ROS based service robot and indoor navigation method thereof

A service robot and robot technology, applied in the field of service robots, can solve the problems of low autonomy, lack of ability to solve emergencies, lack of human-computer interaction functions, etc., to achieve strong adaptability, rich human-computer interaction functions, anti- The effect of strong interference ability

Inactive Publication Date: 2017-09-08
北京海风智能科技有限责任公司
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  • Application Information

AI Technical Summary

Problems solved by technology

According to the current market data, most of the household service robots are cleaning robots and weeding robots. Most of them can only complete tasks according to pre-set orders, lack the ability to solve emergencies, and even lack ric

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  • ROS based service robot and indoor navigation method thereof
  • ROS based service robot and indoor navigation method thereof
  • ROS based service robot and indoor navigation method thereof

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[0035] Below in conjunction with accompanying drawing, further elaborate the present invention.

[0036] The present invention relates to a ROS-based service robot and its navigation method in an indoor environment. The service robot is a humanoid robot, comprising a mobile chassis, a shell 9, a support frame 8, an upper PC and a bottom PC3, and two PCs simultaneously The same version of the robot operating system is installed and connected via wifi. Start the service robot, start the data acquisition module 7 and the control module, use the control module to control the service robot to run indoors, the data acquisition module 7 obtains the indoor environment information, that is, the indoor obstacle information, uses the slam_gmapping function package to create an indoor environment map, and then serves The robot loads the created indoor map, and a two-dimensional map of the indoor environment can be seen on the touch screen installed on the front chest of the robot. We can ...

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Abstract

The invention relates to an ROS based service robot and indoor navigation method thereof. The service robot includes a mobile chassis, a housing, a support frame, an upper layer PC and a bottom layer PC, wherein the mobile chassis includes a wheel unit, a motor, a motor control panel, a gyroscope, an encoder, an electronic compass, a power source, an anti-collision module and a data collection module. The housing is equipped with a touch screen. The upper layer PC and the bottom layer PC are both equipped with a robot operation system ROS. The navigation method includes that the service robot acquires indoor environment information and creates an indoor two-dimensional map; a target position is set after the map is loaded in a visible window and the position of the robot itself is determined; an overall path is planned by utilizing an overall path planning interface provided by ROS and unknown barriers which are namely movable objects or unknown areas appearing in a navigation process are avoided by utilizing a partial path planning interface provided by ROS.

Description

technical field [0001] The invention belongs to the technical field of service robots, in particular to a ROS-based service robot and an indoor navigation method thereof. Background technique [0002] In recent years, with the rapid development of science and technology and the needs of society, service robot technology has also been continuously developed. Service robots have gradually entered various fields of daily life such as home use, business, tour guide, medical treatment, education, and security. In today's society where the population is aging and the pressure of life is increasing, people need service robots to provide better services. According to the current market data, most of the household service robots are cleaning robots and weeding robots. Most of them can only complete tasks according to pre-set orders, lack the ability to solve emergencies, and even lack rich human-computer interaction functions. , In addition, the food delivery robots currently in use...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D2201/0217
Inventor 龙海生常雪松
Owner 北京海风智能科技有限责任公司
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