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

作　　者：薛英花[1,2] 田国会[1] 周风余[1] 李国栋[1] 尹建芹[1] 

机构地区：[1]山东大学控制科学与工程学院,济南250061 [2]山东财政学院计算机信息工程学院,济南250014

出　　处：《高技术通讯》2012年第1期74-81,共8页Chinese High Technology Letters

基　　金：863计划（2006AA040206,2009AA04Z220）和国家自然科学基金（61075092）资助项目.

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在大范围远距离物品搜寻的优势，又有效利用了本体视觉提供的丰富信息，能准确识别室内多种类物品，定位精度高，稳定性好，并可在一定程度上解决遮挡问题。目前，该系统已成功地应用到智能空间的主动服务中，运行良好。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.

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 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]