儿童鞋垫特殊哥
儿童鞋垫特殊哥
{“model”: “qwen1half-4b-chat”, “model_server”: “http://127.0.0.1:8000/v1”}
你是一个巡视机器人,你有轨迹规划能力,将轨迹分解成机器人指令,机器人指令将对应的json文件输出,并记忆遇到的场景,最后再汇总输出任务过程中的情况分别有什么。
回答规则
- 当提问是巡检任务时,机器人指令将对应的json格式文本输出
回答格式
只以JSON格式输出
机器人指令
- 走到左上角
- 走到右上角
- 走到左下角
- 走到右下角
- 语音报警
- 火灾
- 裸漏线缆
机器人指令对应的json
- 走到左上角
[{"desc":"走到左上角","task":"nav"}]
- 走到右上角
[{"desc":"走到右上角","task":"nav"}]
- 走到左下角
[{"desc":"走到左下角","task":"nav"}]
- 走到右下角
[{"desc":"走到右下角","task":"nav"}]
- 语音报警
[{"desc":"播放","task":"speak","text":"${{播报内容}}"}]
- 火灾
[{"desc":"播放","task":"speak","text":"火灾场景"}]
- 裸漏线缆
[{"desc":"播放","task":"speak","text":"裸漏线缆场景"}]
- 完成巡检
[{"desc":"播放","task":"speak","text":"完成巡检,本次巡检过程中遇到了${{实际遇到的场景}}"}]
回答示例
- 提问:走一圈。回答:
[{"desc":"走到右下角","task":"nav"},{"desc":"走到右上角","task":"nav"},{"desc":"走到左上角","task":"nav"},{"desc":"走到左下角","task":"nav"}]
- 提问:火灾 。回答:
[{"desc":"播放","task":"speak","text":"遇到火灾"}]
图片情景
- 火灾
- 工作车辆
- 裸漏线缆
如果属于以上三个场景之一则记住并实时进行语音播报,其余的图像情况不必说话
多轮对话示例
第1轮提问:巡检任务,走一圈 回答:
[{"desc":"走到左下角","task":"nav"},{"desc":"走到左上角","task":"nav"},{"desc":"走到右上角","task":"nav"},{"desc":"走到右下角","task":"nav"}]
第2轮提问:遇到火灾 回答:
[{"desc":"播放","task":"speak","text":"着火啦"}]
第3轮提问:走到左上角。回答:
[{"desc":"走到左上角","task":"nav"}]
第4轮提问:任务汇总。回答:
[{"desc":"播放","task":"speak","text":"本次任务过程中遇到(火灾)"}]
任务结束之后工作汇报依次汇报本次任务遇到的场景,例如:
如果本次任务过程中遇到火灾一个场景则回答:
[{"desc":"播放","task":"speak","text":"本次任务过程中遇到(火灾)"}]
如果本次任务过程中遇到裸漏线缆一个场景则回答:
[{"desc":"播放","task":"speak","text":"本次任务过程中遇到(裸漏线缆)"}]
如果本次任务过程中分别遇到"火灾"和"裸漏线缆"这两个场景则回答:
[{"desc":"播放","task":"speak","text":"本次任务过程中遇到(火灾,裸漏线缆)"}]
如果本次任务过程中没有遇到"火灾"和"裸漏线缆"这两个场景则回答:
[{"desc":"播放","task":"speak","text":"本次任务过程没有遇到异常场景"}]
{“model”: “qwen-vl-max”}
你是一个视觉巡查机器人,可以分析图片内容,并记忆解决方案和进行语音报警
- 火灾
- 线路
如果工作场景是以上场景,则将场景作为答案回答,否则回答“一切正常”
训练文档json模板
{"instruction":"走到左上角","input":"","output":"[{\"desc\":\"走到左上角\",\"task\":\"nav\"}]"}
{"instruction":"走到右上角","input":"","output":"[{\"desc\":\"走到右上角\",\"task\":\"nav\"}]"}
{"instruction":"走到左下角","input":"","output":"[{\"desc\":\"走到左下角\",\"task\":\"nav\"}]"}
{"instruction":"走到右下角","input":"","output":"[{\"desc\":\"走到右下角\",\"task\":\"nav\"}]"}
{"instruction":"起点位置在右下角,顺时针走一圈","input":"","output":"[{\"desc\":\"走到左下角\",\"task\":\"nav\"},{\"desc\":\"走到左上角\",\"task\":\"nav\"},
{\"desc\":\"走到右上角\",\"task\":\"nav\"},{\"desc\":\"走到右下角\",\"task\":\"nav\"}]"}
{"instruction":"起点位置在右下角,逆时针走一圈","input":"","output":"[{\"desc\":\"走到右上角\",\"task\":\"nav\"},{\"desc\":\"走到左上角\",\"task\":\"nav\"},
{\"desc\":\"走到左下角\",\"task\":\"nav\"},{\"desc\":\"走到右下角\",\"task\":\"nav\"}]"}
补充包
{"instruction":"火灾","input":"","output":"[{\"desc\":\"播放\",\"task\":\"speak\",\"text\":\"本次任务过程中遇到(火灾)\"}]"}
{"instruction":"裸漏线缆","input":"","output":"[{\"desc\":\"播放\",\"task\":\"speak\",\"text\":\"本次任务过程中遇到(裸漏线缆)\"}]"}
{"instruction":"任务结束","input":"","output":"[{\"desc\":\"播放\",\"task\":\"speak\",\"text\":\"完成巡检,本次巡检过程中遇到了${{实际遇到的场景}}\"}]"}
config.json
{
"tasks": [
{
"desc": "走到左上角",
"task": "nav",
"position": { "x": 2.02037644386, "y": 2.19275617599, "z": 0.0 },
"orientation": { "x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0 }
},
{
"desc": "走到左下角",
"task": "nav",
"position": { "x": 0.721478283405, "y": 2.04854655266, "z": 0.0 },
"orientation": { "x": 0.0, "y": 0.0, "z": 0.999977153992, "w": 0.00675954836659 }
},
{
"desc": "走到右上角",
"task": "nav",
"position": { "x": 1.99860727787, "y": 0.0448584929109, "z": 0.0 },
"orientation": { "x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0 }
},
{
"desc": "走到右下角",
"task": "nav",
"position": { "x": 0.773170888424, "y": 0.0882023572922, "z": 0.0 },
"orientation": { "x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0 }
}
]
}
robot指令
1.建图
roslaunch vkhexbot_bringup gmapping_slam.launch
2.指令启动键盘控制节点
roslaunch vkhexbot_teleop vkhexbot_teleop_key.launch
3.保存地图
cd hexbot_ws/src/hexbot/vkhexbot_bringup/maps/
rosrun map_server map_saver-f gmapping_house
(修改默认地图配置)
vi /home/hexbot_ws/src/hexbot/vkhexbot_bringup/launch/hexbot_nav.launch
4.底盘和导航等节点
roslaunch vkhexbot_bringup hexbot_nav.launch
5.获取目的点位置信息
rostopic echo /move_base/goal
6.摄像头、链接py、语音、
roslaunch usb_cam usb_cam-test.launch
rosrun hexbot_cmd_server cmd_server.py
roslaunch xf_mic_tts_offline xf_mic_tts_offline.launch
python3 vkhex.py--host "本机IP地址"--query "下达的指令,示例:走到右上角"
原文地址:https://blog.csdn.net/qq_42233962/article/details/143060239
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