中文摘要：

针对现代复杂而多样化的家庭环境，人对家庭服务机器人的服务需求，以及其自身基于家庭全息地图的路径规划的任务要求，借鉴人对空间环境的认知和地图的组建过程，提出了一种改进的面向对象的家庭服务机器人全息地图表示方法，设计出家庭一房间一物品三层表示模型。依据面向对象的思想，分别给出了改进的物品层、房间层和家庭层的面向对象表示方法。基于机器人自身携带的传感器对各层对象的空间数据进行采集。将该表示方法转化成可存储在数据库中的数据类型，将采集的数据存储到数据库中并对地图进行实时的更新。在家庭环境下，机器人基于该全息地图分别对各层进行对象识别和路径规划，实物实验说明基于家庭一房间一物品表示模型的家庭全息地图能满足服务机器人任务的需要。

英文摘要：

According to complexed and diverse family environment, the ministrant requirement of domestic service robot from prople and the task requirent of path planning on family holographic map denpend in itself, a kind of advanced object-oriented method for family service robot holographic map is put forward on the basis of the human cognitive at space. A house layer-room layer-Item layer model is designed. Firstly, the object-oriented respreentation of object each layer is given based on the object-o- riented thought. Secondly, based on the robot＇s sensor, celecting the spatial data for every layer. Finally, the data of represen- tation method is transformed into that can be reserved in database, and then the data in database is inserted and updated. In the family environment, the robot respectively object recognition and path planning based on household holographic map, it is de- monstrated that the family holographic map insisted upon family-room-items representation model is applicable to the needs of ht task of family service robot.