CN109877848A - A kind of museum guiding robot and its application method based on raspberry pie - Google Patents
A kind of museum guiding robot and its application method based on raspberry pie Download PDFInfo
- Publication number
- CN109877848A CN109877848A CN201910212993.1A CN201910212993A CN109877848A CN 109877848 A CN109877848 A CN 109877848A CN 201910212993 A CN201910212993 A CN 201910212993A CN 109877848 A CN109877848 A CN 109877848A
- Authority
- CN
- China
- Prior art keywords
- raspberry pie
- robot
- lcd
- museum
- raspberry
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of museum guiding robot and its application method based on raspberry pie, the museum guiding robot based on raspberry pie includes host machine people pedestal, visual sensor, sound equipment, raspberry pie, LCD and humanoid shell；The application method of museum guiding robot based on raspberry pie includes: activation system；Initialization；Control robot ambulation simultaneously establishes museum's indoor environment map；The two-dimensional map that foundation is loaded in 3D visualization tool RVIZ, is arranged multiple destinations in an lcd；It navigates in conjunction with global path planning and local paths planning, completes navigation guide task；It arrives at the destination rear raspberry pie and relevant audio is played by sound equipment, complete the explanation task to visitor.The present invention realizes the independent navigation of robot, reinforces human-computer interaction function, improves the ability of solution of emergent event, realize guiding function during the navigation process.
Description
Technical field
The present invention relates to a kind of museum guiding robot and its application method based on raspberry pie, belongs to robot technology
Field.
Background technique
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, people need service robot to be capable of providing more
Add quality services and liberates labour.It is shown according to existing market data, is largely industrial machine in numerous robots
Device people or some abilities without solving emergency event, lack the service robot of human-computer interaction, they mostly can only be by
According to preset order completion task.For these shortcomings of traditional services robot, develop a with abundant
Interactive capability and independent navigation ability service robot become social development inexorable trend.
Summary of the invention
It is an object of the present invention to overcome defect of the existing technology, propose that a kind of museum based on raspberry pie is led
It lookes at robot and its application method, realizes that robot guides the target of visitor automatically, reinforce human-computer interaction function, improve reply
The ability of emergency event realizes the functions such as independent navigation, automatic obstacle avoiding during the navigation process.
To achieve the above object, the present invention adopts the following technical scheme that, a kind of museum guiding machine based on raspberry pie
People, including visual sensor, sound equipment, LCD, humanoid shell, raspberry pie and mobile robot pedestal, visual sensor and main controller
It is communicated by USB serial ports with raspberry pie in device people's pedestal, visual sensor and raspberry pie are become by the battery of robot base
It powers after pressure, sound equipment is connect with raspberry pie by tone frequency channel wire, and the HDMI interface of LCD and the HDMI interface of raspberry pie connect, LCD's
Touch interface and the USB interface of raspberry pie connect, and visual sensor is placed in robot eyes.
Preferably, the host machine people pedestal uses TurtleBot2 robot platform, and two drivings are installed in bottom surface
It takes turns, a driven wheel, realizes hanging function using spring in driving wheel, stability is good in navigation procedure.
Preferably, the visual sensor uses Kinect v2, and is embedded in robot head.
Preferably, the raspberry pie is equipped with Ubuntu operating system and ROS operating system.
Preferably, the LCD uses micro- snow 7inch Capacitive Touch LCD (D).
The present invention also propose it is a kind of based on a kind of museum guiding robot based on raspberry pie described in claim 1 and
Its application method, includes the following steps:
1) initialize: starting raspberry pie and robot base open visual sensor, and automatic load initialization command is arranged.
2) it obtains information: controlling its movement, visual sensor obtains indoor map, saves map to raspberry pie；
3) two-dimensional map of foundation is loaded in the 3D visualization tool RVIZ on LCD, display in an lcd, determines original state
Afterwards, destination is set in an lcd；
4) raspberry pie uses the navigation function packet of ROS, completes path planning in global scope, cook up one from
Accessible route of the starting point to target point；
5) it when robot does not encounter not shown dynamic barrier on map in step 3), is then cooked up according to step 4)
Route walking, reaches target position, completes navigation, and task terminates, and step 8) is transferred to, if robot encounters in step 3) on map
When not shown dynamic barrier, then step 6) is transferred to；
6) raspberry pie realizes local paths planning with the base_local_planner packet of ROS, cooks up one in real time from out
Hair point arrives the accessible track of target point, walks by new track, reaches target position, completes navigation, and task terminates, and is transferred to step
7)；If encountering not shown dynamic barrier on map before arriving at the destination again, step 6) is repeated；
7) after arriving at the destination, raspberry pie plays specified audio by sound equipment, is explained.
8) it repeats step 5) and carries out next subtask to step 7).
In step 3), the indoor map of 3D visualization tool RVIZ load is shown on LCD, and user visualizes in 3D
Target position is set on the working interface of tool RVIZ.
Invent achieved the utility model has the advantages that the present invention realizes the target of robot autonomous navigation guide to visitors, reinforcement 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 bootup process；Using current
Popular robot operating system ROS, due to the open source 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 sensor, detection accuracy is high, and speed is fast, anti-interference
Ability is strong, obtains depth image；Using touch-screen display, user can set target, strengthen human-computer interaction function, mention
The high ability of solution of emergent event；The side that global path planning is combined with local paths planning is used during the navigation process
Formula can effectively realize the function of robot automatic obstacle avoiding during the navigation process.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot of the invention；
Fig. 2 is the structural schematic diagram of robot base；
Fig. 3 is a kind of flow chart of the application method of museum guiding robot based on raspberry pie of the invention.
Meaning marked in the figure: 1- visual sensor, 2- sound equipment, the humanoid shell of 3-LCD, 4-, 5- raspberry pie, 6- moving machine
Device people's pedestal, 7- driving wheel, 8- driven wheel.
Specific embodiment
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 museum guiding robot based on raspberry pie of the invention.The present invention proposes
A kind of museum guiding robot based on raspberry pie, including visual sensor 1, sound equipment 2, LCD3, humanoid shell 4, raspberry pie 5
With mobile robot pedestal 6, communicated by USB serial ports with raspberry pie 5 in visual sensor 1 and host machine people pedestal 6,
By powering after the battery transformation of robot base 6, sound equipment 2 and raspberry pie 5 are connected by tone frequency channel wire for visual sensor 1 and raspberry pie 5
It connects, the HDMI interface of LCD3 is connect with the HDMI interface of raspberry pie 5, and the Touch interface of LCD3 and the USB interface of raspberry pie 5 connect
It connects, visual sensor 1 is placed in robot eyes.
As a kind of preferred embodiment, the host machine people pedestal 6, bottom surface install two driving wheels 7, one from
Driving wheel 8, base schematic diagram is as shown in Figure 2.
As a kind of preferred embodiment, the raspberry pie 5 is equipped with Ubuntu operating system and ROS.
As a kind of preferred embodiment, the visual sensor 1 uses Kinect v2.
As a kind of preferred embodiment, the LCD3 uses micro- snow 7inch Capacitive Touch LCD (D).
Fig. 3 is a kind of flow chart of the application method of museum guiding robot based on raspberry pie of the invention, this hair
A kind of bright application method for also proposing museum guiding robot based on raspberry pie, comprising the following steps:
1) initialize: starting raspberry pie 5 and robot base 6 open Kinect visual sensor 1, and it is initial that automatic load is arranged
Change order.
2) it obtains information: controlling its movement, visual sensor 1 obtains indoor map, saves map to raspberry pie 5.
3) two-dimensional map that foundation is loaded in the 3D visualization tool RVIZ on LCD3, is shown in LCD (3), determines
After original state, destination is set in an lcd；The indoor map of 3D visualization tool RVIZ load is shown on LCD, user
Target position is set on the working interface of 3D visualization tool RVIZ.
4) raspberry pie (5) uses the navigation function packet of ROS, completes the path planning in global scope, planning
An accessible route from starting point to target point out.
5) it when robot does not encounter not shown dynamic barrier on map in step 3), is then planned according to step 4)
Route walking out, reaches target position, completes navigation, and task terminates, and is transferred to step 8), if robot encounters ground in step 3)
On figure when not shown dynamic barrier, then step 6) is transferred to.
6) raspberry pie (5) realizes local paths planning with the base_local_planner packet of ROS system, advises in real time
An accessible track from starting point to target point is marked, is walked by new track, target position is reached, completes navigation, task
Terminate, be transferred to step 7), base_local_planner packet uses Trajectory Rollout and Dynamic Window
The speed and angle (dx, dy, dtheta that should be travelled in approaches algorithm calculating robot each period
Velocities), base_local_planner packet data according to the map are passed through, benefit by a plurality of road that algorithm search reaches target
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 algorithm is as follows: (1)
The current state of sampling robot, i.e. speed and angle (dx, dy, dtheta)；(2) speed of each sampling, computer are directed to
Device people travels the state after a period of time with the speed, obtains the route of a traveling；(3) using some evaluation criterions (whether
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；
If encountering not shown dynamic barrier on map before arriving at the destination again, step 6) is repeated.
7) after arriving at the destination, raspberry pie (5) plays specified audio by sound equipment (2), is explained.
8) it repeats step 5) and carries out next subtask to step 7).
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 (7)
1. a kind of museum guiding robot based on raspberry pie, which is characterized in that including visual sensor (1), sound equipment (2),
LCD (3), humanoid shell (4), raspberry pie (5) and mobile robot pedestal (6), visual sensor (1) and mobile robot pedestal
(6) it is communicated by USB serial ports with raspberry pie (5) in, visual sensor (1) and raspberry pie (5) are by robot base (6)
It powers after battery transformation, sound equipment (2) is connect with raspberry pie (5) by tone frequency channel wire, HDMI interface and raspberry pie (5) of LCD (3)
HDMI interface connection, the Touch interface of LCD (3) are connect with the USB interface of raspberry pie (5), and visual sensor (1) is placed in machine
Human eye portion.
2. a kind of museum guiding robot based on raspberry pie according to claim 1, which is characterized in that the machine
There are two driving wheel (7) and a driven wheels (8) for pedestal (6) installation of people.
3. a kind of museum guiding robot based on raspberry pie according to claim 1, which is characterized in that the raspberry
Send (5) equipped with Ubuntu operating system and ROS.
4. a kind of museum guiding robot based on raspberry pie according to claim 1, which is characterized in that the vision
Sensor (1) uses Kinect v2.
5. a kind of museum guiding robot based on raspberry pie according to claim 1, which is characterized in that the LCD
(3) micro- snow 7inch Capacitive Touch LCD (D) is used.
6. a kind of application method of the museum guiding robot based on described in claim 1 based on raspberry pie, feature exist
In including the following steps:
1) initialize: starting raspberry pie (5) and robot base (6) are opened visual sensor (1), and it is initial that automatic load is arranged
Change order；
2) it obtains information: controlling its movement, visual sensor (1) obtains indoor map, saves map to raspberry pie (5)；
3) two-dimensional map that foundation is loaded in the 3D visualization tool RVIZ on LCD (3), after determining original state, in LCD
(3) destination is set in；
4) raspberry pie (5) uses the navigation function packet of ROS, completes the path planning in global scope, cooks up one
Accessible route of the item from starting point to target point；
5) it when robot does not encounter not shown dynamic barrier on map in step 3), is then cooked up according to step 4)
Route walking, reaches target position, completes navigation, and task terminates, and step 8) is transferred to, if robot encounters in step 3) on map
When not shown dynamic barrier, then step 6) is transferred to；
6) raspberry pie (5) realizes local paths planning with the base_local_planner packet of ROS, cooks up one in real time
Accessible track from starting point to target point is walked by new track, reaches target position, completes navigation, and task terminates, is transferred to
Step 7)；If encountering not shown dynamic barrier on map before arriving at the destination again, step 6) is repeated；
7) after arriving at the destination, raspberry pie (5) plays specified audio by sound equipment (2), is explained；
8) it repeats step 5) and carries out next subtask to step 7).
7. the application method of the museum guiding robot according to claim 6 based on raspberry pie, which is characterized in that
In step 3), the indoor map of 3D visualization tool RVIZ load is shown on LCD, and user is 3D visualization tool RVIZ's
Target position is set on working interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910212993.1A CN109877848A (en) | 2019-03-20 | 2019-03-20 | A kind of museum guiding robot and its application method based on raspberry pie |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910212993.1A CN109877848A (en) | 2019-03-20 | 2019-03-20 | A kind of museum guiding robot and its application method based on raspberry pie |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109877848A true CN109877848A (en) | 2019-06-14 |
Family
ID=66933231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910212993.1A Pending CN109877848A (en) | 2019-03-20 | 2019-03-20 | A kind of museum guiding robot and its application method based on raspberry pie |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109877848A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111309024A (en) * | 2020-03-04 | 2020-06-19 | 北京小狗智能机器人技术有限公司 | Robot positioning navigation method and device based on real-time visual data |
-
2019
- 2019-03-20 CN CN201910212993.1A patent/CN109877848A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111309024A (en) * | 2020-03-04 | 2020-06-19 | 北京小狗智能机器人技术有限公司 | Robot positioning navigation method and device based on real-time visual data |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108563224A (en) | A kind of food and drink robot and its application method based on ROS | |
| CN108303972B (en) | Interaction method and device of mobile robot | |
| CN106325275B (en) | A kind of system of robot navigation, method and device | |
| CN100360204C (en) | Control system of intelligent perform robot based on multi-processor cooperation | |
| CN110147106A (en) | Has the intelligent Mobile Service robot of laser and vision fusion obstacle avoidance system | |
| CN104732835B (en) | A kind of intelligent miniature vehicle instructional device in stadium | |
| CN107065863A (en) | A kind of guide to visitors based on face recognition technology explains robot and method | |
| JP5747191B2 (en) | Mobile remote control system and control program therefor | |
| CN105629969A (en) | Restaurant service robot | |
| CN102902271A (en) | Binocular vision-based robot target identifying and gripping system and method | |
| CN105943326A (en) | Intelligent outdoor blind guiding equipment and navigation and positioning method for controlling equipment | |
| CN103389699A (en) | Robot monitoring and automatic mobile system operation method based on distributed intelligent monitoring controlling nodes | |
| CN108873911A (en) | It is a kind of that luggage case and its control method are followed based on ROS automatically | |
| JP2010231359A (en) | Remote control device | |
| CN103853464B (en) | Kinect-based railway hand signal identification method | |
| CN206541196U (en) | A kind of guide to visitors based on face recognition technology explains robot | |
| CN109521767A (en) | Independent navigation robot system | |
| CN109972674B (en) | Unmanned excavation system and method under complex construction environment based on natural interaction | |
| CN109933061A (en) | Robot and control method based on artificial intelligence | |
| CN103163885A (en) | Autonomous guided system of tour guide robot | |
| CN110497405B (en) | Force feedback man-machine cooperation anti-collision detection method and module for driving and controlling integrated control system | |
| CN107621826A (en) | Intelligent movable tracks car | |
| JP6134895B2 (en) | Robot control system, robot control program, and explanation robot | |
| CN106933227A (en) | The method and electronic equipment of a kind of guiding intelligent robot | |
| CN105816303A (en) | GPS and visual navigation-based blind guiding system and method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190614 |
|
| RJ01 | Rejection of invention patent application after publication |