In this paper, we design an object sorting robot system, which is based on robot operating system distributed processing framework. This system can communicate with human beings; can percept the 3-D environment by Kinect sensor; has the ability of reasoning; can transfer the natural language intention to machine instruction to control the movement of manipulator. In particular, in order to improve the intelligence and usability of our robot, we propose a human-robot-environment interactive reasoning mechanism. In our method, a "dialogue and 3-D scene interaction module" is added into the traditional case-based reasoning-belief-desireintention mechanism. Our proposed mechanism not only realizes the traditional function of map matching but also achieves the function of desire analysis and guidance. When the user's desire is incomplete and/or mismatched with the actual scene, our robot will take the initiative to guide users through dialogue, and the user's input information will be used to replenish the user's desire. Experimental results prove the advantages of our mechanism.Index Terms-Belief-desire-intention (BDI) mechanism, casebased reasoning (CBR) mechanism, human-robot-environment interaction, object sorting robot, reasoning mechanism.
I. INTRODUCTIONM ANY new kinds of intelligent service robot systems are emerging in these days. These systems have a common characteristic that the robot could collaborate with humans to accomplish tasks in an unstructured environment with a flexible manipulator. Such a system needs to be capable of environmental perception, human-robot interaction (HRI), target recognition, knowledge reasoning, trajectory planning and grabbing, etc. Among the requirements, the reasoning mechanism is the core of the entire system, the brain of an intelligent robot that determines the degree of that intelligence.The classic reasoning mechanisms include rule-based reasoning (RBR), procedural reasoning system, knowledge-based reasoning, and case-based reasoning (CBR). Among them,