Object Searching Scheme for Service Robot Oriented to Wards Inspection

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.