CN107471229A - A kind of Edutainment robot based on ROS frameworks - Google Patents
A kind of Edutainment robot based on ROS frameworks Download PDFInfo
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- CN107471229A CN107471229A CN201710913405.8A CN201710913405A CN107471229A CN 107471229 A CN107471229 A CN 107471229A CN 201710913405 A CN201710913405 A CN 201710913405A CN 107471229 A CN107471229 A CN 107471229A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
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- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of Edutainment robot based on ROS frameworks, wherein, sound identification module, power management module, sensor assembly, functional module and motion-control module are connected with carrying ROS decision-making module respectively, and the man-machine interactive platform for carrying ROS is connected by communication module with decision-making module；Identical ROS master are configured on the Raspberry Pi 3 of man-machine interactive platform and decision-making module simultaneously, to realize the mutual communication of the node on node and robot on man-machine interactive platform；Communication module includes USB communication terminals and data transmission communication end；Based on ROS frameworks, sent and instructed to robot by man-machine interactive platform, and then realize bottom layer driving control, Remote, automatic obstacle avoiding, autonomous line walking, follow automatically, the control of style LED, the function such as multiplexed signal sampling and ultrasonic ranging, and use Open Source Code, be advantageous to secondary development, reduce development difficulty, Speeding up development process.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of Edutainment robot based on ROS frameworks.
Background technology
With the rapid development of intellectual technology and the continuous renewal of education ideas, robot technology thelematics, electricity
The frontier science and technology such as sub- engineering, mechanical engineering, control theory, sensing technology and artificial intelligence are contributed share for educational reform.
Robot operating system（Robot Operating System, ROS）That one kind is increased income robot operating system, 2010 by
Willow Garage companies issue, and can mainly provide the function of similar operations system, hardware is provided for robot application system
Abstract, bottom layer driving, message transmission, reason and the instrument for auxiliary development are assured, such as establish, write and run multi-computer communication
The program of system combination, ROS design objects are to improve the durability of code, using a kind of distributed process framework so that
Program has the independence and lower coupling of height.
Domestic robot teaching belongs to a new field of comparison, but workable resource is considerably less, can utilize ROS's
Distributed structure/architecture and Open Source Code, for learner provide one not only can with ROS platforms that secondary development can entertain not only it is few but also
It is few；Robot teaching platform generally existing problems with the market：Function is simple, and autgmentability is poor, and level of intelligence is not high, user
Colony is limited, and the universal code that can only all provide application, can not provide the code and data of core, such user is very
Think little of robot principle, it more difficult to carry out secondary development on this basis.
The content of the invention
Technical problem solved by the invention is to provide a kind of Edutainment robot based on ROS frameworks, to solve
The shortcomings that in above-mentioned background technology.
Technical problem solved by the invention is realized using following technical scheme：
A kind of Edutainment robot based on ROS frameworks, including carry ROS man-machine interactive platform, sound identification module, electricity
Source control module, sensor assembly, communication module, the decision-making module for carrying ROS, functional module and motion-control module, wherein,
Sound identification module, power management module, sensor assembly, functional module and motion-control module connect with decision-making module respectively
Connect, man-machine interactive platform is connected by communication module with decision-making module；Simultaneously in man-machine interactive platform and decision-making module
Identical ROS master are configured on Raspberry Pi 3, to realize the section on node and robot on man-machine interactive platform
The mutual communication of point；Communication module includes USB communication terminals and data transmission communication end, and user operates man-machine interactive platform and passes through number
According to transmission communication end to robot send instruct, with startup function module, so realize bottom layer driving control, Remote, from
Main avoidance, autonomous line walking, follow automatically, the control of style LED, the function such as multiplexed signal sampling and ultrasonic ranging.
In the present invention, sound identification module includes the bluetooth earphone being connected with robot, after bluetooth earphone starts, user
Phonetic order is sent to robot by bluetooth earphone, such as：Left-hand rotation, right-hand rotation, advance, retrogressing, stopping, avoidance, follow, line walking,
The functions such as ranging, running lamp and breath light, robot perform corresponding action after being connected to phonetic order.
In the present invention, data transfer communication terminal includes WiFi communication end and bluetooth communication end, for man-machine interactive platform
Communication between decision-making module.
In the present invention, functional module include realize autonomous line walking, automatic obstacle avoiding, follow automatically, motion control, style stream
The control of water lamp, ultrasonic ranging, multiplexed signal sampling and LED are shown, under autonomous line walking state, infrared information is subscribed to by robot,
The black trace laid along ground travels；Under automatic obstacle avoiding state, robot subscribes to ultrasound information and judges surrounding environment shape
State, and continue to move with beeline avoiding barrier；Under automatic following state, ultrasound information is subscribed to by robot, before following
Square certain objects simultaneously keep certain distance to move；Under style running lamp state of a control, by the instruction for receiving man-machine interactive platform
Realize that style flashes LED at different rates；Under multiplexed signal sampling state, by receiving the instruction of man-machine interactive platform,
Gather eight road analog signal voltage values and show respective value in LCD display；It is man-machine by receiving under ultrasonic ranging state
The instruction of interaction platform, ultrasonic sensor message is subscribed to, calculates robot left front, front and right front barrier
Distance, and it is included on LCD display.
In the present invention, sensor assembly is included installed in the infrared sensor of robot bottom and installed in robot just
The ultrasonic sensor in front, infrared sensor are used to obtain ground black guidance information, and ultrasonic sensor is used for detection machine
The orientation barrier of device people left, center, right three from robot with a distance from.
In the present invention, motion-control module includes two L298N motors driving plates and four driving wheels, subscribes to decision model
Block and the speed of sound identification module issue.
In the present invention, display module includes LED and LCD display, and LED subscribes to decision-making module information, to realize
Flashed by different instruction style, it may also be used for robot left steering or right turn indicator lamp；LCD display shows that multiple signals are adopted
Obstacle distance, robot present speed and the supply voltage value that magnitude of voltage, the ultrasonic sensor of collection measure.
In the present invention, power management module includes voltage-stablizer and voltage monitor, and voltage-stablizer is by power distribution to machine
The different components of people, voltage monitor monitoring current voltage value are simultaneously shown on LCD display.
Beneficial effect：The present invention is based on ROS frameworks, is sent and instructed to robot by man-machine interactive platform, and then realizes
Bottom layer driving control, Remote, automatic obstacle avoiding, autonomous line walking, follow automatically, style LED control, multiplexed signal sampling and
The functions such as ultrasonic ranging, it is simple in construction, and Open Source Code is used, be advantageous to secondary development, effectively reduce development difficulty, accelerate
Development process.
Brief description of the drawings
Fig. 1 is the schematic diagram of presently preferred embodiments of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
A kind of Edutainment robot based on ROS frameworks shown in Figure 1, including sound identification module, power supply pipe
Manage module, sensor assembly, communication module, decision-making module, functional module, motion-control module, display module and man-machine interaction
Platform, sound identification module, power management module, sensor assembly, functional module, motion-control module and display module difference
It is connected with decision-making module, man-machine interactive platform is connected by communication module with decision-making module；Communication module include USB communication terminals and
WiFi communication end, bluetooth communication end, user operate man-machine interactive platform and passed through to WiFi communication end or bluetooth communication end to machine
People sends instruction, with startup function module, realize bottom layer driving control, Remote, automatic obstacle avoiding, autonomous line walking, automatically with
With functions such as the control of, style LED, multiplexed signal sampling and ultrasonic rangings；
Sound identification module：For the bluetooth earphone being connected with robot, after sound identification module starts, user passes through bluetooth earphone
Phonetic order is sent to robot, such as：Left-hand rotation, right-hand rotation, advance, retrogressing, stopping, avoidance, follow, line walking, ranging, running lamp and
The functions such as breath light, robot perform corresponding action after being connected to phonetic order；
Man-machine interactive platform：Man-machine interactive platform is windows computers, is preinstalled with ROS kernels, man-machine interactive platform one in it
Individual individually ROS nodes, user can also be sent to robot and be instructed by the state of windows computer monitors robot；
Communication module：The communication that WiFi communication end and bluetooth communication end are used between man-machine interactive platform and decision-making module, passes through
Identical ROS master are configured on the Raspberry Pi 3 of windows computers and decision-making module, to realize man-machine interaction
The mutual communication of the node on node and robot on platform；USB communication terminals are used for the download of program, and the burning of system
Record.
Decision-making module：Decision-making module is Raspberry Pi 3, and its system is ubuntu and ROS, is put down according to man-machine interaction
Respective algorithms are called in the instruction of platform from functional module, send instruction by calculating to complete corresponding function.
Functional module：Including autonomous line walking, automatic obstacle avoiding, follow automatically, motion control, style running lamp control, ultrasound
Ripple ranging, multiplexed signal sampling and LED are shown, under autonomous line walking state, infrared information is subscribed to by robot, is laid along ground
Black trace travels；Under automatic obstacle avoiding state, robot subscribes to ultrasound information and judges ambient conditions, and with beeline
Avoiding barrier continues to move；Under automatic following state, ultrasound information is subscribed to by robot, follows front certain objects and keeps
Certain distance moves；Under style running lamp state of a control, realize LED with different by the instruction for receiving man-machine interactive platform
Speed style flashes；Under multiplexed signal sampling state, by receiving the instruction of man-machine interactive platform, eight tunnel analog signals can be gathered
Magnitude of voltage simultaneously shows respective value in LCD display；Under ultrasonic ranging state, by receiving the instruction of man-machine interactive platform,
Ultrasonic sensor message is subscribed to, calculates the distance of robot left front, front and right front barrier, and shown
On LCD display；
Sensor assembly：Including two infrared sensors among robot bottom and immediately ahead of robot
Three ultrasonic sensors, infrared sensor are used to obtain ground black guidance information, and ultrasonic sensor is used to detect machine
The orientation barrier of people left, center, right three from robot with a distance from；
Motion-control module：Including two L298N motors driving plates and four driving wheels, decision-making module and speech recognition mould are subscribed to
The speed of block issue；
Display module：Including LED and LCD display, LED subscribes to decision-making module information, and different instruction style is pressed to realize
Flicker, it may also be used for robot left steering or right turn indicator lamp；LCD display shows the magnitude of voltage of multiplexed signal sampling, surpassed
Obstacle distance, robot present speed and the supply voltage value that sonic sensor measures；
Power management module：Including voltage-stablizer and voltage monitor, voltage-stablizer is by different components of the power distribution to robot, electricity
Pressure monitor monitoring current voltage value is simultaneously shown on LCD display.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (7)
- A kind of 1. Edutainment robot based on ROS frameworks, it is characterised in that including carry ROS man-machine interactive platform, Sound identification module, power management module, sensor assembly, communication module, the decision-making module for carrying ROS, functional module and fortune Dynamic control module, wherein, sound identification module, power management module, sensor assembly, functional module and motion-control module point It is not connected with decision-making module, man-machine interactive platform is connected by communication module with decision-making module；Simultaneously man-machine interactive platform with Identical ROS master are configured on the Raspberry Pi 3 of decision-making module, to realize the node and machine on man-machine interactive platform The mutual communication of node on device people；Communication module includes USB communication terminals and data transmission communication end, and user operates man-machine interaction Platform is sent to robot by data transfer communication terminal and instructed, with startup function module.
- A kind of 2. Edutainment robot based on ROS frameworks according to claim 1, it is characterised in that speech recognition Module includes the bluetooth earphone being connected with robot.
- A kind of 3. Edutainment robot based on ROS frameworks according to claim 1, it is characterised in that data transfer Communication terminal includes WiFi communication end and bluetooth communication end.
- A kind of 4. Edutainment robot based on ROS frameworks according to claim 1, it is characterised in that sensor die Block includes the infrared sensor installed in robot bottom and the ultrasonic sensor immediately ahead of robot.
- A kind of 5. Edutainment robot based on ROS frameworks according to claim 1, it is characterised in that motion control Module includes two L298N motors driving plates and four driving wheels.
- A kind of 6. Edutainment robot based on ROS frameworks according to claim 1, it is characterised in that display module Including LED and LCD display.
- A kind of 7. Edutainment robot based on ROS frameworks according to claim 1, it is characterised in that power management Module includes voltage-stablizer and voltage monitor.
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| CN201710913405.8A CN107471229A (en) | 2017-09-30 | 2017-09-30 | A kind of Edutainment robot based on ROS frameworks |
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Cited By (6)
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| CN108052106A (en) * | 2018-01-19 | 2018-05-18 | 东南大学 | A kind of unmanned agricultural machinery path following system based on ROS |
| CN108081288A (en) * | 2018-02-02 | 2018-05-29 | 南京工业职业技术学院 | A kind of intelligent robot |
| CN108500978A (en) * | 2018-03-08 | 2018-09-07 | 歌尔股份有限公司 | A kind of robot controller, method and robot |
| CN108664611A (en) * | 2018-05-11 | 2018-10-16 | 上海理工大学 | Multifunctional mobile road-director based on touch-control and voice operating |
| CN109085779A (en) * | 2018-08-02 | 2018-12-25 | 海宁哈工联新投资合伙企业(有限合伙) | A kind of control system, method and totem for contactless mutual joy experience |
| CN113311825A (en) * | 2021-05-05 | 2021-08-27 | 温州大学 | Visual and self-defined ROS intelligent robot man-machine interaction system and control method thereof |
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| CN113311825A (en) * | 2021-05-05 | 2021-08-27 | 温州大学 | Visual and self-defined ROS intelligent robot man-machine interaction system and control method thereof |
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