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:2019,28(3):43-50
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基于ROS的溯源机器人系统
(1.福建师范大学 数学与信息学院, 福州 350007;2.福建省网络安全与密码技术重点实验室, 福州 350007)
Traceability Robot System Based on ROS
(1.College of Mathematics and Informatics, Fujian Normal University, Fuzhou 350007, China;2.Fujian Provincial Key Lab of Network Security & Cryptology, Fuzhou 350007, China)
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投稿时间:2018-08-17    修订日期:2018-09-18
中文摘要: 针对国内外对物联网和机器人相互结合,让机器人更好的服务于物联网展开的相关研究.本文提出了一种基于ROS与物联网的智能机器人系统.硬件上采用stm32传感器节点、树莓派、OpenWRT路由器、Rplidar雷达和C270罗技摄像头等;软件上使用ROS次级操作系统、Contiki、Tensorflow框架、Camshift算法和SLAM算法等;设计实现感知层的数据采集,基于SLAM的自动溯源,语音控制,机器人的物体追踪,物体自动识别以及web端的视频监控、反向控制和感知层数据实时显示等功能;而后搭建相关的试验环境,对系统与设备的相关功能进行测试,验证系统的可行性.
中文关键词: ROS  Contiki  物联网  TensorFlow  Camshift  SLAM  机器人
Abstract:The combinations of the Internet of Things and robots to make robots better serve the Internet of Things have been studied worldwide. This study puts forward an intelligent robot system based on ROS and Internet of Things. The hardware adopts stm32 sensor node, raspberry pi, OpenWRT router, Rplidar radar, c270 logitech camera, and so on. The software uses ROS operating system, Contiki, Tensorflow framework, Camshift algorithm, SLAM algorithm, and so on. Then we design the data acquisition of the perception layer, automatic traceability based on SLAM, voice control, object tracking of robot, object recognition, video monitoring, reverse control, and real-time display of data about perception layer on the web. After that, the relevant test environment was set up to test the related functions of the system and verify the feasibility of the system.
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基金项目:福建省2018年省级大学生创新训练项目(201810394053)
引用文本:
张美平,郭旭城,张毅韬,王志宇.基于ROS的溯源机器人系统.计算机系统应用,2019,28(3):43-50
ZHANG Mei-Ping,GUO Xu-Cheng,ZHANG Yi-Tao,WANG Zhi-Yu.Traceability Robot System Based on ROS.COMPUTER SYSTEMS APPLICATIONS,2019,28(3):43-50

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