An intelligent service robot for transporting object

摘要

The purpose of this paper is to present a novel intelligent service robot for recognizes target object and transports it to the destination, which is called the “tRobot”. In order to achieve the tRobot's functions, we integrate the localization system, image recognition and tracking function, obstacle avoidance, and robotic arm into the tRobot. By the localization system, not only can locating the tRobot's current coordinate location, but also can provide information for places the object to a preset location that was set by user, when the object was be caught by the robot arm. The image recognition function can recognize and track target object. In terms of the obstacle avoidance and clamp function, we use four infrared (IR) sensors for distance measure and place them around the tRobot. When a short enough distance is sensed by IR sensor which is in the front of the tRobot, the clip on the robot arm will clamp the object and place it at the preset coordinate location. Finally, we integrate foregoing four functions into the tRobot, the results of the experimental shows available and good compatibility.