CN110199719A - A kind of intelligent flower watering robot based on ROS - Google Patents
A kind of intelligent flower watering robot based on ROS Download PDFInfo
- Publication number
- CN110199719A CN110199719A CN201910602801.8A CN201910602801A CN110199719A CN 110199719 A CN110199719 A CN 110199719A CN 201910602801 A CN201910602801 A CN 201910602801A CN 110199719 A CN110199719 A CN 110199719A
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- China
- Prior art keywords
- robot
- ros
- flowers
- intelligent flower
- flower watering
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G27/00—Self-acting watering devices, e.g. for flower-pots
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G27/00—Self-acting watering devices, e.g. for flower-pots
- A01G27/003—Controls for self-acting watering devices
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
Abstract
The present invention relates to a kind of intelligent flower watering robot based on ROS, robot are made of mobile chassis, control system, water supply device, flower-watering device, ZigBee module.The intelligent flower watering robot is based on ROS robot operating system and uses SLAM technology, has the function of independent navigation, path planning, Real Time Obstacle Avoiding.The intelligent flower watering robot, to flowers intelligent recognition, controls elevating lever and mechanical arm by controller using vision, allows the robot to realize different height, different direction, different angle watering.The intelligent flower watering robot has voice interactive function, and intelligence can be carried out with robot, and question and answer interact immediately, realizes voice control.
Description
Technical field
Technical solution of the present invention is related to a kind of intelligent flower watering robot based on ROS.
Background technique
With the continuous improvement of people's living standards, indoor flower-growing has become the new side that people intersperse life, cultivate one's taste
Formula, but due to the accelerating rhythm of life, most flowers water shortage due to negligence of management is dead.Currently, indoor equipment of watering flowers is few
It is again few, and be mostly fixed spray-type, it is mobile for hunting a little.Such as the family of published application number 201821466896
With intelligent flower watering robot, being navigated using tape, trolley can only be travelled along fixed tape track, it needs to be laid with track before use,
With limitation；And its elevating lever is fixed angle sprinkling, flexibility is poor.For another example published application number 201811596717
Based on the robot system of watering flowers of big-dipper satellite positioning, a kind of robot system of watering flowers that can satisfy home intelligence is proposed,
Its Beidou satellite navigation signal used is decayed too fastly indoors, cannot achieve indoor precisely navigation and path planning, existing makes
With trouble, have a single function, intelligence degree is not high, user experience is poor, entertainment it is low the problems such as.Therefore, it is proposed to a kind of base
Above-mentioned deficiency is made up in the intelligent flower watering robot of ROS.
Summary of the invention
The purpose of the present invention is to provide a kind of a kind of intelligent flower watering machines based on ROS for enough meeting home intelligence demand
Device people.
The technical solution of the invention is as follows:
A kind of intelligent flower watering robot based on ROS, it is characterised in that: including control system, mobile underpan, confession
Water installations, flower-watering device, ZigBee communication component；The mobile underpan includes two by the direct current with photoelectric encoder
The carrying roller (9) of decelerating motor (10) driving and two auxiliary universal wheels (20) form, and install on the mobile underpan
There are laser radar (8) and IMU sensor (15)；The water supply device by water tank (17), upper liquid level detecting sensor (16), under
Liquid level detecting sensor (18) and micro-electric water pump (19) composition；The flower-watering device by elevating lever (5), holder (11) and
Mechanical arm (4) composition.The mechanical arm (4) is by digital rudder controller 1 (21), digital rudder controller 2 (22), head cartridge (3), spray head
(2), camera (1) forms；Above-mentioned micro-electric water pump (19) is connected with above-mentioned spray head (2) by water pipe；The ZigBee is logical
Believe that component includes a ZigBee coordinator (6) and multiple ZigBee terminals being dispersed at each target location；
The control system includes 64 bit micro-computers (7) and the STM32 single-chip microcontroller based on ARM Cortex-M4
(13), the STM32 single-chip microcontroller (13) based on ARM Cortex-M4, the laser radar (8) and described 64 are miniature
Computer (7) is directly logical by USB by serial communication, the camera (1) and 64 bit micro-computers (7)
Letter, the STM32 single-chip microcontroller (13) based on ARM Cortex-M4 control the DC speed-reducing with photoelectric encoder
(10), elevating lever (5), holder (11), mechanical arm (4) and micro-electric water pump (19), while to upper liquid level detecting sensor
(16), lower liquid level detecting sensor (18) carries out data acquisition.
64 bit micro-computer (7) runs ROS robot operating system, constructs indoor map using laser SLAM,
By the way that the scanning information of laser radar (8), the IMU information of IMU sensor (15) acquisition and direct current with photoelectric encoder are subtracted
The odometer information of speed motor (10) output carries out fusion treatment, exports two-dimensional grid map based on probability, based on this two dimension
Independent navigation, avoidance and the optimum path planning of robot can be realized in grating map.
64 bit micro-computer (7) obtains flowers image by the camera (1) on mechanical arm, is counted using OpenCV
Haar feature cascade classifier in calculation machine vision library trains the sample datas of flowers, then the flowers image that camera is acquired
The intelligent recognition for match and then realizing target flowers with training sample, calculates according to different flowers and soil water content
Different water requirements simultaneously export target flowers information, and then control the lifting and the mechanical arm (4) movement of the elevating lever (5).
64 bit micro-computer (7) uses online speech recognition, can be with machine by far field microphone array (14)
People carries out intelligence question and answer interaction immediately.
Robot of the present invention merges multiple sensors, enables intelligent flower watering robot according to the soil feelings of flower growth
Condition realizes Intelligent watering.By ROS system carry laser radar, be able to achieve intelligent flower watering robot indoors independent navigation, keep away
Barrier and planning path；The identification for carrying out image procossing realization flowers by camera collection image and flower-watering device are to flowers
Positioning；The voice human-computer interaction of intelligent flower watering robot is realized by far field microphone array.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is overall structure front view of the present invention.
Fig. 2 is overall structure side view of the present invention.
In figure, 1. cameras, 2. spray heads, 3. head cartridges, 4. mechanical arms, 5. elevating levers, 6.ZigBee coordinator module,
7.64 bit micro-computers, 8. laser radars, 9. carrying rollers, 10. DC speed-reducings with photoelectric encoder, 11. holders,
12. lithium battery, the 13. STM32 single-chip microcontrollers based on ARM Cortex-M4,14. far field microphone arrays, 15.IMU sensor,
16. liquid level detecting sensor on, 17. water tanks, 18. lower level detection sensors, 19. micro-electric water pumps, 20. auxiliary are universal
Wheel, 21. digital rudder controller, 1,22. digital rudder controller 2.
Specific embodiment
A kind of intelligent flower watering robot based on ROS, it is characterised in that: including control system, mobile underpan, confession
Water installations, flower-watering device, ZigBee communication component；The mobile underpan includes two by the direct current with photoelectric encoder
The carrying roller (9) of decelerating motor (10) driving and two auxiliary universal wheels (20) form, and install on the mobile underpan
There are laser radar (8) and IMU sensor (15)；The water supply device by water tank (17), upper liquid level detecting sensor (16), under
Liquid level detecting sensor (18) and micro-electric water pump (19) composition；The flower-watering device by elevating lever (5), holder (11) and
Mechanical arm (4) composition.The mechanical arm (4) is by digital rudder controller 1 (21), digital rudder controller 2 (22), head cartridge (3), spray head
(2), camera (1) forms；Above-mentioned micro-electric water pump (19) is connected with above-mentioned spray head (2) by water pipe；The ZigBee
Coordinator module (6) is communicated with multiple ZigBee data collection stations being dispersed at each target location；The control
System includes 64 bit micro-computers (7) and the STM32 single-chip microcontroller (13) based on ARM Cortex-M4, described based on ARM
STM32 single-chip microcontroller (13), the laser radar (8) and 64 bit micro-computers (7) of Cortex-M4 are logical by serial ports
Letter, the camera (1) and 64 bit micro-computers (7) are described to be based on ARM by USB direct communication
The STM32 single-chip microcontroller (13) of Cortex-M4 controls the DC speed-reducing (10) with photoelectric encoder, elevating lever (5), cloud
Platform (11), mechanical arm (4) and micro-electric water pump (19), while upper level detection sensor (16), lower water level detecting are sensed
Device (18) carries out data acquisition.
Indoor navigation and avoidance:
Indoor map is constructed using laser SLAM, by the way that the scanning information of laser radar (8), IMU sensor (15) is defeated
IMU information out and the odometer information of the DC speed-reducing with photoelectric encoder (10) output carry out fusion treatment, output
Two-dimensional grid map based on probability, there is corresponding location coordinate information in any point on map.A target point is arranged to sit
After mark, robot can move to target point along the optimal path of contexture by self, while also according to laser radar scanning information
Real-time update map, such as occurring barrier in motion process can be according to laser radar scanning information real-time update map, then root
Optimal path is calculated again according to map is updated, to realize Real Time Obstacle Avoiding.
OpenCV visual identity and positioning:
Flowers image is obtained by the camera (1) on mechanical arm, it is special using the Haar in OpenCV computer vision library
Sign cascade classifier trains the sample datas of flowers, then the flowers image of camera acquisition matched with training sample into
And it realizes the intelligent recognition of target flowers, calculate different water requirements according to different flowers and soil water content and exports target
Flowers information, and then control the lifting and the mechanical arm (4) movement of the elevating lever (5).
Flower-watering device movement and control:
Using the camera (1) capture flowers image, when flowers are successfully captured, by flowers centre coordinate (x1,
Y1) subtracted each other to obtain coordinate difference that (simultaneously coordinate difference (Δ x, Δ is arranged in Δ x, Δ y) with camera centre coordinate (x0, x1)
Y) range is -15 < Δ x <+15, and -15 < Δ y <+15 (unit is pixel number) corresponds to ± 3cm in practice.If Δ x
Greater than 0, then flowers centre coordinate is located at camera centre coordinate right, and control holder rotates counterclockwise in allowable error；Such as
Fruit Δ x is less than 0, then flowers centre coordinate is located at camera centre coordinate left, and control holder is rotated clockwise to allowable error
It is interior；If Δ y is greater than 0, flowers centre coordinate is located above camera centre coordinate, and control elevating lever rises to allowable error
Interior, if Δ y, less than 0, flowers centre coordinate is located at below camera centre coordinate, control elevating lever drops to allowable error
It is interior.
Interactive voice:
Online speech recognition is realized using the long-range pickup of far field microphone array (14), passes through online speech recognition, semanteme
Parsing, speech synthesis can carry out intelligence with robot, and question and answer interact immediately.
Claims (9)
1. a kind of intelligent flower watering robot based on ROS, robot is by mobile chassis, control system, water supply device, dress of watering flowers
It sets, ZigBee communication component is constituted, it is characterised in that: the mobile domain is by two DC speed-reducings with photoelectric coding
(10), two carrying rollers (9) and two auxiliary universal wheel (20) compositions；The control system includes 64 bit micro-computers
(7) the STM32 single-chip microcontroller (13) and based on ARM Cortex-M4；The water supply device is passed by water tank (17), upper level sensing
Sensor (16), lower liquid level detecting sensor (18) and micro-electric water pump (19) composition；The flower-watering device is by elevating lever
(5), holder (11) and mechanical arm (4) composition, the ZigBee communication component are ZigBee coordinator module (6).
2. a kind of intelligent flower watering robot based on ROS according to claim 1, it is characterised in that: the holder
(11) lower end is connect with elevating lever (5), and upper end is connect with mechanical arm (4)；The mechanical arm (4) is by digital rudder controller 1 (21), number
Word steering engine 2 (22), head cartridge (3), spray head (2), camera (1) composition；The mechanical arm (4) utilizes digital rudder controller 1
(21) 90 ° of realization is sagging；The mechanical arm (4) realizes spray head (2) water spray 0 °~180 ° models of angle using digital rudder controller 2 (22)
Enclose interior variation.
3. according to claim 1, claim 2, a kind of intelligent flower watering robot based on ROS as claimed in claim 3, special
Sign is: the elevating lever (5) can oscilaltion, the holder (11) be able to carry out 360 degree rotation, the machinery
Arm (4) can be realized Multi-angle water spray, to allow the robot to realize different height, different direction, different angle watering.
4. a kind of intelligent flower watering robot based on ROS according to claim 1, it is characterised in that: the mobile chassis
On laser radar (8) and IMU sensor (15) are installed.
5. a kind of intelligent flower watering robot based on ROS according to claim 1, it is characterised in that: the micro electric
Dynamic water pump (19) are connected with spray head (2) by water pipe.
6. a kind of intelligent flower watering robot based on ROS according to claim 1, it is characterised in that: described based on ARM
STM32 single-chip microcontroller (13), the laser radar (8) and 64 bit micro-computers (7) of Cortex-M4 are logical by serial ports
Letter；The camera (1) and 64 bit micro-computers (7) pass through USB direct communication.
7. a kind of intelligent flower watering robot based on ROS according to claim 1, it is characterised in that: described 64 are micro-
Type computer (7) runs ROS system, and ROS system is obtained by the scanning circumstance information of laser radar (8), IMU sensor (15)
IMU information, the odometer information row information of going forward side by side of DC speed-reducing (10) output with photoelectric encoder carries out at fusion
Reason, exports two-dimensional grid map based on probability, the independent navigation of robot, avoidance can be realized based on this two-dimensional grid map
And optimum path planning.
8. a kind of intelligent flower watering robot based on ROS according to claim 1, it is characterised in that: pass through mechanical arm (4)
On camera (1) obtain flowers image, trained using the Haar feature cascade classifier in OpenCV computer vision library
The sample data of flowers, then the flowers image of camera acquisition match with training sample the intelligence for realizing target flowers in turn
It can identify, calculate different water requirements according to different flowers and soil water content and export target flowers information, and then control
The lifting of elevating lever (5) and mechanical arm (4) movement.
9. a kind of intelligent flower watering robot based on ROS according to claim 1, it is characterised in that: far field microphone battle array
Column (14) are connected with 64 bit micro-computers (7) realizes far field pickup, is parsed by online speech recognition, semanteme, speech synthesis,
Realize that robot carries out intelligence question and answer interaction immediately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910602801.8A CN110199719A (en) | 2019-07-05 | 2019-07-05 | A kind of intelligent flower watering robot based on ROS |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910602801.8A CN110199719A (en) | 2019-07-05 | 2019-07-05 | A kind of intelligent flower watering robot based on ROS |
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| CN110199719A true CN110199719A (en) | 2019-09-06 |
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| CN201910602801.8A Pending CN110199719A (en) | 2019-07-05 | 2019-07-05 | A kind of intelligent flower watering robot based on ROS |
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Cited By (3)
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| CN110999573A (en) * | 2019-12-31 | 2020-04-14 | 陈俭军 | Rare plant protection and cultivation equipment |
| CN111357530A (en) * | 2020-04-23 | 2020-07-03 | 浙江九竹新材料科技有限公司 | Trackless movable intelligent flower box |
| CN112568101A (en) * | 2020-12-03 | 2021-03-30 | 珠海格力电器股份有限公司 | Watering device and watering method |
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