任工昌,胡小龙,刘朋,吴梦珂.基于ROS的冷链配送机器人设计[J].包装工程,2020,41(3):194-199.
REN Gong-chang,HU Xiao-long,LIU Peng,WU Meng-ke.Design of Medical Distribution Robot Based on Robot Operating System[J].Packaging Engineering,2020,41(3):194-199. |
| 基于ROS的冷链配送机器人设计 |
| Design of Medical Distribution Robot Based on Robot Operating System |
| 投稿时间：2019-07-21 修订日期：2020-02-10 |
| DOI：10.19554/j.cnki.1001-3563.2020.03.030 |
| 中文关键词: ROS 冷链配送 拖车结构 建图 导航 |
| 英文关键词: ROS cold chain distribution trailer structure mapping navigation |
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| 中文摘要: |
| 目的 针对我国日益增长的冷链配送需求，解决短途冷链运输过程中“断链”的问题。方法 设计一种采用拖车式结构的冷链配送机器人，同时基于ROS（Robot Operating System）设计了冷链配送机器人的控制系统。控制系统的下位机使用STM32控制器，实现机器人的运动控制，上位机使用Mini PC为核心，对算法中的回环检测方法进行改进。结果 该机器人能够实现随时自动更换配送拖车及取物的功能，并实现了机器人的建图及导航功能。结论 实验表明，该冷链配送机器人在长廊等相似特征值较多的环境中的导航避障较为及时准确，达到了实用要求，可实现短途冷链配送的需求。 |
| 英文摘要: |
| The paper aims to solve the problem of ''broken chain'' in the short-distance cold chain transportation process in response to China's growing demand for cold chain distribution. A cold chain distribution robot with a trailer structure was designed. At the same time, a control system of the cold chain distribution robot was designed based on the Robot Operating System. The STM32 controller was used to the lower computer of the control system to realize the motion control of the robot. The Mini PC was used as the core of the upper computer to improve the loop detection method in the algorithm. The robot could automatically change the function of the delivery trailer and the object at any time, and realize the mapping and navigation functions of the robot. Experiments show that the cold chain distribution robot is timely and accurate in the environment with similar feature values such as the promenade. It meets the practical requirements and can realize the short-distance cold chain distribution. |
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