CN108563224A - A kind of food and drink robot and its application method based on ROS - Google Patents
A kind of food and drink robot and its application method based on ROS Download PDFInfo
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- CN108563224A CN108563224A CN201810293653.1A CN201810293653A CN108563224A CN 108563224 A CN108563224 A CN 108563224A CN 201810293653 A CN201810293653 A CN 201810293653A CN 108563224 A CN108563224 A CN 108563224A
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- 235000013305 food Nutrition 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000000007 visual effect Effects 0.000 claims abstract description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 14
- 238000012800 visualization Methods 0.000 claims abstract description 13
- 230000004888 barrier function Effects 0.000 claims description 8
- 235000013361 beverage Nutrition 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 3
- 240000007651 Rubus glaucus Species 0.000 claims 1
- 235000011034 Rubus glaucus Nutrition 0.000 claims 1
- 235000009122 Rubus idaeus Nutrition 0.000 claims 1
- 235000021028 berry Nutrition 0.000 claims 1
- 230000004438 eyesight Effects 0.000 claims 1
- 230000003993 interaction Effects 0.000 abstract description 7
- 230000004913 activation Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- JKRWZLOCPLZZEI-UHFFFAOYSA-N alpha-Trichloromethylbenzyl acetate Chemical compound CC(=O)OC(C(Cl)(Cl)Cl)C1=CC=CC=C1 JKRWZLOCPLZZEI-UHFFFAOYSA-N 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of food and drink robot and its application method based on ROS, the food and drink robot based on ROS includes host machine people pedestal, Kinect visual sensors, Raspberry Pi, holder, LCD, pallet and work station PC；The application method of food and drink robot based on ROS, is initialized, activation system first, and work station control robot ambulation simultaneously establishes indoor environment map；The two-dimensional map that foundation is loaded in 3D visualization tools RVIZ, is arranged destination in an lcd, obtains accessible track in conjunction with global path planning and local paths planning, completes navigation task.The present invention realizes the autonomous food delivery of robot, reinforces human-computer interaction function, improves the ability of solution of emergent event, and the functions such as independent navigation, automatic obstacle avoiding are realized in navigation procedure.
Description
Technical field
The present invention relates to a kind of food and drink robot and its application method based on ROS belongs to automation and is led with mechanical ＆ electrical technology
Domain.
Background technology
In recent years, with the continuous development of science and technology, especially robot technology rapidly develops, and robot has applied
To more and more fields, people’s lives are greatly facilitated.Today's society, life stress increase day by day, and people need server
Device people is capable of providing more quality services and liberates labour.It is shown according to existing market data, in numerous robots,
Major part is industrial robot or some do not solve the ability of accident, lacks the service robot of human-computer interaction,
They mostly can only be according to preset order completion task.For these shortcomings of traditional services robot, research and development
Go out a inexorable trend for becoming social development with the service robot of independent navigation ability with abundant interactive capability.
Invention content
It is an object of the present invention to overcome defect of the existing technology, propose a kind of food and drink robot based on ROS and
Its application method realizes the target of robot autonomous food delivery, reinforces human-computer interaction function, improves the ability of solution of emergent event,
The functions such as independent navigation, automatic obstacle avoiding are realized in navigation procedure.
To achieve the above object, the present invention adopts the following technical scheme that, a kind of food and drink robot based on ROS, including master
Man-controlled mobile robot pedestal, Kinect visual sensors, Raspberry Pi, holder, LCD (liquid crystal display, Liquid Crystal
Display), pallet and work station PC, Kinect visual sensor and Raspberry Pi pass through USB serial ports and host machine people bottom respectively
TurtleBot2 robot platforms in seat carry out communication and by powering after the battery transformation of robot base, in robot base
TurtleBot2 robot platforms HDMI interface and Raspberry Pi HDMI interface connect, the Touch interfaces and Raspberry Pi of LCD
USB interface connection, work station PC be placed in food and beverage sevice platform utilize ssh (safety shell protocol) remote control Raspberry Pi, pallet
It is set to the surface of holder, convenient for placing tableware.
Preferably, the host machine people pedestal uses TurtleBot2 robot platforms, and bottom surface is symmetrically installed two drives
Driving wheel, two driven wheels.
Preferably, the Kinect visual sensors and Raspberry Pi are fixed on the middle part of robot.
Preferably, Raspberry Pi and work station PC are respectively arranged with Ubuntu operating systems and ROS operating systems.
The LCD is fixed on cradle top, and the inclination angle with horizontal plane is 60 degree, and selection is checked convenient for user.
The present invention also proposes a kind of application method of the food and drink robot based on ROS based on described in claim 1, including
Following steps：
1) it initializes：Start host machine people's pedestal, Raspberry Pi and work station PC, Raspberry Pi and work station PC connect same
LAN simultaneously controls Raspberry Pi using safety shell protocol ssh remote softwares；
2) start ROS systems, start the 3D visualization tools RVIZ in Kinect visual sensors and ROS systems；
3) work station PC is walked indoors by turtlebot_teleop function packet remote control robots, and Kinect is regarded
Feel that sensor detects indoor environment information, the gmapping function packets that Raspberry Pi is provided by ROS establish indoor environment map simultaneously
It preserves；
4) two-dimensional map of foundation is loaded in 3D visualization tools RVIZ, is shown in an lcd, after determining original state,
Destination is set in an lcd, realizes human-computer interaction；
5) Raspberry Pi uses the navigation function packets of ROS, completes the path planning in global scope, cooks up one
Accessible route of the item from starting point to target point；
6) it when robot does not encounter not shown barrier on map in step 3), is then cooked up according to step 5)
Route is walked, and target location is reached, and completes navigation, and task terminates, and step 8) is transferred to, if robot encounters in step 3) on map
When not shown barrier, then step 7) is transferred to；
7) Raspberry Pi (3) realizes local paths planning with the base_local_planner packets of ROS, cooks up one in real time
Accessible track of the item from starting point to target point is walked by new track, reaches target location, completes navigation, and task terminates, and is turned
Enter step 8)；If encountering barrier before arriving at again, step 7) is repeated；
8) it repeats step 4) and carries out next subtask to step 7).
Preferably, the dining room indoor map of 3D visualization tools RVIZ loads is shown on LCD (5), food and drink staff
Target customer or food and beverage sevice platform position are set on the working interface of 3D visualization tools RVIZ.
The advantageous effect that the present invention is reached：The present invention realizes the target of robot autonomous food delivery, reinforces human-computer interaction work(
Can, the ability of solution of emergent event is improved, the functions such as independent navigation, automatic obstacle avoiding are realized in navigation procedure；Using current stream
Capable robot operating system ROS, due to the increasing income property of itself so that robot software's system to the adaptability of environment more
By force；Using the obstacle information in the laser detection environment of Kinect visual sensors, accuracy of detection is high, and speed is fast, anti-interference
Ability is strong, obtains depth image；Using touch-screen display, food and drink staff can set target food delivery client, strengthen
Human-computer interaction function improves the ability of solution of emergent event；Global path planning and local road are used in navigation procedure
Diameter plans the mode being combined, and can effectively realize the function of robot automatic obstacle avoiding in navigation procedure.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of food and drink robot based on ROS of the present invention；
Fig. 2 is a kind of flow chart of the application method of food and drink robot based on ROS of the present invention.
The meaning marked in figure：1- host machine people's pedestals, 2-Kinect visual sensors, 3- Raspberry Pis, 4- holders, 5-
LCD, 6- pallet, 7- driving wheels, 8- driven wheels.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
Fig. 1 is a kind of structural schematic diagram of full-automatic shopping robot of the present invention.The present invention proposes a kind of based on ROS's
Food and drink robot, including host machine people pedestal 1, Kinect visual sensors 2, Raspberry Pi 3, holder 4, LCD5, pallet 6 and work
Make station PC 7, Kinect visual sensors 2 and Raspberry Pi 3 are respectively by USB serial ports and host machine people pedestal 1
TurtleBot2 robot platforms carry out communication and by powering after the battery transformation of robot base 1, in robot base 1
The HDMI interface of TurtleBot2 robot platforms is connect with the HDMI interface of Raspberry Pi 3 with HDMI wire, the Touch interfaces of LCD5
The USB line for turning micro with the USB interface of Raspberry Pi 3 with type A is connect, and work station PC7 is placed in food and beverage sevice platform using safety
Agreement ssh remote controls Raspberry Pi 3, pallet 6 is located at the top of holder 4, convenient for placing tableware.
As a kind of preferred embodiment, the host machine people pedestal 1 uses TurtleBot2 robot platforms, bottom
Two driving wheels, two driven wheels are installed in face, and base schematic diagram is as shown in Figure 1.
As a kind of preferred embodiment, the Kinect visual sensors 2 and Raspberry Pi 3 are fixed in robot
Portion.
As a kind of preferred embodiment, Raspberry Pi 3 and work station PC7 are respectively arranged with Ubuntu operating systems and ROS operations
System.
As a kind of preferred embodiment, the LCD5 is fixed on cradle top.Inclination angle with horizontal plane is 60 degree, is convenient for
User checks selection.
Fig. 2 is the flow chart of the application method of the food and drink robot based on ROS of the present invention, and the present invention also proposes a kind of base
In the application method of the food and drink robot of ROS, include the following steps：
1) it initializes：Start host machine people pedestal 1, Raspberry Pi 3 and work station PC7, Raspberry Pi 3 and work station PC7 connect
The same LAN simultaneously controls Raspberry Pi 3 using safety shell protocol ssh remote softwares；
2) start ROS systems, start the 3D visualization tools RVIZ in Kinect visual sensors 2 and ROS systems；
3) work station PC7 is walked indoors by turtlebot_teleop function packet remote control robots, Kinect
Visual sensor 2 detects indoor environment information, and the gmapping function packets that Raspberry Pi 3 is provided by ROS systems establish indoor ring
Condition figure simultaneously preserves；
4) two-dimensional map having built up is loaded in 3D visualization tools RVIZ, is shown in LCD5, determines initial shape
After state, carries out touch operation in LCD5 and destination (seat number or food and beverage sevice platform of the people that orders) is set, realize human-computer interaction；
5) Raspberry Pi 3 is completed the path planning in global scope, is cooked up with the navigation function packets of ROS
One accessible track from starting point to target point, this function are that navfn function packets are realized, navfn function packets pass through
The algorithm of Dijkstra optimal paths calculates the least cost path on cost map costmap, the global road as robot
Line；
6) it when robot does not encounter not shown barrier on map in step 3), is then cooked up according to step 5)
Track is walked, and target location is reached, and completes navigation, and task terminates, and step 8) is transferred to, if robot encounters in step 3) on map
When not shown barrier, then step 7) is transferred to；
7) Raspberry Pi 3 realizes local paths planning with the base_local_planner packets of ROS systems, cooks up in real time
One accessible track from starting point to target point is walked by new track, reaches target location, completes navigation, and task terminates,
It is transferred to step 8), base_local_planner packets use Trajectory Rollout and Dynamic Window
The speed and angle (dx, dy, dtheta that should be travelled in approaches algorithm calculating robots each period
Velocities), data, a plurality of road that target is reached by algorithm search pass through base_local_planner packets according to the map, profit
Optimal path is chosen with some evaluation criterions (whether can strikes obstacles, required time etc.), and needed for calculating
The real-time speed and angle wanted；
Wherein, the design scheme of Trajectory Rollout and Dynamic Window approaches algorithms is as follows：
(1) the current state of sampling robot, i.e. speed and angle (dx, dy, dtheta)；(2) it is directed to the speed each sampled, is calculated
Robot travels the state after a period of time with the speed, obtains the route of a traveling；(3) utilizing some evaluation criterions (is
No meeting strikes obstacles, required time etc.) it is that a plurality of route is given a mark；(4) according to marking, optimal path is selected；(5) it repeats
Process above；
8) it repeats step 4) and carries out next subtask to step 7).
As a kind of preferred embodiment, the dining room indoor map of 3D visualization tools rviz loads is shown on LCD5,
On the graphical interfaces of 3D visualization tools rviz, food and drink staff sets target customer or food and beverage sevice platform position, each
Packet communicates the movement of control robot by the topic of ROS systems, to be automatically performed a food delivery.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of food and drink robot based on ROS, which is characterized in that including host machine people pedestal (1), Kinect visual sensings
Device (2), Raspberry Pi (3), holder (4), LCD (5), pallet (6) and work station PC (7), Kinect visual sensors (2) and raspberry
(3) are sent to be communicated and by machine with the TurtleBot2 robot platforms in host machine people pedestal (1) by USB serial ports respectively
Power after the battery transformation of device people pedestal (1), the HDMI interface of the TurtleBot2 robot platforms in robot base (1) with
The HDMI interface of Raspberry Pi (3) connects, and the Touch interfaces of LCD (5) are connect with the USB interface of Raspberry Pi (3), work station PC (7)
Be placed in food and beverage sevice platform utilize safety shell protocol ssh remote controls Raspberry Pi (3), pallet (6) be set to holder (4) just on
Side.
2. a kind of food and drink robot based on ROS according to claim 1, which is characterized in that host machine people bottom
Seat (1) uses TurtleBot2 robot platforms, and bottom surface is symmetrically installed two driving wheels and two driven wheels.
3. a kind of food and drink robot based on ROS according to claim 1, which is characterized in that the Kinect visions pass
Sensor (2) and Raspberry Pi (3) are fixed on the middle part of robot.
4. a kind of food and drink robot based on ROS according to claim 1, which is characterized in that Raspberry Pi (3) and work station
PC (7) is respectively arranged with Ubuntu operating systems and ROS operating systems.
5. a kind of application method of the food and drink robot based on ROS based on described in claim 1, which is characterized in that including such as
Lower step：
1) it initializes：Start TurtleBot2 robot platforms, Raspberry Pi (3) and the work station in host machine people pedestal (1)
PC (7), Raspberry Pi (3) and work station PC (7) connect the same LAN and utilize safety shell protocol ssh remote softwares control tree
The certain kind of berries is sent；
2) start ROS systems, start the 3D visualization tools RVIZ in Kinect visual sensors (2) and ROS systems；
3) work station PC (7) is walked indoors by turtlebot_teleop function packet remote control robots, and Kinect is regarded
Feel that sensor (2) detects indoor environment information, the gmapping function packets that Raspberry Pi (3) is provided by ROS establish indoor environment
Map simultaneously preserves；
4) two-dimensional map that foundation is loaded in 3D visualization tools RVIZ, is shown in LCD (5), after determining original state,
Destination is set in LCD (5)；
5) Raspberry Pi (3) uses the navigation function packets of ROS, completes the path planning in global scope, cooks up one
Accessible route of the item from starting point to target point；
6) when robot does not encounter not shown barrier on map in step 3), then the route cooked up according to step 5)
Walking reaches target location, completes navigation, and task terminates, is transferred to step 8), do not shown on map if robot encounters in step 3)
When the barrier shown, then step 7) is transferred to；
7) Raspberry Pi (3) with ROS base_local_planner packets realization local paths planning, cook up in real time one from
Starting point is walked to the accessible track of target point by new track, and target location is reached, and completes navigation, and task terminates, and is transferred to step
It is rapid 8)；If encountering barrier before arriving at again, step 7) is repeated；
8) it repeats step 4) and carries out next subtask to step 7).
6. the application method of the food and drink robot according to claim 5 based on ROS, which is characterized in that in step 4),
The dining room indoor map of 3D visualization tools RVIZ loads is shown on LCD (5), and food and drink staff is in 3D visualization tools
Target customer or food and beverage sevice platform position are set on the working interface of RVIZ.
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| CN201810293653.1A CN108563224A (en) | 2018-04-04 | 2018-04-04 | A kind of food and drink robot and its application method based on ROS |
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| CN201810293653.1A CN108563224A (en) | 2018-04-04 | 2018-04-04 | A kind of food and drink robot and its application method based on ROS |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109343541A (en) * | 2018-12-05 | 2019-02-15 | 河海大学常州校区 | A kind of AGV and its application method based on ROS |
| CN109333540A (en) * | 2018-12-05 | 2019-02-15 | 河海大学常州校区 | A kind of guest-meeting robot and its application method based on raspberry pie |
| CN109568034A (en) * | 2018-11-21 | 2019-04-05 | 河海大学常州校区 | A kind of intelligent wheel chair and its application method based on ROS |
| CN109978272A (en) * | 2019-03-30 | 2019-07-05 | 华南理工大学 | A kind of path planning system and method based on multiple omni-directional mobile robots |
| CN110673610A (en) * | 2019-10-11 | 2020-01-10 | 天津工业大学 | ROS-based factory AGV path planning method |
| CN110928308A (en) * | 2019-12-12 | 2020-03-27 | 广东智源机器人科技有限公司 | Method and system for controlling running of executive device of food delivery system and computer equipment |
| CN111185905A (en) * | 2020-01-10 | 2020-05-22 | 华南理工大学 | Robot wireless control system and method based on ROS topic communication |
| CN112113565A (en) * | 2020-09-22 | 2020-12-22 | 温州科技职业学院 | Robot positioning system for agricultural greenhouse environment |
| CN112348434A (en) * | 2020-10-29 | 2021-02-09 | 济南浪潮高新科技投资发展有限公司 | Cloud community takeout full-automatic distribution scheme |
| CN113910265A (en) * | 2021-12-13 | 2022-01-11 | 山东中瑞电气有限公司 | Intelligent inspection method and system for inspection robot |
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| CN112113565A (en) * | 2020-09-22 | 2020-12-22 | 温州科技职业学院 | Robot positioning system for agricultural greenhouse environment |
| CN112348434A (en) * | 2020-10-29 | 2021-02-09 | 济南浪潮高新科技投资发展有限公司 | Cloud community takeout full-automatic distribution scheme |
| CN113910265A (en) * | 2021-12-13 | 2022-01-11 | 山东中瑞电气有限公司 | Intelligent inspection method and system for inspection robot |
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Application publication date: 20180921 |
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