功能有: 人脸识别 手势识别 智能避障 人机对话
硬件选择
-
主控板:
- 使用Raspberry Pi 4或NVIDIA Jetson Nano,具有较强的处理能力。
-
摄像头:
- 高分辨率摄像头模块。
-
传感器:
- 超声波传感器或红外传感器。
-
麦克风和扬声器:
- 高质量的麦克风模块和扬声器。
-
电机和车体:
- 直流电机和一个小车底盘。
软件框架
-
操作系统:
- 嵌入式Linux(如Raspbian或Ubuntu)。
-
编程语言:
- C++(主要用于性能关键部分),Python(用于高级任务和集成现有库)。
-
中间件:
- ROS2(机器人操作系统,版本选择较新的Foxy或Galactic)。
安装ROS2
在Raspberry Pi或Jetson Nano上安装ROS2,可以参考官方安装指南:ROS2 Installation
创建ROS2工作空间
创建并初始化一个ROS2工作空间:
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
colcon build
source install/local_setup.bash
创建ROS2包
在工作空间中创建新的ROS2包:
cd ~/ros2_ws/src
ros2 pkg create --build-type ament_cmake smart_car
cd ~/ros2_ws
colcon build
source install/local_setup.bash
功能模块的ROS2节点实现
1. 人脸识别
创建一个新的C++文件 face_recognition_node.cpp
:
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <opencv2/opencv.hpp>
#include <dlib/opencv.h>
#include <dlib/image_processing/frontal_face_detector.h>
#include <dlib/image_processing/render_face_detections.h>
#include <dlib/image_processing.h>
#include <cv_bridge/cv_bridge.h>
class FaceRecognitionNode : public rclcpp::Node {
public:
FaceRecognitionNode() : Node("face_recognition_node") {
subscription_ = this->create_subscription<sensor_msgs::msg::Image>(
"camera/image", 10, std::bind(&FaceRecognitionNode::faceRecognitionCallback, this, std::placeholders::_1));
detector_ = dlib::get_frontal_face_detector();
dlib::deserialize("shape_predictor_68_face_landmarks.dat") >> sp_;
}
private:
void faceRecognitionCallback(const sensor_msgs::msg::Image::SharedPtr msg) {
cv_bridge::CvImagePtr cv_ptr;
try {
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
} catch (cv_bridge::Exception& e) {
RCLCPP_ERROR(this->get_logger(), "cv_bridge exception: %s", e.what());
return;
}
dlib::cv_image<dlib::bgr_pixel> cimg(cv_ptr->image);
std::vector<dlib::rectangle> faces = detector_(cimg);
for (auto face : faces) {
dlib::full_object_detection shape = sp_(cimg, face);
// 处理人脸特征点
}
cv::imshow("Face Recognition", cv_ptr->image);
cv::waitKey(30);
}
rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_;
dlib::frontal_face_detector detector_;
dlib::shape_predictor sp_;
};
int main(int argc, char** argv) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<FaceRecognitionNode>());
rclcpp::shutdown();
return 0;
}
2. 手势识别
创建一个新的Python文件 gesture_recognition_node.py
:
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
import cv2
import mediapipe as mp
class GestureRecognitionNode(Node):
def __init__(self):
super().__init__('gesture_recognition_node')
self.subscription = self.create_subscription(Image, 'camera/image', self.listener_callback, 10)
self.bridge = CvBridge()
self.mp_hands = mp.solutions.hands.Hands()
def listener_callback(self, msg):
try:
cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
except CvBridgeError as e:
self.get_logger().error('Could not convert image: %s' % e)
return
image = cv2.cvtColor(cv2.flip(cv_image, 1), cv2.COLOR_BGR2RGB)
results = self.mp_hands.process(image)
if results.multi_hand_landmarks:
for hand_landmarks in results.multi_hand_landmarks:
mp.solutions.drawing_utils.draw_landmarks(image, hand_landmarks, mp.solutions.hands.HAND_CONNECTIONS)
cv2.imshow('Hand Gesture Recognition', cv2.cvtColor(image, cv2.COLOR_RGB2BGR))
cv2.waitKey(5)
def main(args=None):
rclpy.init(args=args)
node = GestureRecognitionNode()
try:
rclpy.spin(node)
except KeyboardInterrupt:
pass
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
3. 智能避障
创建一个新的C++文件 obstacle_avoidance_node.cpp
:
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/bool.hpp>
#include <wiringPi.h>
#define TRIG_PIN 0
#define ECHO_PIN 1
class ObstacleAvoidanceNode : public rclcpp::Node {
public:
ObstacleAvoidanceNode() : Node("obstacle_avoidance_node") {
publisher_ = this->create_publisher<std_msgs::msg::Bool>("obstacle_detected", 10);
setupUltrasonic();
timer_ = this->create_wall_timer(std::chrono::milliseconds(100), std::bind(&ObstacleAvoidanceNode::checkObstacle, this));
}
private:
void setupUltrasonic() {
wiringPiSetup();
pinMode(TRIG_PIN, OUTPUT);
pinMode(ECHO_PIN, INPUT);
}
int getDistance() {
digitalWrite(TRIG_PIN, LOW);
delayMicroseconds(2);
digitalWrite(TRIG_PIN, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG_PIN, LOW);
while (digitalRead(ECHO_PIN) == LOW);
long startTime = micros();
while (digitalRead(ECHO_PIN) == HIGH);
long travelTime = micros() - startTime;
int distance = travelTime / 58;
return distance;
}
void checkObstacle() {
auto message = std_msgs::msg::Bool();
int distance = getDistance();
if (distance < 30) {
message.data = true;
} else {
message.data = false;
}
publisher_->publish(message);
}
rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr timer_;
};
int main(int argc, char** argv) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<ObstacleAvoidanceNode>());
rclcpp::shutdown();
return 0;
}
4. 人机对话
创建一个新的Python文件 voice_assistant_node.py
:
import rclpy
from rclpy.node import Node
from std_msgs.msg import String
import openai
import speech_recognition as sr
openai.api_key = 'your-api-key'
def chat_with_gpt(prompt):
response = openai.Completion.create(
engine="text-davinci-003",
prompt=prompt,
max_tokens=150
)
return response.choices[0].text.strip()
class VoiceAssistantNode(Node):
def __init__(self):
super().__init__('voice_assistant_node')
self.publisher_ = self.create_publisher(String, 'voice_response', 10)
self.recognizer = sr.Recognizer()
self.mic = sr.Microphone()
self.create_timer(1.0, self.listen_and_respond)
def listen_and_respond(self):
with self.mic as source:
audio = self.recognizer.listen(source)
try:
text = self.recognizer.recognize_google(audio)
response = chat_with_gpt(text)
msg = String()
msg.data = response
self.publisher_.publish(msg)
except sr.UnknownValueError:
self.get_logger().warn("Could not understand the audio")
except sr.RequestError:
self.get_logger().warn("Could not request results")
def main(args=None):
rclpy.init(args=args)
node = VoiceAssistantNode()
try:
rclpy.spin(node)
except KeyboardInterrupt:
pass
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
创建launch文件
创建一个launch文件 smart_car_launch.py
来启动所有节点:
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(
package='smart_car',
executable='face_recognition_node',
name='face_recognition_node'
),
Node(
package='smart_car',
executable='gesture_recognition_node.py',
name='gesture_recognition_node'
),
Node(
package='smart_car',
executable='obstacle_avoidance_node',
name='obstacle_avoidance_node'
),
Node(
package='smart_car',
executable='voice_assistant_node.py',
name='voice_assistant_node'
)
])
编译和运行
编译工作空间:
cd ~/ros2_ws
colcon build
source install/local_setup.bash
运行launch文件:
ros2 launch smart_car smart_car_launch.py
通过上述步骤,您可以使用ROS2来协调各个功能模块,实现智能助理小车的所有功能。每个模块通过ROS2节点独立实现,并通过ROS2的发布/订阅机制进行通信。