Design And Implementation Of Smart Environment System For Service Robots

Service robots need to complete different types of tasks in a dynamic,unknown,unstructured,complex environment,which places a higher demand for environmental awareness and interaction capabilities of service robots.The robot's perception of the environment is the basis of decision-making and control.The interaction and control of the robot and the environment is the key to the completion of the specific operation tasks.Through the robot's own environmental perception,it can not fully meet the current demand.The intelligent environment system designed and implemented for service robots can effectively fill the gaps in robot ontology perception,help robot get more comprehensive environment perception and environmental control ability,and reduce the construction cost of robot body.The architecture of the intelligent environment system is designed as three layers: the network aware layer,the access control layer and the robot application layer.The network sensing layer designs the wireless sensor network to realize the control of the environment information and the control of the environmental objects.The access control layer designs the service description items and the working mechanism as the standard of service robot access and implements in the embedded gateway.Robot application layer design application framework and interface,service robot in the intelligent environment under the specific function of the system to achieve here.Aiming at the specific scene of intelligent home,a hardware and software system with intelligent environment is set up.A ROS-based service robot is installed as a test platform.The underlying network and the overall function are tested and analyzed respectively,which shows that each module of the system can better complete the design of the function,to achieve the purpose of pre-design.By accessing the intelligent environment system,the service robot can accurately perceive the current external environment,real-time access to dynamic changes in the environment,and through the control environment to complete a specific job tasks.This is for the service robot in the dynamic,unknown,complex environment,the ability to improve the operation has great significance.