1、 l :2007-08-16 “: =S S “( =2007 24|);SE“863”/ 9EV “(I|:2006010402002)Te:BS(1969-), 3, 8W ,p V,p V.C v e S、 q、p V 3 =.1Z_ 、 ? bW、 “dxxT、C “d.E-mail:cI|:1672-3961(2007)05-0053-07EV ? bW/ Z田国会, 李晓磊, 赵守鹏, 路飞( v e S, 6 2 250061)K1:智能空间技术是一个刚刚兴起的前沿课题.应用于家庭服务机器人的智能空间技术,就是把感知器件、执行器件分布地安装在空间中相应的位置,实现对空间内部人和物
2、的全面感知,从而通过执行器实现相应的服务任务;同时能够为机器人提供更加完备的环境信息,使得机器人本身可以降低对于本体携带感知器件的要求,能够“轻装上阵” ,在未知或半未知的动态环境中实现更加快捷、准确、稳定的家庭服务工作.系统总结了智能空间技术的发展现状,并详细介绍了应用于家庭服务机器人的智能空间的构成、特点及其主要研究内容,对其所涉及的相关技术进行了介绍,最后给出了家庭服务机器人智能空间技术研究的新方向.1oM:家庭服务机器人;智能空间;自主定位与导航;地图构建ms |:TP242 DS :AResearch and development of intelligent space tech
3、nology for ahome service robotTIAN Guo-hui, LIXiao-lei, ZHAO Shou-peng, LU Fei(School of Control Science and Engineering, Shandong University, Jinan 250061, China)Abstract :Intelligent space technology is anew researchfield.The intelligent space technologyforahome ser-vice robot canperceive men ando
4、bjects inspace more completely andrealize the relevant service taskby set-ting sensors and actuators distributely inthe specified positions of space.Simultaneously the service robot canobtain more comprehensive environmental information through the intelligent space, insteadof being equippedwithtoo
5、many sensors itself , and the service robot can work more rapidly, accurately and stably with lightpacks in anunknownor semi-unknowndynamic environment.First, the research situationof intelligent spacetechnologywas summarized, then the structure, characteristics andkey research topic for the intelli
6、gent spacefor ahome service robotwere introduced, andthe relevant technologieswere also proposed.Finally, the newresearchdirection of the intelligent space for a home service robot was discussed.Key words:home service robot;intelligent space;autonomous localization and navigation;mapbuilding0 引言“ S/
7、?Z, m s j【1-2】. n5 ?Z S?Z1. I nS t -5, H I nBv ZL%, 7?EV dA1. “ - M % P Bt 、/1 p ,S= CY S37 5 Vol.37 No.5 v ( )JOURNAL OFSHANDONG UNIVERSITY (ENGINEERING SCIENCE) 2007 M10 Oct.2007 = n. Q, ?9 S S/?Z 1 p. 、 、 x Z_.3) S/ | =m,7 y =m US 8 WUS1“1 + ,9 + V S【18】. 1v ZT, S/ s.d S/ 、j $ S/ 1S/ .dS EPS vS,
8、SV . j $S E1X , ?S = ,E .1S E1+m1“ V S, 2, Z OK.1SZE mmWM1“ , 1992 MFaugerasMaybank【19-20】 nQ4 1S/. 1SZE e、 y,1+mW1“ VS,9i、 Z, ?S = 5.V , 1S/ ( =Q wL =Q w 8M,7 = M1B+,| =Q wL =Q w T ES LC 1S【21-27】.1S/1s : =Q wL 1S =Q w 1S. =Q wL1SZE,K V Krup-paZ1SZE. =Q w TriggsK* 1S . L= , =Q w =Q wL , %=Q wLM M |
9、 T=Q w,iB344 Q V U. 6,S = BteZE, !9 Btr1S E【28-31】, P HWhl.4)L. / 20 W90 M , “ 3 T“d、LY、 #0“d/ y ?Z, 、9 L Y ? . # L. v1【32】.L. B C ,v8l、 LY、.、 ) . F.tYV1FZ T ,s1“d; = T“. ,xT L H“H C,it),W7 ,i|t?4【33-37】.L. $ ! .$b_,. 1F . :s、 L.L. $ 21 WK1/B,2003 M2z S/ W 3 Y Ev/ ,L. $ B;2004 MIEEE Spectrum?VB :. S
10、, L. ?Z V ?.BL+ 1SZE J .9 ,2006, 3:170-171.YIN Yan, ZHAO Rong-chun.A Novel Approach for CameraSelf-calibration Based on Parallel Lines J .Application Re-search of Computers, 2006, 3:170-171. 29 M, ,Sm,.B 1SZE J .S S/ v, 2005, 35(5):693-700.WANGNian, LIANG Dong, FANYi-zheng, et al.A methodof camera s
11、elf-calibration based on rectangular J .Journal ofUniversity of Science and Technology of China, 2005, 35(5):693-700. 30f, , ,. M 1SZE J .Smm,2005, 10(11):1432-1435.ZHANGWei-yong, WANG Zheng, LI Jin, et al.A methodof camera self-calibration based on the projective invariant J .Journal of Image and G
12、raphics, 2005, 10(11):1432-1435. 316, O.B m4M1SZE J .Smm,2003,8(3):341-346.CHENZe-zhi, WU Cheng-ke.A new self-calibration methodfor hand-hold camera J .Journal of Image and Graphics,2003, 8(3):341-346. 32 , y,.L. M .: bv, 2005.SUN Li-min, LI Jian-zhong, CHENYu, et al.The network ofwireless sensor M
13、.Beijing:Tsinghua Press, 2005. 33 L. / 8 J . S/, 2006,31:74-75.LI Jun.Survey on wireless sensor network J .Science &Technology Information, 2006, 31:74-75. 34 ,.L. # 1o/ 8 J . bW0/ :9 , 2006:23-28.LI Zhao, WEI Wei.Survey on the wireless sensor networkand its key tenology J .Space Electronic Technolo
14、gy:sup-plement, 2006:23-28. 35 ARAMPATZIS TH, LYGEROS J, MANESIS S.A survey ofapplications of wireless sensors and wireless sensor networks C Proceedings of 13th Mediterranean Conference on Con-trol and Automation.Limassol, Cyprus:IEEE Press, 2006:719-724. 36 HOU Y T, SHI Y.Variable bit rate flow ro
15、uting in wirelesssensor networks.on reliability model of large-scale wirelesssensor networks J .IEEE Transactions on Wireless Commu-nications, 2007, 6(6):2140-2148. 37 ZHAO Tong, NEHORAI A.Distributed sequential bayesianestimation of a diffusive source in wireless sensor networks J .IEEE Transactions onSignal Processing, 2007, 55(4):1511-1524.(编辑:陈燕)5 BS,:EV ? bW/ Z59
