Design And Implementation Of Public Service Robot Systems Based On Win-ROS

With continuous advancement of the science technology and gradual improvement of people's living standards,service robots have gradually entered thousands of households,helping humans to complete a large number of simple and repetitive operations.The service robot technology has received more and more attention.At present,service robots used in public scenes such as museums,hospitals,banks,have the disadvantages of low level of intelligence,imperfect human-computer interaction performance,inconvenient user operation mode,and inability to meet complex navigation tasks in a dynamic environment.In view of the shortcomings of the service robots,a service robot system is developed based on Win-ROS in the paper.Based on Windows-friendly interactive technology,the system is designed according to ROS(Robot Operating System)synchronous RPC(remote procedure call)and asynchronous data stream communication mechanism.The Web framework for human-computer interaction and the application module for realizing user's needs are separated from each other,so that the system has abundant functional applications and friendly human-computer interaction characteristics.At the same time,combined with the actual application scenario,the functional modules developed for the system mainly includes social function,language function,spatial function and perceptual function modules.According to the functional requirements,this paper mainly focus on the design of the following contents:(1)Intelligent human-machine dialogue based on the speech recognition technology of Keda Xunfei;(2)Web interaction interface based on Node.js;(3)The NIO communication interface based on WCF encapsulation for the realization of message transmission between the modules;(4)Realization of cross platform radar data transmission and online map construction using SQLite and message queue technology;(5)Realization of complex navigation tasks in dynamic environment using LTL combined with A* path planning algorithm.Finally,the experimental verification of the developed Win-ROS-based public service robot system is carried out.Special experiments of functional modules and comprehensive experiments for practical application scenarios are carried out.The experimental results show that the public service robot system designed in this paper has high intelligence,good human-computer interaction and high user operation efficiency.Besides,it enables the service robot to achieve good navigation tasks in the dynamic environment.The design and implementation of such the system provides a new solution for the commercial development of service robots.