基于ROS的超市自助购物机器人系统设计

Supermarket automatic shopping robot system design based on ROS

机器人操作系统(ROS)是构建机器人应用程序的一套软件库和工具库,本文设计了一种基于ROS的超市自助购物机器人,其结构分为购物层和运动层两层。购物层在上、运动层在下,上层以树莓派3B+开发板为核心,配合扫码枪和自主结账软件的移动终端实现智能扫码结账的功能。下层以i7处理器的mini工控机为主,基于ROS和远程控制设备实现购物机器人的地图构建、人体跟随及语音导航。相比传统的手推车购物和排队等待结账难等问题,本文设计的机器人从愉悦购物的需求出发,极大解放了人们的手脚,降低了超市人力与维护的成本,具有高度的灵活性和移动性。

Robot operating system(ROS)is a set of software library and tool library for building robot applications.A supermarket automatic shopping robot based on ROS is designed.The robot is divided into two layers with shopping layer above the motion layer.The shopping layer takes the raspberry pie 3B+development board as the core.It works with the code scanning gun and the mobile terminal installed with the self-checkout software,so that the function of intelligent code scanning checkout is realized.In the motion layer,the mini industrial computer of i7 processor is used as the core,combined with ROS and remote control equipment to realize the supermarket robot's map building,human body following and voice navigation.Compared with the traditional way of shopping with hand push shopping cart and waiting in line for manual cashier without pleasure shopping demand,the proposed automatic shopping robot saves human resources and maintenance and service cost burden with a high degree of flexibility and mobility.