面向病房巡视的服务机器人目标搜寻

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尹建芹, 田国会, 高鑫, 周风余, 姜海涛. 面向病房巡视的服务机器人目标搜寻[J]. 机器人, 2011, 33(5): 570-578,620.. YIN Jianqin, TIAN Guohui, GAO Xin, ZHOU Fengyu, JIANG Haitao. Object Searching Scheme for Service Robot Oriented to Wards Inspection. ROBOT, 2011, 33(5): 570-578,620..

摘要为了解决现阶段病房巡视任务中出现的巡护不及时等问题，利用服务机器人进行病房巡视，完成病人的基本信息验证、病人治疗信息获取等巡视任务．提出了基于叭叶斯理论的面向巡视任务的机器人控制策略，该策略利用机器人的当前位姿、规划的路径，与当前的视觉图像相结合，进行机器人控制；提出了由粗到细的多模式目标表示方法，融合RFID、特征和图像来表示目标，利用RFID进行目标的初步粗定位，对于经常移动的目标采用人工标记物或自身特征的方式表示，对于相对固定的目标利用模板图像表示，进一步缩小搜索范围；利用主动视觉计算显著性图引导视觉注意，并采用特征验证的方式进行目标最终定位；最后，基于定位的目标控制摄像头运动实现目标图像的抓取．实验结果表明，本文提出的方案可以较好地实现服务机器人的病房巡视．

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	尹建芹
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	姜海涛

关键词 ：服务机器人, 目标搜寻, 病房巡视, 显著性图

Abstract：In order to solve the current problems emerged from wards inspection,such as untimely inspection,etc,the service robots are used to take up the inspection tasks,including the patients' information affirmation and the treatment information acquisition.Firstly,a robot control scheme based on Bayes theory is put forward.The scheme combines the current pose of the robot and the result route of the path with the current vision image to control the robot.Secondly,a multi-mode object presentation from rough to fine is used to describe the goal,RFID(radio frequency identification),features and images are fused to represent the goal object.RFID is used to determine the large-scale existing area of the goal.For the objects with changeable location,features of man-made marker or the object itself are used,while for those of fixed location, the template images are used.Then the searching area of the object is smaller.Thirdly,active vision is used to compute the saliency map to guide the vision attention,and the feature confirmation is used to obtain the final location of the object.At last,the camera is controlled based on the located object to capture the goal images.The experimental results show that the scheme can accomplish the wards inspection.

Key words： service robot object searching ward inspection saliency map

收稿日期: 2011-01-24 录用日期: 2011-05-25

TP24

基金资助:国家自然科学基金资助项目（61075092）；国家863计划资助项目（2009AA04Z220）；国家863计划重点项目（2006AA040206）；山东省自然科学基金资助项目（ZR2011FM011）

通讯作者: 田国会 E-mail: g.h.tian@sdu.edu.cn

作者简介: 尹建芹（1978- ），女，博士生，讲师．研究领域：服务机器人，机器视觉，模式识别．
田国会（1969- ），男，教授，博士生导师．研究领域：服务机器人，智能空间，多机器人系统的协调与协作．
高鑫（1986- ），男，硕士生．研究领域；机器视觉，机器人物品搜寻．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I5/570

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