes through dynamic window method（DWA）To carry out local path planning, avoidance is realized.
Jetson TK1 development boards 40 can be passed through by being connected with wireless network card, Bluetooth Receiver using multiple stage computers
LAN carries out remote control to mobile chassis, realizes that Multi computer cooperation completes corresponding control, with multiple computers telecommunication, multimachine
Cooperation, distributed AC servo system mobile robot chassis.STM32 single-chip microcomputers 50 are connected by jtag interface, install LCDs, real
When show the odometer and velocity information of mobile chassis.
Above-described embodiment can apply to Information Mobile Service robot of family.Jetson TK1 development boards 40 and depth camera
403 are connected by USB, gather image information.Bag is driven by programming the recognition of face built on ROS platforms, OpenCV is called
Storehouse, multi collect facial image completes training set, realizes easy recognition of face.The ROS operations system after Given Face is identified
System output specific instruction, system switching is set to by the instruction, realizes that recognition of face unlocks robot.Jetson TK1 development boards
Microphone 401 and audio amplifier 404 are connected with 40.Microphone 401 gather people voice messaging, by ROS operating systems from
Speech recognition that main programming is built, synthesis system complete related audio processing, then pass through and scheme the semantic letter for carrying out clouds storehouse of spirit
Breath matching, the suitable sentence of answering of selection carries out phonetic synthesis, sends out audio by audio amplifier 404, finally realizes the function of interactive voice,
That is people and robot exchanges and dialogues.In home environment, robot and child, Lao Renjin can be realized by voice interactive function
Row chat is accompanied and attended to.And based on the indoor two-dimensional map having had built up, speech input information can be caught by semantic analysis
In keyword, the output of relative keys orders is carried out in ROS operating systems, then output command calls are performed into independent navigation
Function, passage path planning algorithm calculates the optimal path up to target location, in combination with the vision of depth camera 403
Information, passes through dynamic window method（DWA）To carry out local path planning, Real Time Obstacle Avoiding is realized.In navigation procedure, ROS behaviour
Make system to send the speed command required for independent navigation into STM32 single-chip microcomputers 50, STM32 single-chip microcomputers 50 send corresponding control
Signal processed is moved to motor drive module 502, motor 501, and final realize combines independent navigation by Voice command motion
Function, therefore can realize that robot accepts owner's phonetic order and carries out article transport of specified location etc. in home environment.
Corresponding infrared radio frequency module can also be increased, infrared signal is controlled using voice, and then control the family with infrared switch
Electricity, realizes smart home.Make that man-machine interaction mode is more convenient, flexible, intellectuality.It can in addition contain applied to food delivery machine
People.Increase corresponding pick-up sensor assembly and pallet, with reference to independent navigation function, you can realize the machine for specifying dining table position
People's food delivery function, after customer's pick-up, pick-up sensor returns to corresponding signal to robot, and execution is maked a return voyage.And interactive voice
Function can cause consumer interest, attract traveller.
If invention is open or relate to the parts or structural member of connection fastened to each other, then, unless otherwise stated, Gu
Fixed connection can be understood as：Can releasably it be fixedly connected (such as using bolt or mode connects for screw), it is understood that be：No
Removably it is fixedly connected and (for example rivets, welds), certainly, connection fastened to each other (can also for example uses for integral type structure
Casting technique is integrally formed to be manufactured) replace (substantially can not be using except integrally formed technique).
Motor described in above example, electric machine support, encoder, roller, motor-driven mechanism and battery bracket, sound
Case, support column be mirror image or it is multiple be set up in parallel, therefore only marked in figure single.
In addition, being used for applied in any technical scheme disclosed in the invention described above represents the art of position relationship or shape
Its implication includes approximate with its, similar or close state or shape to language unless otherwise stated.
The either component that the present invention is provided can be assembled by multiple single parts, or one
The separate part that forming technology is manufactured.
Finally it should be noted that:The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
The embodiment of the present invention can be modified or equivalent substitution is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical scheme, it all should cover among claimed technical scheme scope of the invention.
Claims (10)
1. a kind of multi-functional General Mobile robot chassis, it is characterised in that including bottom plate and the branch being arranged above bottom plate
It is provided with above fagging, the supporting plate on front side of panel, the panel and is fixed with microphone, the middle panel has laser thunder
Reach, be provided with front side of the supporting plate on rear side of depth camera, supporting plate and be provided with audio amplifier, a pair of rollings are provided with below the bottom plate
Take turns and be arranged at the driving for driving each roller to rotate respectively with a pair between the universal wheel on front side of roller, the pair of roller
Gyroscope, bluetooth module and power-supply system are fixed with motor, the bottom plate.
2. a kind of multi-functional General Mobile robot chassis according to claim 1, it is characterised in that on the bottom plate
The motor drive module that control motor is opened and closed is provided with, the bottom plate sidepiece is extended downwardly for fixed drive motor
Electric machine support, the roller is fixedly connected through shaft coupling with the output shaft of motor.
3. a kind of multi-functional General Mobile robot chassis according to claim 2, it is characterised in that the power supply system
System includes lithium battery, Voltage stabilizing module and voltage regulating module.
4. a kind of multi-functional General Mobile robot chassis according to claim 3, it is characterised in that the bottom plate
There is lower bottom part to be recessed for the cell support frame for placing lithium battery at middle part, and the week side of boss of the lithium battery, which is provided with, is fixed on bottom plate
On Z-type support frame, the fixed mesa below supporting plate is fixed with the top of the Z-type support frame.
5. a kind of multi-functional General Mobile robot chassis according to claim 4, it is characterised in that the fixed station
Have on face on Jetson TK1 development boards, the Jetson TK1 development boards and be provided with wireless network card, Bluetooth Receiver, it is described
Jetson TK1 development boards are connected with laser radar, depth camera, audio amplifier, microphone, and are equipped with Bluetooth Receiver and wireless
Network interface card.
6. a kind of multi-functional General Mobile robot chassis according to claim 5, it is characterised in that on the bottom plate
STM32 single-chip microcomputers and the encoder being fixed on rear side of motor are further fixed on, the STM32 single-chip microcomputers are opened with Jetson TK1
Send out the connection of plate serial communication, the STM32 single-chip microcomputers and gyroscope, bluetooth module, encoder, motor drive module be connected, institute
State lithium battery and drive mould with Jetson TK1 development boards, encoder, direct current generator, motor respectively through Voltage stabilizing module and voltage regulating module
Block is connected.
7. a kind of multi-functional General Mobile robot chassis according to claim 1, it is characterised in that the bottom plate,
Supporting plate, panel and fixed mesa have multiple mounting holes.
8. a kind of multi-functional General Mobile robot chassis according to claim 1, it is characterised in that the bottom plate with
There is one or more supporting plate between panel, set between the bottom plate and supporting plate, between supporting plate and panel
Support column is fixedly connected with, every layer of the support column has four or more, the support column and bottom plate, supporting plate or face
It is connected through a screw thread between plate or pin-and-hole is connected.
9. a kind of multi-functional General Mobile robot chassis application process, it is characterised in that using such as claim 6 institute
A kind of multi-functional General Mobile robot chassis stated, specifically includes in the following manner：
（1）STM32 single-chip microcomputers are to the corresponding drive signal of two-way motor drive module and pwm signal, motor drive module driving
Motor is operated, and realizes that speed governing, advance, retrogressing etc. are moved, two roller differentials are rotated, and universal wheel is realized as driven pulley and turns to fortune
It is dynamic；Motor encoder gathered data and is sent to STM32 single-chip microcomputers when operating；STM32 single-chip microcomputers pass through serial acquisition six
The acceleration and angle-data of axle gyroscope, and go out odometer information with encoder data progress fusion calculation, wherein including line
The information such as speed, X-axis coordinate, Y-axis coordinate, yaw angle, and it is sent to Jetson TK1；
（2）Jetson TK1 development boards transplant ROS robot operating systems, are realized by serial communication mutual with STM32 single-chip microcomputers
Mutually send, receive data；Jetson TK1 development boards are increased income algorithm by transplanting the Cartographer of Google, are used
The odometer information of gyroscope and encoder data that STM32 single-chip microcomputers are sent fusion come position and estimate chassis relatively on
The position at one moment；Jetson TK1 development boards are connected with laser radar by USB, gather the data of laser radar, then are passed through
The ranging data of laser radar collection constantly corrects the position of mobile chassis, and set up map, finally realizes two-dimensional map
Set up；
（3）Jetson TK1 development boards are connected with depth camera by USB, gather image information, are put down by programming structure ROS
Recognition of face driving bag on platform, calls OpenCV storehouses, and multi collect facial image completes training set, realizes easy face
Identification；And depth camera can also gather image information, the visual angle of mobile chassis is visually dissolved in remote computer in real time,
Microphone and audio amplifier are connected with Jetson TK1 development boards；
Microphone gathers the voice messaging of people, by self-programming is built in ROS operating systems speech recognition, synthesis system
To complete related audio processing, then by scheming the semantic information matches for carrying out clouds storehouse of spirit, audio is sent out by audio amplifier, it is final real
The function of existing interactive voice, meanwhile, by semantic analysis, the keyword in speech input information is caught, relative keys order is carried out
Output, then will output order send into STM32 single-chip microcomputers, STM32 single-chip microcomputers send corresponding control signal give motor driving
Module, motor motion finally realizes that Voice command mobile chassis completes motion；
（4）Calculated based on passage path planning algorithm in the priori two-dimensional map ROS systems built up to target position
The optimal path put, and a series of rate control instruction is sent to STM32 single-chip microcomputers, STM32 single-chip microcomputers send corresponding control
Signal processed realizes independent navigation to motor drive module, motor motion；In navigation procedure, with reference to the vision of depth camera
Information, carries out local path planning by dynamic window method, realizes avoidance.
10. a kind of multi-functional General Mobile robot chassis is in the method for Information Mobile Service robot of family, using such as power
Profit requires a kind of multi-functional General Mobile robot chassis described in 6, specifically includes in the following manner：
Jetson TK1 development boards are connected with depth camera by USB, gather image information, are built by programming on ROS platforms
Recognition of face driving bag, call OpenCV storehouses, multi collect facial image completes training set, realizes easy recognition of face；
（1）ROS operating systems export specific instruction after Given Face is identified, the instruction is set into system switching, realize
Recognition of face unlocks robot；
（2）Microphone and audio amplifier are connected with Jetson TK1 development boards, microphone gathers the voice messaging of people, by ROS
Self-programming is built in operating system speech recognition, synthesis system are entered to complete related audio processing, then by scheming clever semanteme
The information matches of row clouds storehouse, the suitable sentence of answering of selection carries out phonetic synthesis, sends out audio by audio amplifier, finally realizes that voice is handed over
Mutual function, i.e. people and robot exchanges and dialogues；
（3）In home environment, it can realize that robot and child, old man carry out chat and accompanied and attended to by voice interactive function；And
And based on the indoor two-dimensional map having had built up, the keyword in speech input information can be caught by semantic analysis,
The output of relative keys order is carried out in ROS operating systems, then output command calls are performed into independent navigation function, passage path
Planning algorithm calculates the optimal path up to target location, in combination with the visual information of depth camera, passes through dynamic window
Mouthful method carries out local path planning, realizes Real Time Obstacle Avoiding；
（4）In navigation procedure, ROS operating systems send the speed command required for independent navigation into STM32 single-chip microcomputers,
STM32 single-chip microcomputers send corresponding control signal to motor drive module, and motor motion, final realize is transported by Voice command
It is dynamic to combine independent navigation function, therefore can realize that robot accepts owner's phonetic order and carries out specified location in home environment
Article transport；Corresponding infrared radio frequency module can also be increased, infrared signal is controlled using voice, and then control with red
The household electrical appliances of external switch, realize smart home.
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| CN109571412A (en) * | 2019-01-15 | 2019-04-05 | 北京华晟经世信息技术有限公司 | A kind of mechanical arm independent navigation mobile system and method |
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| CN110370245A (en) * | 2019-07-09 | 2019-10-25 | 广州科粤信息科技有限公司 | A kind of robot based on multi-sensor information fusion location technology |
| CN110181540A (en) * | 2019-07-09 | 2019-08-30 | 民政部一零一研究所 | All directionally movable robot |
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| CN110844402A (en) * | 2019-11-01 | 2020-02-28 | 贵州大学 | Garbage bin system is summoned to intelligence |
| CN110844402B (en) * | 2019-11-01 | 2022-05-17 | 贵州大学 | Garbage bin system is summoned to intelligence |
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| CN113524217A (en) * | 2021-07-20 | 2021-10-22 | 中北大学 | Multi-module detection robot |
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| CN114353598A (en) * | 2022-01-13 | 2022-04-15 | 南京景泓智垚电子科技有限公司 | Intelligent mobile robot tactics target |
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