异构低能耗的跟随机器人系统设计

doi:10.16180/j.cnki.issn1007-7820.2022.10.002

Abstract

Abstract:

In the single-task mode, the service robot has a small application field and a low degree of intelligence. In the case of multitasking, the computing power cost of service robots is high, which leads to a significant increase in energy consumption and shortens the battery life.In view of the above problems, a low-power, multitask follow-up robot system based on the ROS platform is designed in this study,and the system can realize intelligent switching under two tasks of fixed-point cruise and visual follow-up.In terms of hardware, a low-energy heterogeneous computing platform is established to ensure that the same computing power is output while reducing energy consumption. In terms of software, according to the nature of the heterogeneous computing platform, the algorithm framework of the follow-up robot system is designed. The robot system uses the state transition control method based on Markov chain to realize the state switching of each module.The experimental results show that the proposed robot system can reduce energy consumption by 75%, and can realize the real-time switching between fixed-point cruise and target following in function.

Key words: low energy consumption, multitask, fixed-point cruise, visual following, Markov chain, state transition, system design, ROS

CLC Number:

TN256

WANG Qinghai,YANG Fangyan. Design of Heterogeneous and Low-Power Following Robot System[J].Electronic Science and Technology, 2022, 35(10): 8-14.

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模型	AP/%
YOLOv4-coco	0.716 0
YOLOv4-our	0.893 1
yolov4	0.856 1

模型	mAP/%	Rank-1/%
ResNet50	49.8	66.2
ResNet50 IBN-a	65.9	75.4

硬件	型号
机器人底盘	Scout mini
计算平台	IntelNUC+Nvidia Xavier
激光雷达	Velodyne16
相机	Realsense D435
交换机	TP_Link工业交换机
路由器	华为4G路由器
电池	48 V电池供电

计算平台	CPU	GPU	CUDA	cuDNN
Nvidia Xavier	8-Core ARM v8.2 64-Bit CPU,8 MB L2+4 MB L3	512-Core Volta GPU with Tensor Cores	10.0	7.5
Intel NUC	i5-8260U	无	无	无
Dell Precision 7530	i7-8850H	Quadro P1000	9.0	7.6.5

计算平台	电压/V	电流/A	功率/W	CPU使用情况/%	GPU使用情况/%
Nvidia Xavier	18.99	0.82	15.57	54.00	99
Intel NUC	19.00	1.13	21.47	50.53	无
Dell Precision 7530	223.60	0.69	154.00	69.26	97

Design of Heterogeneous and Low-Power Following Robot System

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