High interactive sensory robot system design in the indoor autonomous services applications

摘要

A high sensory robot system conveniently controls the mobile robot action through the Natural human-machine interaction. Therefore, different hand motions are realized to approximate the required service tasks. Magnetic sensors are located at the defined path to guide the robot platform. Three ultrasonic sensors settle at the outside of mobile robot platform to detect possible blocks in an unknown environment. The RFID reader is proposed to understand the real position of mobile robot in the dynamic space. In data fusion machine, some matched position signals are selected into database for extracting the possible tracks in advance. Therefore, the appropriate path is remembered and will be reloaded again to guide the mobile robot into the desired target at the patrol mode. In practical experiments, people communicate with robot through the hand recognitions of Kinect sensor. Sensor information is suitable to handle various service tasks, i.e. pull the pallet in or extend it out, by the human-like movement. A fuzzy system with suitable rules is utilized to drive the server motor for achieving the great performance. The robot system is not only controlled by an interactive interface but also reached an autonomous navigation by extracting the appropriate mapping information. The high sensory robot system obtains interactive actions with the combinations of image recognitions, suitable path planning and obstacle detecting technologies to approach the guiding goal. In the implementation of hardware, the architectures of mobile robot and motor drivers are completely assembled to support the home tasks. The soft fuzzy system generates the robust robot regulation to automatically achieve the perfect feasibility of fetch-and-give tasks.