智能空间助老助残服务机器人人机协作导航

摘要

针对具有基本认知行为能力的行动不便老人、肢残人士、运动和语言患者这类服务对象，构建了助老助残服务机器人人机一体化导航系统。用户与机器人之间进行交互，自由切换随机行走和自主导航2种运动模式，机器人根据现场环境和作业条件的不同，实时触发人机条件响应生成规则而产生相应的行走行为，作业时人机界面同步呈现虚实结合、实时交互的智能空间，实现人机一体化感知、决策与执行。以移动作业服务机器人为对象进行室内人机一体化导航作业，验证了该人机一体化导航系统的可行性。%For the users owning basic cognitive ability, such as the elderly with reduced mobility, physically disa-bled persons, and motion and speech impaired patients, a human-robot integrated navigation system is established for them in this paper.The two motion modes of random walking and autonomous navigation can be switched freely by the user through human-robot interaction.The robot triggers the production rules for generating the corresponding walking behavior according to surroundings and operating conditions.In the process of human-robot roaming, an in-telligent space is rendered synchronously on the interface of human-robot interaction based on augmented reality. Therefore, the human-robot integrated perception, decision and execution are achieved in human-robot roaming. Human-robot roaming experiments for a mobile service robot were carried out in an indoor environment, which veri-fies the feasibility of the proposed system.