CN110751894A - Intelligent robot teaching and scientific research platform based on ROS development - Google Patents
Intelligent robot teaching and scientific research platform based on ROS development Download PDFInfo
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- CN110751894A CN110751894A CN201911066194.4A CN201911066194A CN110751894A CN 110751894 A CN110751894 A CN 110751894A CN 201911066194 A CN201911066194 A CN 201911066194A CN 110751894 A CN110751894 A CN 110751894A
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Abstract
The invention provides an intelligent robot teaching and scientific research platform based on ROS development, which comprises a hardware unit, a software unit and a carrier; the method is characterized in that: the hardware unit comprises a main control platform, a sensor and a driving motor; the software unit comprises an ROS interface, a remote interface and a sensor interface; the hardware unit is arranged on a carrier; the intelligent robot teaching and scientific research platform further comprises a teaching and scientific research application interface, and the teaching and scientific research application interface comprises a downloading interface, a debugging interface, a modularized extension interface and a human-computer interface. The invention tightly links the characteristics of high-position education, seamlessly connects ROS node equipment, and can connect any ROS system, so that the platform can become a universal robot system and seamlessly connects other ROS equipment; the invention organizes the project cases in an engineering organization form, is suitable for the learning characteristics and progress of the high-position students and can also be used as scientific research auxiliary materials.
Description
Technical Field
The technology belongs to the field of robots, and particularly relates to an intelligent robot teaching and scientific research platform based on ROS development.
Background
The intelligent robot is a third-generation robot, is provided with various sensors, can fuse information obtained by the various sensors, can effectively adapt to a changing environment, and has strong self-adaption capability, learning capability and autonomous function. In the development of intelligent robots in various countries, the intelligent robot technology in the united states is in the leading position all the time internationally, the technology is comprehensive and advanced, the adaptability is very strong, the performance is reliable, the functions are comprehensive, the accuracy is high, and the artificial intelligent technologies such as vision, touch and the like are widely applied to the aerospace and automobile industries. Due to a series of planting policies, various kinds of robots, including intelligent robots, are rapidly developed in japan. Countries in europe are in a recognized leading position in the world in research and application of intelligent robots. China starts late and then enters a period of vigorous development so as to promote the change of the whole manufacturing industry by using a robot as a medium and promote the growth of the whole high-technology industry.
The types and the quantity of the robots on the market are very many at present, however, the robots are so many that the teaching requirements of the robots of high-duty can be met, and the following main reasons exist: 1. the device is not designed for teaching and practical training. Common robots, which are more capable of showing the latest science and technology, are not designed for teaching from the aspects of volume, interface, price, application and the like. 2. The common robot is more oriented to the students of the family or higher levels, and a teaching platform designed for the high-position students is not provided. Taking an industrial robot of a college of well-known workers as an example, the number of students facing the industrial robot is more than three, the stage of the research student, and the learning threshold of the high-position students is too high. 3. A case of matching items is generally lacked. Most of intelligent robots in the current market only have hardware equipment and description documents, rarely can specially design and develop related matching practical training cases for teaching, and can not open interfaces such as a control system. 4. The versatility is not sufficient. Robots on the market are generally aimed at a specific application, such as: fire extinguishing robots, inspection robots, and the like. However, a common robotic platform must be used in teaching research that can be re-developed for different application purposes, following some standard to receive instructions and perform corresponding actions. 5. The intelligent robot adopts a closed design framework. Taking products designed by most of the current companies as an example, a robot hardware platform provided by the system is packaged in the robot, and the software and the hardware are not open. If the robot is used for teaching, students can only know the approximate condition of the robot, and the internal realization and principle of the robot are difficult to learn deeply.
Disclosure of Invention
Aiming at the problems, the invention provides an intelligent robot teaching and scientific research platform compatible with ROS and suitable for professorship teaching, which has the technical scheme that:
an intelligent robot teaching and scientific research platform based on ROS development comprises a hardware unit, a software unit and a carrier; the hardware unit comprises a main control platform, a sensor and a driving motor; the software unit comprises an ROS interface, a remote interface and a sensor interface; the hardware unit is arranged on a carrier; the intelligent robot teaching and scientific research platform further comprises a teaching and scientific research application interface, and the teaching and scientific research application interface comprises a downloading interface, a debugging interface, a modularized extension interface and a human-computer interface.
Further, the intelligent robot teaching and scientific research platform based on ROS development further comprises an upper computer and a communication system; the remote interface is connected with the control end, and the upper computer is communicated with the hardware unit through the communication system to acquire and control the state of the carrier so as to realize corresponding functions for teaching and scientific research.
Further, an intelligent robot teaching scientific research platform based on ROS development, communication system is in wifi, bluetooth, zigbee, RFID one or several kinds.
Further, an intelligent robot teaching research platform based on ROS development, the sensor presents with the modularization form, the sensor be can be single or a plurality of, sets up according to teaching scientific research content and selects corresponding sensor.
Further, an intelligent robot teaching scientific research platform based on ROS development, the sensor is basic type sensor, including vision sensor, position sensor, speedtransmitter.
Further, an intelligent robot teaching and scientific research platform based on ROS development, ROS interfaces, instructions and programs of the modular sensors are stored as library files, and users call the library files to achieve teaching and scientific research functions.
Further, the software unit further comprises a project case module used for teaching and experiment; the case modules can be called independently or used in combination.
Further, an intelligent robot teaching scientific research platform based on ROS development, the master control platform is one of Arduino and STM 32.
Further, an intelligent robot teaching scientific research platform based on ROS development, the carrier can change the appearance according to the teaching content, the carrier is the car, the appearance of change is wheel and base.
The invention has the beneficial effects that: 1. the characteristics of high-position education are fastened: there are many robots in the market, however, the teaching is less, and the teaching is more specific to the professor education. The platform is specially customized for related teaching of the full-time robot, emphasizes application and maintenance of the robot, and can meet teaching equipment requirements of courses such as robot introduction, ROS and robot development training. 2. A scientific research apparatus. At present, hardware or software of most of robot platforms on the market are closed, and a user can only buy the robot for a certain specific purpose but cannot modify, develop and the like the robot for the second time. The system opens the source of software and hardware systems, and greatly facilitates scientific research personnel to study, debug and the like. Based on the equipment, a teacher can move his own thought from the original simulation phase to the actual operation phase, so that the scientific research efficiency can be greatly improved. 3. Seamless butt joint ROS node equipment: the platform is developed based on ROS, any ROS system can be docked, so that the platform can become a universal robot system, and other ROS equipment can be seamlessly connected. 4. Engineering case: the robot is matched with a series of project cases, the cases are organized in an engineering organization mode, the robot is suitable for the learning characteristics and progress of high-position students, and the robot can also be used as scientific research auxiliary materials.
Drawings
FIG. 1 is an architecture diagram of an intelligent robot teaching and scientific research platform based on ROS development.
FIG. 2 is a diagram of an adaptive 2-round base of an embodiment of an intelligent robot teaching and scientific research platform based on ROS development.
FIG. 3 is a diagram of an adaptive 3-wheel base of an embodiment of an intelligent robot teaching and scientific research platform based on ROS development.
FIG. 4 is a diagram of an adaptive 4-wheel base of an embodiment of an intelligent robot teaching and scientific research platform based on ROS development.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings:
an intelligent robot teaching and scientific research platform based on ROS development comprises a hardware unit, a software unit and a carrier; the hardware unit comprises a main control platform, a sensor and a driving motor; the software unit comprises an ROS interface, a remote interface and a sensor interface; the hardware unit is arranged on a carrier; the intelligent robot teaching and scientific research platform further comprises a teaching and scientific research application interface, and the teaching and scientific research application interface comprises a downloading interface, a debugging interface, a modularized extension interface and a human-computer interface.
The teaching and scientific research platform also comprises an upper computer and a communication system; the remote interface is connected with the control end, and the upper computer is communicated with the hardware unit through the communication system to acquire and control the state of the carrier so as to realize corresponding functions for teaching and scientific research. The communication system is one or more of wifi, Bluetooth, zigbee and RFID, and is selected according to teaching contents.
The sensors are in a modularized form, the number of the sensors can be single or multiple, and the corresponding sensors are selected according to teaching and scientific research content. The sensor is a basic sensor and comprises a vision sensor, a position sensor and a speed sensor. The sensor of the invention can be selected according to actual conditions by selecting a combined sensor aiming at the higher-time students and needing further learning.
The ROS interface, the instruction and the program of the modularized sensor are stored as library files, and a user calls the library files to realize the functions of teaching and scientific research; the software unit also comprises a project case module for teaching and experiment; the case modules can be called independently or used in combination.
It should be noted that, for convenience of teaching, the ROS interface, the instructions, the program, and the like of the sensor involved in the project case module of the present invention are stored in advance, so the sensor of the present invention is the basic sensor.
The main control platform is one of Arduino and STM32, and the former is suitable for the beginner, and the latter is suitable for more complicated application scenario. Through the master control board with different difficulties, hierarchical distinction is provided for learning, practice and training.
The carrier can change the appearance according to the teaching content, the carrier is the car, the appearance of change is wheel and base. The platform may also be designed as a walking robot or the like.
Example (b): the platform of the invention is illustrated by an embodiment, which is directed to teaching of high-position students, and is simple to operate and easy to learn.
The invention provides a teaching and scientific research platform of an intelligent machine vehicle based on ROS development, which takes the vehicle as a carrier, teaches students the operation principle of position sensors, vision sensors and speed sensors, encourages the students to design and learn more sensors by themselves, knows the use principle of the sensors and lays a foundation for going to work posts in the future.
In the embodiment, the appearance and the wheels of the vehicle are changed for many times, and the change of the appearance comprises the shapes of 2 wheels, 3 wheels and 4 wheels and bases adapting to the wheels; the wheel modifications include a normal wheel, a mecanum wheel, and the like. Correspondingly, in a matched project case module, the content of the intelligent machine vehicle is called to explain to students.
The invention can also be additionally provided with a control terminal, such as a control handle, which is used for controlling the running of the vehicle and leading students to know the working principles of communication modes such as Bluetooth, wifi, zigbee and the like.
Claims (9)
1. An intelligent robot teaching and scientific research platform based on ROS development comprises a hardware unit, a software unit and a carrier; the method is characterized in that: the hardware unit comprises a main control platform, a sensor and a driving motor; the software unit comprises an ROS interface, a remote interface and a sensor interface; the hardware unit is arranged on a carrier; the intelligent robot teaching and scientific research platform further comprises a teaching and scientific research application interface, and the teaching and scientific research application interface comprises a downloading interface, a debugging interface, a modularized extension interface and a human-computer interface.
2. The intelligent robot teaching and scientific research platform based on ROS development of claim 1, characterized in that: the teaching and scientific research platform also comprises an upper computer and a communication system; the remote interface is connected with the control end, and the upper computer is communicated with the hardware unit through the communication system to acquire and control the state of the carrier so as to realize corresponding functions for teaching and scientific research.
3. The intelligent robot teaching and scientific research platform based on ROS development of claim 2, characterized in that: the communication system is one or more of wifi, Bluetooth, zigbee and RFID.
4. The intelligent robot teaching and scientific research platform based on ROS development of claim 1, characterized in that: the sensors are in a modularized form, the number of the sensors can be single or multiple, and the corresponding sensors are selected according to teaching and scientific research content.
5. The intelligent robot teaching and scientific research platform based on ROS development of claim 1, characterized in that: the sensor is a basic sensor and comprises a vision sensor, a position sensor and a speed sensor.
6. The intelligent robot teaching and scientific research platform based on ROS development of claim 4, wherein: the ROS interface, the instruction and the program of the modularized sensor are stored as library files, and a user calls the library files to realize the functions of teaching and scientific research.
7. The intelligent robot teaching and scientific research platform based on ROS development of claim 1, characterized in that: the software unit also comprises a project case module for teaching and experiment; the case modules can be called independently or used in combination.
8. The intelligent robot teaching and scientific research platform based on ROS development of claim 1, characterized in that: the master control platform is one of Arduino and STM 32.
9. The intelligent robot teaching and scientific research platform based on ROS development of claim 1, characterized in that: the carrier can change the appearance according to the teaching content, the carrier is the car, the appearance of change is wheel and base.
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| CN201911066194.4A CN110751894A (en) | 2019-11-04 | 2019-11-04 | Intelligent robot teaching and scientific research platform based on ROS development |
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| CN201911066194.4A CN110751894A (en) | 2019-11-04 | 2019-11-04 | Intelligent robot teaching and scientific research platform based on ROS development |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231797A (en) * | 2008-01-03 | 2008-07-30 | 上海交通大学 | Hardware on-ring intelligent carriage teaching scientific research experiment flatform |
| CN201707829U (en) * | 2010-06-13 | 2011-01-12 | 上海中为智能机器人有限公司 | Modular teaching robot based on open framework |
| CN211699471U (en) * | 2019-11-04 | 2020-10-16 | 苏州工业园区服务外包职业学院 | Intelligent robot teaching and scientific research platform based on ROS development |
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- 2019-11-04 CN CN201911066194.4A patent/CN110751894A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231797A (en) * | 2008-01-03 | 2008-07-30 | 上海交通大学 | Hardware on-ring intelligent carriage teaching scientific research experiment flatform |
| CN201707829U (en) * | 2010-06-13 | 2011-01-12 | 上海中为智能机器人有限公司 | Modular teaching robot based on open framework |
| CN211699471U (en) * | 2019-11-04 | 2020-10-16 | 苏州工业园区服务外包职业学院 | Intelligent robot teaching and scientific research platform based on ROS development |
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