In order to make healthcare service robots fluently and flexibly complete some tasks

geometry model has been set up to detect vision information by image processing

and a kind of vision information predict and process method which is based on kalman filter

has been put forward

moreover

a set of predictive and object tracking model has also been provided in light of kalman filter theory. some experiments have been done with these models in a service robot system

and the experiment results show that the object status can been accurately predicted by the provided method

furthermore

the vision information can be quickly detected by prediction and modification with the models and methods. On the other hand

the time lag for vision information feedback can be decreased by using the provided method in service robot system

so the communication between human and robot takes place more fluently.