服务机器人融入建筑环境系统设计

未来服务机器人将与人类一起生活在建筑环境内，机器人的融入必将对建筑环境和人类活动产生深刻影响。设计并开展建筑环境内人-机器人自然交互实验，参考相机标定原理提出室内坐标转换方程，采用定帧法获取服务机器人融入建筑环境后行人运动构型、运动速度、偏移距离等运动特征参数，在宏观层面基于交互主体、交互运动构型、交互意愿展开定性分析，在微观层面对建筑通道内人机交互运动速度与交互偏移距离展开定量统计分析。研究结果表明服务机器人融入建筑环境后对行人运动行为、运动速度、偏移距离均产生显著影响，人机共生系统势必对建筑尺度和设计产生深远影响。研究以期引发服务机器人融入建筑环境的思考，为构建人、机器人、建筑环境系统设计框架奠定基础。

Preliminary study on the Integration of Service Robot into Building Environment system Design

In the future, service robots will live with human beings in the building environment, and the integration of robots will have a profound impact on the building environment and human activities. The human-robot natural interaction experiment in the building environment is designed and carried out, and the indoor coordinate transformation equation is put forward with reference to the camera calibration principle. The fixed frame method is used to obtain the motion characteristic parameters such as pedestrian motion configuration, motion speed and offset distance after the service robot is integrated into the building environment. At the macro level, qualitative analysis is carried out based on interactive subject, interactive motion configuration and interactive willingness. At the micro level, the human-computer interaction velocity and interaction offset distance in the building passageway are quantitatively statistically analyzed. The results show that the integration of the service robot into the building environment has a significant impact on the pedestrian movement behavior, speed and offset distance, and the man-machine symbiosis system is bound to have a far-reaching impact on the building scale and design. The research is expected to trigger the thinking of the integration of service robots into the building environment, and lay the foundation for the construction of human, robot and building environment system design framework.