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Robot object conveying method and control system based on ROS (Robot Operating System)

A technology of transmission control and robotics, applied in two-dimensional position/channel control and other directions, can solve problems such as distribution range restrictions

Inactive Publication Date: 2017-05-24
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

UAV distribution has the advantages of fast speed, but there are still many problems in operation, cost and control convenience
The carrying capacity of drones is only a few kilograms, and the demand for accurate transportation between outlets is measured in hundreds of kilograms, and indoor physical delivery cannot be achieved by drones; and the drone's battery life is only about 20 minutes. Delivery is very limited

Method used

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  • Robot object conveying method and control system based on ROS (Robot Operating System)

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Embodiment

[0028] Embodiment: the present invention provides a kind of robot article transmission method based on ROS, comprises the following steps:

[0029] Step 1. Install the ROS operating system in Nvidia Jetson TK14, use Kinect3 to obtain RGB-D images with depth information, use RTAB-Map algorithm in ROS to process and establish a two-dimensional navigation map, and store the two-dimensional navigation map to Nvidia Jetson TK14;

[0030] Step 2. Enter your own location and destination location in Client 1, and send the location information to Server 2, and Server 2 sends the location information to Nvidia Jetson TK14;

[0031] Step 3. Nvidia Jetson TK14 matches the location information with the location data in the two-dimensional navigation map, and after obtaining the matching result, uses the Dijkstra algorithm to generate a planned path, and generates sequence operation instructions according to the planned path;

[0032] Step 4, Nvidia Jetson TK14 sends the generated sequence...

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Abstract

The invention discloses a robot object conveying method and control system based on a ROS (Robot Operating System). The method comprises the following steps: step 1, mounting the ROS in Nvidia Jetson TK1, and establishing a two-dimensional navigation map by utilizing the ROS; step 2, receiving and transmitting position information, which is transmitted from a client, to the Nvidia Jetson TK1 through a server; step 3, matching the position information with position data in the two-dimensional navigation map through the Nvidia Jetson TK1, and planning a path; generating a sequence operating instruction; step 4, receiving the sequence operating instruction of the Nvidia Jetson TK1 through a single chip microcomputer, and controlling a robot to finish object taking and object conveying operation; after finishing appointed operation of the client, the robot returning back to an initial position; step 5, pushing object taking and object conveying finishing information to the client through the server. According to the robot object conveying method and control system, disclosed by the invention, the planned path is generated through the ROS, and the robot returns back to the initial position after finishing object taking and object conveying tasks, and objects are convenient to convey in a small range.

Description

technical field [0001] The invention relates to a robot item delivery method and a control system, in particular to a robot item delivery method and control system based on ROS (Robot Operating System, robot operating system), belonging to the technical field of robot operating system applications. Background technique [0002] The transmission of information has developed rapidly driven by the development of the mobile Internet. People can easily use social software, e-mail and other methods to exchange information. The development of society is extremely disproportionate. Manual delivery of goods takes a long time, poor timeliness, and low work efficiency. With the development of economy and the improvement of living standards, the demand for object transmission is getting higher and higher in people's daily life. The transportation of modern objects is mainly manifested in two ways: long-distance transmission and short-distance transmission. [0003] Long-distance objec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 曾丹李阳陈帅军张之江沈为
Owner SHANGHAI UNIV
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