Design of Smart Home Service Robot Based on ROS

摘要

At present, the functions of home service robots are not perfect, and home service robot systems that can independently complete autonomous inspections and home services are still lacking. In response to this problem, this paper designs a smart home service robot system based on ROS. The system uses Raspberry Pi 3B as the main control to manage the nodes of each sensor. CC2530 sets up a ZigBee network to collect home environmental information and control home electrical appliances. The image information of the home is collected by the USB camera. The human speech is recognized by Baidu Speech Recognition API. When encountering a dangerous situation, the GSM module is used to give users SMS and phone alarms. Arduino mega2560 is used as the bottom controller to control the movement of the service robot. The indoor environment map of the home is constructed by the lidar and the attitude sensor. The service robot finally designed and developed realizes the functions of wireless control of home appliances, voice remote control, autonomous positioning and navigation, liquefied gas leakage alarm, and human infrared detection alarm. Compared with the household service robots in the related literature, the household service robots developed by us have more complete functions. And the robot system has completed the task of combining independent patrol and home service well.