Robotics Classification of Domain Knowledge Based on a Knowledge Graph for Home Service Robot Applications

摘要

The representation and utilization of environmental information by service robots has become increasingly challenging. In order to solve the problems that the service robot platform has, such as high timeliness requirements for indoor environment recognition tasks and the small scale of indoor scene data, a method and model for rapid classification of household environment domain knowledge is proposed, which can achieve high recognition accuracy by using a small-scale indoor scene and tool dataset. This paper uses a knowledge graph to associate data for home service robots. The application requirements of knowledge graphs for home service robots are analyzed to establish a rule base for the system. A domain ontology of the home environment is constructed for use in the knowledge graph system, and the interior functional areas and functional tools are classified. This designed knowledge graph contributes to the state of the art by improving the accuracy and efficiency of service decision making. The lightweight network MobileNetV3 is used to pre-train the model, and a lightweight convolution method with good feature extraction performance is selected. This proposal adopts a combination of MobileNetV3 and transfer learning, integrating large-scale pre-training with fine-tuning for the home environment to address the challenge of limited data for home robots. The results show that the proposed model achieves higher recognition accuracy and recognition speed than other common methods, meeting the work requirements of service robots. With the Scene15 dataset, the proposed scheme has the highest recognition accuracy of 0.8815 and the fastest recognition speed of 63.11 microseconds per sheet.