| 薛英花,田国会,周风余,李国栋,尹建芹.智能空间中的服务机器人物品搜寻与操作[J].高技术通讯(中文),2012,22(1):74~81 |
| 智能空间中的服务机器人物品搜寻与操作 |
| Object searching and operation of service robots in intelligent space |
| 修订日期：2010-09-08 |
| DOI： |
| 中文关键词: 智能空间， 服务机器人， 物品搜寻， 物品操作， 射频识别（RFID）， 人工物标 |
| 英文关键词: intelligent space, service robot, object searching, object operation, radio frequency identification (RFID), artificial object mark |
| 基金项目:863计划（2006AA040206， 2009AA04Z220）和国家自然科学基金（61075092）资助项目 |
| 作者 | 单位 | | 薛英花 | 山东大学控制科学与工程学院；山东财政学院计算机信息工程学院 | | 田国会 | 山东大学控制科学与工程学院 | | 周风余 | 山东大学控制科学与工程学院 | | 李国栋 | 山东大学控制科学与工程学院 | | 尹建芹 | 山东大学控制科学与工程学院 |
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| 中文摘要: |
| 为了实现服务机器人在智能空间中以人为中心的主动服务，提出一个实现机器人在室内复杂环境中的物品搜寻与操作的完整的方案。该方案首先根据建立的射频识别（RFID）定向天线识别范围概率模型，利用Bayes规则实现RFID物品粗定位。然后运用设计的基于人工物标的多种类物品识别方法，并利用建立的机器人系统模型和获取的物品特征，实现快速高效的单目视觉定位。最后用设计的眼注视约束下的基于位置的视觉伺服系统，实现物品的抓取和运送等操作。基于此方案，设计并实现了一个服务机器人物品搜寻与操作系统，该系统既充分发挥了RFID在大 |
| 英文摘要: |
| In this paper, complete object searching and operating scheme for a service robot in complex indoor environments is presented to realize its human centered active service in an intelligent space. The scheme is described as below. Firstly, the rough localization for an object is realized using the probability model for radio frequency identification (RFID) antenna’s recognition scope and the Bayes Rule. Then, with the aid of an artificial object mark based recognition approach for multi type objects, the quick and efficient localization based on monocular vision is realized using the system model of robot and the object’s features. Finally, a position based visual servoing control law under eye gaze constraint is used to realize object grasp and delivery. An object rearching and operating system was designed and implemented according the scheme. The system not only makes full use of the advantages of RFID in the field of object localization in a large scale, but also efficiently utilizes the rich information provided by the robot vision, and can accurately recognize the multi type objects in complex indoor environments. The system has the high accuracy, well stability and high positioning precision. Besides, it can solve the occlusion problems to some extent. Now, the system has been successfully applied to the active service in intelligent space. |
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