208 results about "Robot operating system" patented technology

A dynamically configurable robotic system and method for performing surgical operations using a plurality of robotic arms remotely controlled by at least one operator console. The system comprises a track system configured for mounting to a patient support table, such that the track system provides a stable operating platform for the robotic arms and for facilitating placement of a proximal end of each of the arms at a selected position about a periphery of the patient support table. the system and method also have a plurality of base stations for operatively coupling each of the robotic arms to the track system, such that each of the base stations include a housing, a first connector for coupling the housing to the track system, the first connector configured for facilitating movement of the housing along the track system while coupled thereto, and a second connector for coupling the housing to the proximal end of at least one of the robotic arms, the second connector configured for providing at least one of power supply, control signalling, and data communication with respect to the coupled robotic arm. The system and method also have a control unit for coupling to at least two of the base stations and configured for dynamically connecting operative remote control between the coupled base stations and a first operator console of the at least one operator console.

The invention discloses a mobile robot indoor environment exploration system and control method based on a ROS (Robot Operating System). The system is based on the ROS, and can realize independent exploration and positioning on indoor environment by a robot. The system mainly uses an iRobot differential drive chassis and UTM 30LX laser radar. An upper computer can obtain position positioning information of the robot and an indoor environment exploration path track in real time, and through data matching of the laser radar, a global map formed by connecting local maps is obtained. The invention provides a more intelligent unknown environment exploration system, provides great convenience and safety guarantee for disaster environment rescue, realizes information interaction of indoor environment perception, and has very good convenience and practicality.

The invention discloses an indoor robot SLAM method. The method comprises the following steps: obtaining image data through a camera, wherein the image data comprises RGB images and depth images; using a corner detection algorithm, an LK characteristic point tracing algorithm, and a RANSAC algorithm to process the RGB images and depth images to adjust the position and angle of the camera so as to obtain the RGB image data information under a robot operation system; converting the depth images in a world coordinate system to a ground coordinate, traversing the depth images that are projected on the ground coordinate, setting the gray value of the grid where a barrier stays as a first characteristic value, carrying out traversing to obtain a 2D barrier grid map; through a single line laser radar scanning mode, searching the 2D barrier grid map, when the grid with a grey value equal to the first characteristic value is found, feeding back the distance between the grid and the camera to obtain the distance between a robot and the barrier, obtaining the depth images under a robot operation system, and obtaining an environment 2D map.

The invention discloses a high-voltage live working robot device, which comprises a mobile automobile, a loading foldable and expandable insulating arm, a loading control device and a robot operating platform. The loading foldable and expandable insulating arm is disposed on a chassis of the mobile automobile and comprises a loading hydraulic pump station, a rotary tower, a lower arm, an upper arm, an expandable arm and the like. The loading control device comprises a lower control device and an upper control device, wherein the lower control device is arranged on the rotary tower, and the upper control device is arranged on the robot operating platform. The robot operating platform comprises an insulating bucket, a robot operating system and a mechanical arm insulator support, and a robot operating system comprises a master arm, a mechanical arm, a hydraulic servo control box and a microcontroller. An operator can stand in the insulating bucket to control the master arm and remotely control the mechanical arm to clamp a special tool, and the special tool contacts with a high-voltage line to replace operators to complete aerial live working tasks, so that labor intensity is relieved for operators, and operating efficiency and operational safety are improved.

The present invention relates to a robot hybrid system application framework based on a multi-core processor architecture. In the robot system with ARM / X86 multi-core processor as the controller, multi-core parallel processing architecture of the ARM / X86 multi-core processor is used to run the robotic hybrid system application framework comprising real-time operating system, non-real-time operating system and system supporting frame in the whole robot controller, so as to provide improved operating system services. In this application framework, a real-time operating system runs independently in one ARM / X86 core, while several non-real-time operating systems run on other ARM / X86 cores. The operating systems occupy processor resources and peripherals separately and run robotic applications with different real-time requirements. The application program can be used as a unified robot operating system (ROS) application node.

The invention describes a robotic hybrid system application frame based on a multi-core processor architecture. In a robotic system which takes an ARM (Advanced RISC Machines) / X86 multi-core processor as a controller, a multi-core parallel processing structure of the ARM / X86 multi-core processor is used for operating the robotic hybrid system application architecture consisting of a real-time operating system, non-real-time operating systems and a system supporting frame on a whole robotic controller so as to provide improved operating system service, wherein the real-time operating system, non-real-time operating systems and the system supporting frame simultaneously operate. In the application frame, one real-time operating system independently operates in one ARM / X86 core, meanwhile, a plurality of non-real-time operating systems operate in other ARM / X86 cores, the operating systems mutually individually occupy processor resources and peripherals, robotic application programs with different real time requirements are independently operated, and the application programs can be used (drawing 1) in a uniform ROS (Robotic Operating System) application node form.

The invention relates to a master-slave control robot work platform for high-voltage live working. The master-slave control robot work platform comprises a robot work platform bearing frame, a hydraulic lifting platform control integration, a robot operation system and an insulation bucket, wherein the robot work platform bearing frame is of an L-type structure and is connected to the tail end of a bucket arm car insulation lifting arm through a bolt and used for providing reliable bearing for the hydraulic lifting platform control integration, the robot operation system and the insulation bucket; the hydraulic lifting platform control integration is arranged at the right side of the insulation bucket, the operating personnel provides lifting, descending and rotating motions for the robot work platform through a control lever and an operation handle by the hydraulic lifting platform control integration, and a hydraulic oil source required by the motion of the master-slave control robot is provided by the hydraulic lifting platform control integration; the robot operation system comprises a control main hand, a hydraulic mechanical arm and a corresponding control module, and the mechanical arm can be moved along with the main hand completely by adopting master-slave control hydraulic drive; and the operating personnel stand in the insulation bucket, and the mechanical arm can be remotely controlled by the control main hand to clamp a special tool to contact a circuit so as to finish various high-voltage live working.

The invention discloses an ROS (Robot Operating System) based robot automatic following method. According to the method, data is acquired by adopting a laser radar, preprocessing is performed on the data, the data is clustered by using a hierarchical clustering algorithm, a pedestrian double-leg model is taken as a pedestrian recognition feature, the position between the legs represents the pedestrian position, and a defect that the laser radar is not obvious in feature and low in recognition rate is solved by a method of resampling. The automatic following method is implemented by reasonably utilizing an ROS, message transfer and function implementation between the parts are facilitated, and a navigation framework of the ROS is utilized to enable a robot to have a certain navigation obstacle avoidance ability in the automatic following process.

The invention provides a method of adopting the quality of transmission service in a robot operating system. The method comprises a step 1 of performing node registration, a step 2 of generating a node connection topological relation; a step 3 of generating a sent data packet; a step 4 of performing communication capability negotiation; a step 5 of configuring a QoS (quality of service) strategy; and a step 6 of carrying out QoS matching and data transmission. The invention adds a transport layer mechanism to guarantee the quality of service in the communication framework, and the data issuer and the subscriber can dynamically change the QoS strategy according to the needs of both parties; when the robot node supports the transmission mechanism of QoS, the real-time, reliability and other QoS guarantees can be increased in transmission as needed; and the current ROS node software application module is supported, and the existing software application module can be used on the communication framework without modification.

The invention discloses a robot fire detection method, comprising the following steps: 1) obtaining a video image of a fire detection area through a high-definition camera, preprocessing the video current frame image in a robot operating system to obtain an image z1; 2) perform flame region segmentation on that image z1 based on an Ohta color space and an Otsu threshold segmentation algorithm to obtain a segmented image f1; 3) subtracting the image z2 after the preprocessing of the previous frame from the image z1 of the current frame by the inter-frame difference method, and segmenting the image into moving regions to obtain a segmented image f2; 4) intersecting the obtained segmented image f1 and the segmented image f2 in the robot operating system to obtain a segmented image f3 having aflame motion characteristic; 5) carry out flame recognition on that region in the segmented image f3 base on other characteristics of the flame; 6) judging whether the flame area is great than a threshold value, and returning the final detection result of the fire. The novel robot fire detection method provided by the invention has the advantages of high accuracy and good real-time performance for identifying multiple features of the flame.

The invention discloses a distributed pedestrian detection system and method based on a mobile robot platform. The system comprises the mobile robot platform and a Microsoft Kinect camera, a desktop computer and a network communication device, wherein the Microsoft Kinect camera, the desktop computer and the network communication device are carried on the mobile robot platform. The method includes the steps that various current mature detection algorithms related to pedestrians and a robot operating system (ROS) are fused, various characteristics of the pedestrians are calculated through distributed calculation nodes of the robot operating system (ROS), various calculated characteristic data are comprehensively fused, pedestrian targets can be stably tracked in the robot moving process, and then detection accuracy is improved, wherein the distributed calculation nodes mainly include the histogram of gradients ( HOG) node, the face detection node, the upper body histogram of gradients (HOG) node, the skin color detection node, the point cloud detection node and the gesture detection node. The system and method are mainly used for detection calculation of the pedestrians in images of a mobile robot, and especially for mobile robot pedestrian detection calculation so that human-machine interaction can be achieved.

Disclosed in the present application are a method and device for managing a shared memory in a robot operating system. A detailed embodiment of the method comprises: acquiring a shared memory registering service request transmitted from a message receiving node, the shared memory registering service request comprising a topic name and a size of a required memory segment; requesting a memory segment in a shared memory area based on the size of the required memory segment, associating the topic name with the requested memory segment, and saving the topic name in a configuration file; dividing the requested memory segment into a plurality of memory blocks based on a size of a message transmitted from a message transmitting node; and deallocating the requested memory segment where any one of following conditions is satisfied: the topic name in a main node is inconsistent with that in the configuration file, the message transmitting node and message receiving node stop working, and the message receiving node stops subscribing to a topic corresponding to the topic name. By means of the embodiment, the shared memory of the robot operating system is allocated and managed more reasonably and flexibly.

The invention provides a mechanical arm grabbing method. The mechanical arm grabbing method comprises the following steps: a robot operation system builds communication mechanisms between a central controller and a visual sensor and between a mechanical arm and a manipulator; objects to be grabbed are placed in a visual range of the visual sensor; the visual sensor acquires surface information ofthe objects to be grabbed; the central controller processes data acquired by the visual sensor to obtain a grabbable coordinate point of the manipulator; according to a position relation of the visualsensor with the mechanical arm and the manipulator, the central controller can convert coordinates of the grabbable point to control instructions to send to the mechanical arm and the manipulator; and the mechanical arm and the manipulator move to an appointed position in succession to grab the objects to be grabbed according to the control instructions. Linear combination kernel functions are applied to reconstruct the surfaces of objects with uncertain shapes; and the method is low in needed data quantity, and only needs an observation camera, so that the cost is lower, and excellent practicability is achieved.

The invention discloses a four-rotor aircraft, comprising a body, a motor and a circuit board. The circuit board is provided with a flight control system, and the flight control system comprises a main control computer and an attitude controller; the main control computer is an on-board computer. According to the four-rotor aircraft, the low-performance on-board computer is installed on the attitude controller of the four-rotor aircraft to connect with a wireless network built by a wireless router through a Wi-Fi module, so as to build a network framework based on an ROS (robot operating system), then send various flight data to the ROS network, and then transmit the flight data to a PC (personal computer) of a ground station; the PC processes a large amount of the data, and calculates the corresponding control instructions to control the flight of the four-rotor aircraft. Therefore, the calculating amount of the on-board computer is relatively small, and the requirement of the four-rotor aircraft for autonomous flight is met.

Disclosed is an surface-coating robot operating system, a movable base (100) is provided to drive the whole operating system to implement autonomous navigation movement in the workspace; a vertical linear actuator (200) is used to drive a mechanical arm (300) to move up and down so as to meet the requirement for spraying at different heights; and the mechanical arm (300) is used to drive a spray gun (400) to implement multi-degree-of-freedom motion so as to meet the requirement for spraying at different positions; the whole spraying process is autonomously completed by the operating system, which is time-saving and labor-saving, high efficient, and ensures uniform spraying thickness, smooth spraying surface and consistent spraying quality; the robotic spraying may obviously reduce the coating dusts generated in a spraying process and the human risk caused by exposure to harmful coating chemicals. An operating method for surface-coating robot is disclosed.

The invention discloses a processing method of multi-mode input data for an intelligent robot and a robot operation system. The intelligent robot is provided with the robot operation system. The processing method of the multi-mode input data for the intelligent robot comprises the steps of obtaining a user intention, wherein the multi-mode input data of a user are received and analyzed, and the user intention is obtained; determining an application, wherein the application matched with the user intention is determined; obtaining an application execution intention, wherein the application execution intension contained by the multi-mode input data is obtained; generating an execution instruction, wherein matching is conducted between the application execution intention and the current application state value of the robot operation system so that the execution instruction can be generated; and conducting multi-mode output, wherein multi-mode output is conducted according to the execution instruction. By the adoption of the processing method of the multi-mode input data for the intelligent robot and the robot operation system, after the robot receives the multi-mode input data of the user, a corresponding module can be rapidly called to execute a relevant operation of the instruction, and missing execution of the instruction and an unnecessary traversal matching process are avoided.

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.

The invention discloses a graphical development platform based on an ROS (Robot Operating System). Development is completed on the basis of .NET3.5 in the environment of a Windows operating system; alibrary management module, a graphical programming module and a compiling module are presented in the forms of graphical areas on a human-computer interaction development interface; the human-computerinteraction development interface is provided with a menu bar area, a widget library area, a graphical programming area, an information feedback area and a code display area; after completing graphical programming construction, a user remotely downloads all files to a control computer through a Socket communication mechanism; the control computer is installed with an Ubuntu system and the ROS; the control computer packages and compiles the downloaded files into graphical controls based on the characteristics of an intelligent robot; and then the graphical controls are returned to the graphical development platform through the Socket communication mechanism. The user only needs to modify interface parameters according to the characteristics of the robot, thereby effectively lowering the programming difficulty for the user, and increasing the programming efficiency.

A universal UAV (unmanned aerial vehicle) vision simulation platform comprises a simulation environment part and a real environment part, wherein the simulation environment part comprises an ROS (robot operating system), an open-source robot simulation platform module Gazebo, a vision algorithm library and a universal UAV connecting port for converting information transmitted by the ROS into control information capable of being recognized by different flight controllers, wherein the universal UAV connecting port supports the ROS; the open-source robot simulation platform module Gazebo, the vision algorithm library and the universal UAV connecting port are connected with the ROS; the real environment part comprises an aircraft rack and a flight controller, wherein the universal UAV connecting port is connected with the flight controller. The UAV vision simulation platform is good in expansibility and universality.

The invention discloses a target tracking system and tracking method applied to a driverless car. The tracking system comprises a vehicle-borne radar system and a robot operating system (ROS), whereinthe vehicle-borne radar system is composed of a laser radar and a millimeter wave radar. The laser radar is mounted at the top of the car and has relatively high measurement accuracy, and but is susceptible to environmental factors such as illumination, the millimeter wave radar is installed at a license plate at the front of the car, has relatively low measurement accuracy, but is just slightlyaffected by external environment, and therefore, the vehicle-borne radar system integrating the laser radar and the millimeter wave radar combined can improve measurement accuracy; and the node set ofthe robot operating system (ROS) includes a radar sensor node and an unscented Kalman filter estimator node. According to the unscented Kalman filter algorithm, a series of sigma points are adopted to generate states through nonlinear transformation, and the estimated sigma points are used to cover state estimation points and covariances, and therefore, the fusion of the data received by the radar system can be realized, and target tracking can be achieved.

The invention discloses a multi-target point autonomous navigation method based on Turtlebot2 robot map building. The method is characterized by comprising the following steps: building a map, acquiring information of multiple target locations, acquiring an initial pose of a robot, allowing a navigation packet in an ROS (robot operating system) to drive the robot to move to any target location, allowing a positioning packet in the ROS to acquire the current real-time robot pose, when the robot reaches the target location, updating the initial pose of the robot as a current target location anda current state of the robot, and returning to execute step S4 till the robot reaches all the target locations. By adopting the multi-target point autonomous navigation method based on the Turtlebot2robot map building provided by the invention, the Turtlebot2 robot to be capable of achieving multi-target point autonomous navigation, and improves intelligence of the robot.

The invention discloses a collaborative processing method and device for an intelligent robot. The intelligent robot is provided with a robot operating system. The method includes the steps of receiving and analyzing a multi-mode input data and according to an analyzing result of the multi-mode input data to determine whether other intelligent terminals need to work together or not; sending a task request to a corresponding intelligent terminal when other intelligent terminals need to cooperate. A task request carries a request processing task information, combining task processing results of an intelligent device feedback to execute multi-mode output. The intelligent robot is capable of sharing information with a plurality of robots in the process of performing more complicated tasks to realize a cooperative interaction and improve anthropomorphism and intelligence.

The invention provides an information reminding method and device based on an intelligent robot. The intelligent robot is equipped with a robot operation system, wherein the robot operation system controls operation of the information reminding method. The method comprises a reminding setting instruction reception step: receiving a reminding setting instruction; a reminding setting instruction analysis step: generating a corresponding reminding condition and reminding content information according to the reminding setting instruction; and an information reminding step: when the reminding condition is met, generating multimodal output information according to the reminding content information and outputting the multimodal output information to carry out corresponding reminding on a user of the intelligent robot. The method not only enables the information reminding setting process to be easier and efficient, but also improves usability and applicability of the intelligent robot; and furthermore, user experience of the intelligent robot and product competitiveness are improved.

The invention is applicable to the field of robot track planning technologies, and provides a complicated workpiece track planning and simulating system on the basis of ROS (robot operating system) platforms. The complicated workpiece track planning and simulating system comprises a model description module, a shape processing module, a movement planning module, a simulating module, a track optimizing module, a program generating module and a communication module. Imported three-dimensional workpiece models and three-dimensional robot models can be transformed into URDF data formats by the model description module; workpieces can be divided into triangular patches on the basis of grid algorithms by the shape processing module, and triangular patch information can be extracted by the shapeprocessing module; robot movement tracks can be planned on the basis of the triangular patch information of selected regions by the movement planning module; movement of three-dimensional robots and end actuators on the basis of planned tracks can be graphically displayed by the simulating module, and operation data of the end actuators can be given by the simulating module; the planned tracks canbe optimized via man-machine interactive interfaces on the basis of simulation results by the track optimizing module; optimized robot movement tracks can be transformed into program language by theprogram generating module; the program language generated by the program generating module can be transmitted to robot controllers by the communication module. The complicated workpiece track planningand simulating system has the advantage that tracks of the complicated workpieces can be planned by the complicated workpiece track planning and simulating system.