Show HN：JBR-001——一款开源 3D 可打印桌面机器人

Show HN：JBR-001——一款开源 3D 可打印桌面机器人
Show HN: JBR-001 – An open-source 3D printable desktop robot

原始链接: https://projecthub.arduino.cc/syntheticaidata/jbr-001-a-desktop-companion-robot-powered-by-arduino-uno-q-b11c96

该代码控制一台基于 Arduino 的 JBR-001 机器人，机器人配备头部舵机、两个手臂舵机、蜂鸣器、LED 点阵和距离传感器。启动时，机器人会让舵机回到中间位置，播放四个音符组成的问候音，并执行一套头部和手臂动作。在主循环中，代码持续播放大、小爱心位图动画，以模拟心跳。当距离传感器检测到物体距离小于 200 个单位时，机器人播放一次问候音，并将 `objectDetected` 设为真，以防止重复发声。如果物体移动到距离大于 250 个单位的位置，该状态会重置，机器人便可以再次播放问候音。阈值单位取决于传感器库的输出。动画使用非阻塞的 `millis()` 定时，而问候音和启动动作使用延迟。

**JBR-001** 是一款开源、可通过 3D 打印制作的桌面伴侣机器人，由 Arduino UNO Q 驱动。项目包含源代码、外壳文件和组装说明，并配有摄像头、距离传感器、蜂鸣器、动态显示屏、物体识别功能，以及由伺服电机控制的头部和手臂。它不会行走，腿部主要起装饰和支撑作用。评论总体较为积极，尤其是那些喜欢与家人一起组装它的用户。不过，也有人质疑该项目的开源理念是否会逐渐走向商业化，这与人们对同类开源机器人 Otto DIY 的担忧不谋而合。争论主要集中在 UNO Q 约 60 美元的价格，以及市场上没有廉价克隆产品的问题，这可能会限制其普及。批评者还认为，这机器人的移动和操作能力有限，却售价过高，并指出基于 ESP32 的廉价替代方案只需 20～30 美元，也能提供类似的感知功能。支持者则表示，其集成计算能力可能更有利于计算机视觉的应用。创作者表示，最大的设计难点是如何让机器人保持简单、易于上手、可爱，并且方便用户修改。

原文

1#include <Servo.h>
2#include <Modulino.h>
3#include "Arduino_LED_Matrix.h"
4
5// JBR-001 hardware
6Servo headServo;
7Servo leftArmServo;
8Servo rightArmServo;
9
10ModulinoBuzzer buzzer;
11ModulinoDistance distanceSensor;
12
13ArduinoLEDMatrix matrix;
14
15// Servo pins
16const int HEAD_SERVO_PIN = 9;
17const int LEFT_ARM_SERVO_PIN = 10;
18const int RIGHT_ARM_SERVO_PIN = 11;
19
20// Servo resting positions
21const int HEAD_CENTER = 90;
22const int LEFT_ARM_CENTER = 90;
23const int RIGHT_ARM_CENTER = 90;
24
25// Distance detection
26const float DETECTION_DISTANCE = 200.0;
27const float RESET_DISTANCE = 250.0;
28
29bool objectDetected = false;
30
31// Small heart
32// flipped to match display orientation
33uint8_t heartSmall[8][13] = {
34  {0,0,0,0,0,0,0,0,0,0,0,0,0},
35  {0,0,0,0,0,1,1,1,0,0,0,0,0},
36  {0,0,0,0,1,1,1,1,1,0,0,0,0},
37  {0,0,0,1,1,1,1,1,1,1,0,0,0},
38  {0,0,1,1,1,1,1,1,1,1,1,0,0},
39  {0,0,1,1,1,1,0,1,1,1,1,0,0},
40  {0,0,0,1,1,0,0,0,1,1,0,0,0},
41  {0,0,0,0,0,0,0,0,0,0,0,0,0}
42};
43
44
45// Large heart
46// flipped to match display orientation
47uint8_t heartLarge[8][13] = {
48  {0,0,0,0,1,1,1,1,1,0,0,0,0},
49  {0,0,0,1,1,1,1,1,1,1,0,0,0},
50  {0,0,1,1,1,1,1,1,1,1,1,0,0},
51  {0,1,1,1,1,1,1,1,1,1,1,1,0},
52  {1,1,1,1,1,1,1,1,1,1,1,1,1},
53  {1,1,1,1,1,1,1,1,1,1,1,1,1},
54  {0,1,1,1,1,1,0,1,1,1,1,1,0},
55  {0,0,1,1,1,0,0,0,1,1,1,0,0}
56};
57
58// Heartbeat animation
59unsigned long heartbeatTimer = 0;
60int heartbeatStep = 0;
61
62void heartbeat() {
63  unsigned long now = millis();
64
65  switch (heartbeatStep) {
66
67    case 0:
68      matrix.renderBitmap(heartLarge, 8, 13);
69      heartbeatTimer = now;
70      heartbeatStep = 1;
71      break;
72
73    case 1:
74      if (now - heartbeatTimer >= 120) {
75        matrix.renderBitmap(heartSmall, 8, 13);
76        heartbeatTimer = now;
77        heartbeatStep = 2;
78      }
79      break;
80
81    case 2:
82      if (now - heartbeatTimer >= 100) {
83        matrix.renderBitmap(heartLarge, 8, 13);
84        heartbeatTimer = now;
85        heartbeatStep = 3;
86      }
87      break;
88
89    case 3:
90      if (now - heartbeatTimer >= 160) {
91        matrix.renderBitmap(heartSmall, 8, 13);
92        heartbeatTimer = now;
93        heartbeatStep = 4;
94      }
95      break;
96
97    case 4:
98      if (now - heartbeatTimer >= 700) {
99        heartbeatStep = 0;
100      }
101      break;
102  }
103}
104
105// Play JBR-001's friendly greeting
106void playHello() {
107  buzzer.tone(523, 120);   // C5
108  delay(150);
109
110  buzzer.tone(659, 120);   // E5
111  delay(150);
112
113  buzzer.tone(784, 180);   // G5
114  delay(210);
115
116  buzzer.tone(1047, 250);  // C6
117  delay(270);
118}
119
120// Perform JBR-001's startup movement
121void makeMovement() {
122
123  // Look left, right, then forward
124  headServo.write(70);
125  delay(400);
126
127  headServo.write(110);
128  delay(400);
129
130  headServo.write(HEAD_CENTER);
131  delay(400);
132
133  // Move both arms
134  leftArmServo.write(70);
135  rightArmServo.write(110);
136  delay(500);
137
138  leftArmServo.write(110);
139  rightArmServo.write(70);
140  delay(500);
141
142  // Return to resting position
143  leftArmServo.write(LEFT_ARM_CENTER);
144  rightArmServo.write(RIGHT_ARM_CENTER);
145  delay(500);
146}
147
148void setup() {
149  Modulino.begin();
150
151  buzzer.begin();
152  distanceSensor.begin();
153  matrix.begin();
154
155  // Show the heart while JBR-001 starts
156  matrix.renderBitmap(heartSmall, 8, 13);
157
158  // Move each servo to its resting position
159  headServo.attach(HEAD_SERVO_PIN);
160  headServo.write(HEAD_CENTER);
161  delay(400);
162
163  leftArmServo.attach(LEFT_ARM_SERVO_PIN);
164  leftArmServo.write(LEFT_ARM_CENTER);
165  delay(400);
166
167  rightArmServo.attach(RIGHT_ARM_SERVO_PIN);
168  rightArmServo.write(RIGHT_ARM_CENTER);
169  delay(400);
170
171  delay(500);
172
173  // Say hello and come to life
174  playHello();
175  makeMovement();
176}
177
178void loop() {
179
180  // Keep the heart beating
181  heartbeat();
182
183  // React when someone approaches
184  if (distanceSensor.available()) {
185    float distance = distanceSensor.get();
186
187    if (distance < DETECTION_DISTANCE && !objectDetected) {
188      objectDetected = true;
189      playHello();
190    }
191
192    // Ready for the next greeting once they move away
193    if (distance > RESET_DISTANCE) {
194      objectDetected = false;
195    }
196  }
197}

#include <Servo.h>
#include <Modulino.h>
#include "Arduino_LED_Matrix.h"

// JBR-001 hardware
Servo headServo;
Servo leftArmServo;
Servo rightArmServo;

ModulinoBuzzer buzzer;
ModulinoDistance distanceSensor;

ArduinoLEDMatrix matrix;

// Servo pins
const int HEAD_SERVO_PIN = 9;
const int LEFT_ARM_SERVO_PIN = 10;
const int RIGHT_ARM_SERVO_PIN = 11;

// Servo resting positions
const int HEAD_CENTER = 90;
const int LEFT_ARM_CENTER = 90;
const int RIGHT_ARM_CENTER = 90;

// Distance detection
const float DETECTION_DISTANCE = 200.0;
const float RESET_DISTANCE = 250.0;

bool objectDetected = false;

// Small heart
// flipped to match display orientation
uint8_t heartSmall[8][13] = {
  {0,0,0,0,0,0,0,0,0,0,0,0,0},
  {0,0,0,0,0,1,1,1,0,0,0,0,0},
  {0,0,0,0,1,1,1,1,1,0,0,0,0},
  {0,0,0,1,1,1,1,1,1,1,0,0,0},
  {0,0,1,1,1,1,1,1,1,1,1,0,0},
  {0,0,1,1,1,1,0,1,1,1,1,0,0},
  {0,0,0,1,1,0,0,0,1,1,0,0,0},
  {0,0,0,0,0,0,0,0,0,0,0,0,0}
};


// Large heart
// flipped to match display orientation
uint8_t heartLarge[8][13] = {
  {0,0,0,0,1,1,1,1,1,0,0,0,0},
  {0,0,0,1,1,1,1,1,1,1,0,0,0},
  {0,0,1,1,1,1,1,1,1,1,1,0,0},
  {0,1,1,1,1,1,1,1,1,1,1,1,0},
  {1,1,1,1,1,1,1,1,1,1,1,1,1},
  {1,1,1,1,1,1,1,1,1,1,1,1,1},
  {0,1,1,1,1,1,0,1,1,1,1,1,0},
  {0,0,1,1,1,0,0,0,1,1,1,0,0}
};

// Heartbeat animation
unsigned long heartbeatTimer = 0;
int heartbeatStep = 0;

void heartbeat() {
  unsigned long now = millis();

  switch (heartbeatStep) {

    case 0:
      matrix.renderBitmap(heartLarge, 8, 13);
      heartbeatTimer = now;
      heartbeatStep = 1;
      break;

    case 1:
      if (now - heartbeatTimer >= 120) {
        matrix.renderBitmap(heartSmall, 8, 13);
        heartbeatTimer = now;
        heartbeatStep = 2;
      }
      break;

    case 2:
      if (now - heartbeatTimer >= 100) {
        matrix.renderBitmap(heartLarge, 8, 13);
        heartbeatTimer = now;
        heartbeatStep = 3;
      }
      break;

    case 3:
      if (now - heartbeatTimer >= 160) {
        matrix.renderBitmap(heartSmall, 8, 13);
        heartbeatTimer = now;
        heartbeatStep = 4;
      }
      break;

    case 4:
      if (now - heartbeatTimer >= 700) {
        heartbeatStep = 0;
      }
      break;
  }
}

// Play JBR-001's friendly greeting
void playHello() {
  buzzer.tone(523, 120);   // C5
  delay(150);

  buzzer.tone(659, 120);   // E5
  delay(150);

  buzzer.tone(784, 180);   // G5
  delay(210);

  buzzer.tone(1047, 250);  // C6
  delay(270);
}

// Perform JBR-001's startup movement
void makeMovement() {

  // Look left, right, then forward
  headServo.write(70);
  delay(400);

  headServo.write(110);
  delay(400);

  headServo.write(HEAD_CENTER);
  delay(400);

  // Move both arms
  leftArmServo.write(70);
  rightArmServo.write(110);
  delay(500);

  leftArmServo.write(110);
  rightArmServo.write(70);
  delay(500);

  // Return to resting position
  leftArmServo.write(LEFT_ARM_CENTER);
  rightArmServo.write(RIGHT_ARM_CENTER);
  delay(500);
}

void setup() {
  Modulino.begin();

  buzzer.begin();
  distanceSensor.begin();
  matrix.begin();

  // Show the heart while JBR-001 starts
  matrix.renderBitmap(heartSmall, 8, 13);

  // Move each servo to its resting position
  headServo.attach(HEAD_SERVO_PIN);
  headServo.write(HEAD_CENTER);
  delay(400);

  leftArmServo.attach(LEFT_ARM_SERVO_PIN);
  leftArmServo.write(LEFT_ARM_CENTER);
  delay(400);

  rightArmServo.attach(RIGHT_ARM_SERVO_PIN);
  rightArmServo.write(RIGHT_ARM_CENTER);
  delay(400);

  delay(500);

  // Say hello and come to life
  playHello();
  makeMovement();
}

void loop() {

  // Keep the heart beating
  heartbeat();

  // React when someone approaches
  if (distanceSensor.available()) {
    float distance = distanceSensor.get();

    if (distance < DETECTION_DISTANCE && !objectDetected) {
      objectDetected = true;
      playHello();
    }

    // Ready for the next greeting once they move away
    if (distance > RESET_DISTANCE) {
      objectDetected = false;
    }
  }
}

Show HN：JBR-001——一款开源 3D 可打印桌面机器人 Show HN: JBR-001 – An open-source 3D printable desktop robot

Show HN：JBR-001——一款开源 3D 可打印桌面机器人
Show HN: JBR-001 – An open-source 3D printable desktop robot