Research On Modeling And Application Of Object-oriented Family Holographic Map

In current society, the aging problem becomes increasingly serious, and there aremore and more solitude old man, with intelligent home service robot appear that would beexpected to ease this problem, and provide basic daily service for old people. It is thefoundation for robot to provide intelligent service that deep cognition of environment, butbecause of the complexity of family environment and daily operation objects, so buildingmap model and application become so difficult.This thesis aims to people demand for service of family service robot, the mainresearch based on object-oriented thought family service robot map represent , buildingand the problem of synchronization between robots walk path planning and manipulatoroperation path planning, it’s aimed at establishing a family holographic map that can laidthe foundation for family service robot of the cognitive of family environment, and basedon the model of this map realize the synchronicity path planning between the robot andmanipulator.Firstly, according to cognitive thinking of human in family space environment, andbrings from the object-oriented ideas, then put forward a kind of object oriented familyservice robot holographic map expression method, design a model of the family-room-thegoods three layer, at the same time , it’s given different setting method for every object ineach layer. Analysis of the object and its contact based on this, and the contact betweenone layer and another layer, besides, draw up the selecting principle for all kinds ofobjects in each layer.Secondly, reference to the cognitive process of home environment of human to build afamilies holographic map model. Family service robot uses sensors to extract the objectspace data of home environment, converts it into the database type that can be store inrobot database, and then puts spatial data into holographic map and updates the data in areal-time.Finally, to introduce the family service robot using the holographic map modelaccomplish the basic service and tasks briefly. In order to solve the synchronizationproblem, design a robot synchronous planning thoughts based on household holographicmap model, make a fusion after synchronous planning the walk path and manipulator operation path, and finally come into a form of robot three-dimensional path.