The　relevant　technologies　of　fixed-point　object　transfer　task　for　robot　in　an　indoor　environment　were　studied　based　on　robot　technology　middleware　(RTM)　to　improve　the　quality　of　service　and　levels　of　intelligence　for　intelligent　service　robot　system.　Firstly,　to　improve　the　stability　and　development　efficiency　of　system,　a　method　of　granularity　partition　for　functional　modules　was　proposed　by　fuzzy　dendrogram　clustering　algorithm　and　DS　(Dempster-Shafer)　evidence　theory　based　on　the　established　functional　modules　set.　The　dynamic　compact　hybrid　map　was　built　based　on　the　bottom　grid　map　established　by　Rao-Blackwellized　particle　filter　algorithm　to　solve　the　problem　of　simultaneous　localization　and　mapping　in　the　process　of　robot　fixed　point　object　transfer.　Then　the　memory　tracking　rules　were　used　to　implement　fixed-point　navigation　of　mobile　robot.　To　tackle　the　problem　of　object　transfer,　the　improved　saliency　region　extraction　algorithm　was　used　to　extract　the　coordinates　of　spatial　objects.　Then　the　task　of　grasping　objects　were　completed　by　intelligent　robot　arm　platform.　The　designed　system　was　tested　by　robot　mobile　platform　and　UR5　robot　arm　which　was　verified　the　effectiveness　and　feasibility　by　the　proposed　distributed　control　strategy.　©　2017,　Editorial　Department　of　Journal　of　Beijing　University　of　Technology.　All　right　reserved.