CN109120701A - A kind of passenger train intelligent Service system based on service robot - Google Patents
A kind of passenger train intelligent Service system based on service robot Download PDFInfo
- Publication number
- CN109120701A CN109120701A CN201810967461.4A CN201810967461A CN109120701A CN 109120701 A CN109120701 A CN 109120701A CN 201810967461 A CN201810967461 A CN 201810967461A CN 109120701 A CN109120701 A CN 109120701A
- Authority
- CN
- China
- Prior art keywords
- service
- passenger
- unit
- train
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims description 37
- 238000001514 detection method Methods 0.000 claims description 16
- 238000004146 energy storage Methods 0.000 claims description 10
- 238000009432 framing Methods 0.000 claims description 8
- 238000010438 heat treatment Methods 0.000 claims description 8
- 238000005057 refrigeration Methods 0.000 claims description 8
- 235000013305 food Nutrition 0.000 claims description 7
- 239000000872 buffer Substances 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 7
- 238000011161 development Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 229910001416 lithium ion Inorganic materials 0.000 description 3
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 235000021170 buffet Nutrition 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 239000003546 flue gas Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- WSFSSNUMVMOOMR-NJFSPNSNSA-N methanone Chemical compound O=[14CH2] WSFSSNUMVMOOMR-NJFSPNSNSA-N 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 235000011888 snacks Nutrition 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/10—Office automation; Time management
- G06Q10/103—Workflow collaboration or project management
-
- G06Q50/40—
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The present invention relates to the technical fields of Internet of Things, more specifically, it is related to a kind of passenger train intelligent Service system based on service robot, including service robot, train central server, communal facility service condition real-time feedback system, passenger facilities terminal at passenger seat, crew's emergency service mobile terminal, passenger's mobile terminal and station management center server, service robot, communal facility service condition real-time feedback system, passenger facilities terminal, crew's emergency service mobile terminal, passenger's mobile terminal is communicated by the local area network disposed in train with train central server；Train central server is connect with station management center server.The present invention can be realized the robot ticket checking service of buying one's ticket after normal time, take care of the luggage, contact a series of services of staff, can be improved the quality that train is passenger facilities, reduces the amount of labour of staff；And operational efficiency is high, intelligent automation degree is high, operating safety factor is high, using simple.
Description
Technical field
The present invention relates to the technical fields of Internet of Things, more particularly, to a kind of passenger train based on service robot
Intelligent Service system.
Background technique
Due to the development of artificial intelligence field, Robot industry flourishes, and the earth promotes manufacturing development.It can
With, it is envisioned that future society will be a personal-machine coexist, the society of man-machine collaboration, service robot will replace the mankind be engaged in
The work dangerous, repeatability is high, to improve the operational paradigm of society.In China, passenger train is the main of people's trip
The vehicles, especially in recent years, with the rapid development of Chinese high-speed rail, the increasing of explosion type is presented in passenger train service industry
It is long.However, the service level of passenger train service industry is not changed while people go on a journey and obtain great convenience
It is kind；This is mainly reflected in during train driving, and passenger has dinner ON TRAINS, buys leisure snacks, exist when visiting the restroom etc.
The problem of waiting overlong time；Meanwhile the problems such as there is also train health is dirty and messy, and crew sweeps not in time in ordinary train；
And the presence of these problems can all lead to the experience degree of comfort decreased of passenger.
Summary of the invention
The passenger train intelligence based on service robot that it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of
Service system can be changed, can be improved the quality that the train Room is passenger facilities, reduce the amount of labour of staff, operational efficiency is high,
Automatic intelligent, operating safety factor is high, and using simple.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of passenger train intelligent Service system based on service robot is provided, including in service robot, train it is genuinely convinced
Business device, communal facility service condition real-time feedback system, the passenger facilities terminal at passenger seat, crew's emergency service
Mobile terminal, passenger's mobile terminal and station management center server, the service robot, communal facility service condition are real
When feedback system, passenger facilities terminal, crew's emergency service mobile terminal, passenger's mobile terminal, train central server it is logical
The local area network disposed in train is crossed to be communicated；The train central server is managed by first information communication unit and station
Central server connection.
Passenger train intelligent Service system based on service robot of the invention, train central server receive: coming
From the service condition of the communal facility of communal facility service condition real-time feedback system, the letter of making a reservation from passenger's mobile terminal
The various service requirement informations such as breath, commodity shopping information, demand of buying one's ticket after normal time, from the prominent of crew's emergency service mobile terminal feedback
Heat condition, the solicited messages such as train information inquiry request, network join request from passenger's mobile terminal, and by these information
Feed back crew and service robot on train, crew and the robot cooperated various demands for meeting passenger of service；Train
Central server connect the real time monitoring convenient for station group personnel to intra-train information with station management center server, guarantees train
Operational safety.
Further, the service robot includes central control unit and the power supply list connecting with central control unit
Member, functional unit, positioning unit, detection unit, the second information communication unit, mobile unit, image identification unit, storage are single
Member, power supply unit and heating refrigeration unit, second information communication unit are connect with train central server.Power supply unit
It powers in real time for service robot, guarantees the normal electric energy supply of robot each unit；Functional unit can be realized auxiliary and send
It eats, take care of the luggage, ticket ticket checking is bought one's ticket after normal time, hot and cold water service, commodity self-service sales service, connection staff service, identification danger
Dangerous article and a suspect's function；Three positioning unit, detection unit, mobile unit units cooperate, and control robot
Independently moved safely, accurately in compartment；Image identification unit can identify collected passenger face feature and note
Record in the memory unit, if being the discovery that dangerous goods or a suspect, is taken by the second information communication unit to train center
Business device report；Heating refrigeration unit can be realized service robot from the refrigeration and heating for selling food.
Further, the functional unit includes the auxiliary food delivery module communicated to connect with train central server, keeps an eye on
Luggage module, ticket check module of buying one's ticket after normal time, commodity self-service Sales module, connection staff's module, hazard recognition article module
And a suspect's identification module, the connection staff module are connect with crew's emergency service mobile terminal.Passenger exists
Passenger facilities terminal places an order, and will make a reservation data transmission to central control unit by train central server, then single by center control
Member issues control instruction control service robot and goes dining car pick-up, and is back at passenger position；Module of taking care of the luggage is by taking the photograph
It takes pictures in real time as head and sends data to train central server and realize real time monitoring；Ticket checks module of buying one's ticket after normal time and passes through scanning
Two dimensional code on ticket is checked, and for the passenger for needing to buy one's ticket after normal time after getting on the bus, robot, which checks mouth of buying one's ticket after normal time, can help passenger
It is self-service to buy one's ticket after normal time；Passenger is placed an order by passenger facilities terminal, and order information is sent to the crew of buffet of passenger train, and crew is by phase
It answers commodity to be placed in fuselage storing small hive, then is sent by robot to passenger, commodity needed for traveler self-help extracts；Work as robot
When encountering the situation that can not voluntarily handle of burst, robot passes through connection staff's module immediately and communicates information to service on buses or trains
Member's emergency service mobile terminal；Hand baggage is carried out by hazard recognition article module, a suspect's identification module further
Potential offender and a suspect that may be present in ground investigation and identification train.
Further, the functional module further includes the air cleaning unit for purifying column in-vehicle air.It is controlled by center
To purify column in-vehicle air, the functions such as removal formaldehyde, PM2.5, peculiar smell, flue gas are for unit control air cleaning unit work processed
Passenger provides health comfortable air environment.
Further, the detection unit include the laser range finder being connect with central control unit, acceleration transducer,
Gyroscope, odometer, electronic compass and ultrasonic sensor.Service robot by laser range finder, acceleration transducer,
Gyroscope, odometer, electronic compass, ultrasonic sensor detection barrier, identification direction position and oneself state.
Further, second information communication unit includes sequentially connected reception of wireless signals module, network communication
Server and wireless signal sending module, the reception of wireless signals module are connected to central control unit, the wireless communication
Number sending module is connect with train central server.Service robot central control unit is completed by the second information communication unit
With internet contact and the building of multiple service robot LAN systems, moment keep with train central server
Communication between connection and robot；Second information communication unit of the invention uses communication.
Further, said supply unit includes the mains charger, electric pressure converter, electricity connecting with central control unit
Detect controller, electrical energy storage battery and charged area identification module, the charged area identification module, power source charges in source
Device, electrical energy storage battery, electric pressure converter are sequentially connected with, and the power detecting controller is connect with electrical energy storage battery.Power supply
Unit realizes the power supply of service robot whole system, power supply conversion transformation and the detection to remaining capacity, and is accomplished to finger
Determine charged area to charge, electrical energy storage battery of the invention selects high energy efficiency Li-ion batteries piles, and charged area identification is adopted
It is positioned with active RFID location technology.
Further, the mobile unit include independent driving wheel, retarder, DC servo motor, band buffer it is universal from
Driving wheel, rotary encoder and motor-drive circuit, the motor-drive circuit, DC servo motor, retarder, rotary coding
Device is sequentially connected with, and the motor-drive circuit is connected to central control unit；The independent driving wheel is connect with retarder, described
Band buffers universal driven wheel and connect with independent driving wheel.Mobile unit realizes movement and completion one of the service robot in train
Action；Mobile unit of the invention is two groups, constitutes two sets of mobile power devices.Motor-drive circuit is single by center control
Member connection control, rear-wheel of the independent driving wheel as robot realize the steering of robot by the speed difference of driving wheel
Function realizes moving forward and backward for robot when speed is identical；Front-wheel with buffering universal wheel driven wheel as robot, cooperation
Driving wheel is completed to advance, retreats, turns to.
Further, described image recognition unit includes camera and the image pick-up card that connect with camera, described
Image pick-up card is connect with the central control unit, and the central control unit is connected with image procossing identification software.Image
Recognition unit realizes the identification to face features in compartment and carries out real-time photography monitoring, identifies that may be present on train
Potential offender and a suspect guarantee the safety of train operation.
Further, the positioning unit include the active RFID signal framing module being connect with central control unit and
Zigbee wireless network locating module；The active RFID signal framing module include active RFID reader, electronic tag with
And communication network, the RFID reader are connect with electronic tag；The Zigbee wireless network locating module includes Zigbee
Radio reference node, Zigbee wireless location node and communication network, the Zigbee radio reference node and Zigbee without
The connection of line positioning node；The Zigbee radio reference node, electronic tag are set in compartment, and the Zigbee is wirelessly fixed
Position node, RFID reader are installed on service robot；The active RFID reader, Zigbee wireless location node and logical
Communication network connection.Positioning unit realizes city in such a way that active RFID signal framing and the positioning of Zigbee wireless network combine
The seamless positioning of interior different distance: by constructing RFID location system, the RSSI value of active RFID is acquired, calculating robot exists
Indoor position；Robot sends RSSI to the reference mode set as Zigbee wireless location node and collects order, stands
It carves and collects this RSSI value, after the multiple sampling of this mode, calculate the position of people indoors；Last center control is single
Member obtains the exact position of robot after being analyzed and processed to the above location data.
Compared with prior art, the beneficial effects of the present invention are:
(1) the passenger train intelligent Service system of the invention based on service robot solves food delivery in train, snacks drink
Product self-help selling realizes the robot ticket checking service of buying one's ticket after normal time, takes care of the luggage, contacts a series of services of staff, can be improved column
Vehicle is the quality of passenger facilities, reduces the amount of labour of staff；And operational efficiency is high, intelligent automation degree is high, work peace
Overall coefficient is high, using simple.
(2) the passenger train intelligent Service system of the invention based on service robot, train central server and vehicle
The connection of station administration central server is convenient for station group personnel to the real time monitoring of intra-train information；And image recognition list is arranged in the present invention
Member guarantees face features the operational safety of train.
(3) the passenger train intelligent Service system of the invention based on service robot, it is fixed using active RFID signal
The mode that position and the positioning of Zigbee wireless network combine realizes the positioning of service robot, guarantees that the operation of service robot is steady
Qualitative and service quality.
Detailed description of the invention
Fig. 1 is the schematic diagram of the passenger train intelligent Service system of the invention based on service robot.
Fig. 2 is the structural schematic diagram of service robot of the invention.
Fig. 3 is the structural schematic diagram of the functional unit of service robot.
Fig. 4 is the structural schematic diagram of the detection unit of service robot.
Fig. 5 is the structural schematic diagram of the second information communication unit of service robot.
Fig. 6 is the structural schematic diagram of the power supply unit of service robot.
Fig. 7 is the structural schematic diagram of the mobile unit of service robot.
Fig. 8 is the structural schematic diagram of the image identification unit of service robot.
Fig. 9 is the structural schematic diagram of the positioning unit of service robot.
Specific embodiment
The present invention is further illustrated With reference to embodiment.Wherein, attached drawing only for illustration,
What is indicated is only schematic diagram, rather than pictorial diagram, should not be understood as the limitation to this patent；Reality in order to better illustrate the present invention
Example is applied, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To those skilled in the art
For, the omitting of some known structures and their instructions in the attached drawings are understandable.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；It is retouched in of the invention
In stating, it is to be understood that if the orientation or positional relationship for having the instructions such as term " on ", "lower", "left", "right" is based on attached drawing
Shown in orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore positional relationship is described in attached drawing
Term only for illustration, should not be understood as the limitation to this patent, for the ordinary skill in the art, can
To understand the concrete meaning of above-mentioned term as the case may be.
Embodiment
It is as shown in Figures 1 to 9 the passenger train intelligent Service system of the invention based on service robot, including clothes
Be engaged in robot, train central server, communal facility service condition real-time feedback system, the passenger facilities at passenger seat
Terminal, crew's emergency service mobile terminal, passenger's mobile terminal and station management center server, service robot, public affairs
Altogether facility service condition real-time feedback system, passenger facilities terminal, crew's emergency service mobile terminal, passenger's mobile terminal,
Train central server is communicated by the local area network disposed in train；Train central server passes through first information communication unit
Member is connect with station management center server.When implementing, train central server receives the present embodiment: making from communal facility
With the service condition of the communal facility of situation real-time feedback system, information of making a reservation, commodity shopping letter from passenger's mobile terminal
It ceases, the various service requirement informations such as demand of buying one's ticket after normal time, the emergency case from crew's emergency service mobile terminal feedback comes from trip
The solicited messages such as the train information inquiry request of objective mobile terminal, network join request, and will be in these information feedback to train
Crew and service robot, crew and the robot cooperated various demands for meeting passenger of service.
In the present embodiment, communal facility service condition real-time feedback system is by such as washing communal facility in train in train
Between hand, dining car seats in a restaurant, train as real-time perception monitor, and will perception monitoring information feedback to passenger's mobile terminal, facilitate trip
Visitor uses as needed, avoids waiting in line for a long time；Passenger facilities terminal at passenger seat, by pacifying at railer's conduct
Fill PAD equipment, provided for passenger make a reservation, entertain, journey information query service；Crew's emergency service mobile terminal, for installation
APP on smart phone is timely responded to convenient for crew, is provided more warm to receive the emergency event of passenger's feedback
With safe and reliable service；Passenger's mobile terminal, is equipped with passenger-traffic system official APP, and passenger finds the entrance for taking train, point
It is driven into mouth and enters taken train, the one-stop service in train can be enjoyed.
As shown in Fig. 2, service robot include central control unit and the power supply unit being connect with central control unit,
Functional unit, positioning unit, detection unit, the second information communication unit, mobile unit, image identification unit, storage unit, confession
Electric unit, heating refrigeration unit and man-machine interaction unit, the second information communication unit are connect with train central server.Power supply
Unit is service robot power supply in real time, guarantees the normal electric energy supply of robot each unit；Functional unit can be realized auxiliary
Help food delivery, take care of the luggage, ticket ticket checking buy one's ticket after normal time, hot and cold water service, commodity self-service sales service, connection staff service, know
Other dangerous goods and a suspect's function；Three positioning unit, detection unit, mobile unit units cooperate, and control machine
Device people independently moves safely, accurately in compartment；Image identification unit can identify collected passenger face feature
And record in the memory unit, if being the discovery that dangerous goods or a suspect, through the second information communication unit into train
Central server report；Heating refrigeration unit can be realized service robot from the refrigeration and heating for selling food.
Service robot in the present embodiment is made of head, trunk, chassis, and the head of service robot is spherical
Shape, head can be with 360 degree rotation, and is built-in with high-definition camera；Trunk is a rectangular body structure, body structure
Equipped with several beehives for being used to store commodity, it can be achieved that the automatic vending service of commodity；Mobile unit is arranged in service robot
Bottom, mobile unit issues move by central control unit.Central control unit guarantees train business robot
It acquires information and handles the efficiency of information, guarantee accurately controls each unit and completes correlation function.Center control in the present embodiment
The control mode that unit processed can be combined using traditional arm processor and dsp processor, can also be using newest artificial
The Cambricon-1 of intelligent chip such as Cambrian company production, with functional unit, positioning unit, detection unit, information communication unit
Member, power supply unit, mobile unit, image identification unit, storage unit, heating refrigeration unit connection, complete the letter of each unit
Breath acquisition and processing control, and intellect service robot work goes on smoothly in guarantee train.
Wherein, as shown in figure 3, functional unit includes the auxiliary food delivery module communicated to connect with train central server, sees
Pipe luggage module, ticket check module of buying one's ticket after normal time, commodity self-service Sales module, connection staff's module, hazard recognition article mould
Block and a suspect's identification module, connection staff's module are connect with crew's emergency service mobile terminal.Specifically, trip
Visitor places an order in passenger facilities terminal, will make a reservation data transmission to central control unit by train central server, then is controlled by center
Unit processed issues control instruction control service robot and goes dining car pick-up, and is back at passenger position；Module of taking care of the luggage is logical
Camera is crossed to take pictures in real time and send data to train central server realization real time monitoring；Ticket checks module of buying one's ticket after normal time and passes through
Two dimensional code on scanning ticket is checked, and for the passenger for needing to buy one's ticket after normal time after getting on the bus, robot checks mouth of buying one's ticket after normal time and can help
Traveler self-help is bought one's ticket after normal time；Passenger is placed an order by passenger facilities terminal, and order information is sent to the crew of buffet of passenger train, crew
Corresponding commodity is placed in fuselage storing small hive, then is sent by robot to passenger, commodity needed for traveler self-help extracts；Work as machine
When device people encounters the situation that can not voluntarily handle of burst, robot passes through connection staff's module immediately and communicates information to
Crew's emergency service mobile terminal；By hazard recognition article module, a suspect's identification module to hand baggage carry out into
Check and identify to one step potential offender and a suspect that may be present on train.In addition, the function in the present embodiment
Energy module further includes the air cleaning unit for purifying column in-vehicle air；Air cleaning unit work is controlled by central control unit
Make to purify column in-vehicle air, the functions such as removal formaldehyde, PM2.5, peculiar smell, flue gas provide health comfortable air ring for passenger
Border.
As shown in figure 4, detection unit includes the laser range finder, acceleration transducer, top connecting with central control unit
Spiral shell instrument, odometer, electronic compass and ultrasonic sensor.Service robot passes through laser range finder, acceleration transducer, top
Spiral shell instrument, odometer, electronic compass, ultrasonic sensor detection barrier, identification direction position and oneself state.For real-time detection
Temperature and humidity in train, detection unit further include the temperature sensor and humidity sensor connecting with central control unit.
As shown in figure 5, the second information communication unit includes sequentially connected reception of wireless signals module, network communication services
Device and wireless signal sending module, reception of wireless signals module are connected to central control unit, wireless signal sending module with
The connection of train central server.The connection of service robot central control unit and internet is completed by the second information communication unit
System and multiple service robot LAN systems building, the moment keep with train central server contact and robot
Between communication；Realize that communication, work of working in coordination, the coordinating and unifying are more efficiently completed the function of train business mutually.
As shown in fig. 6, power supply unit includes the mains charger, electric pressure converter, power supply connecting with central control unit
Detect controller, electrical energy storage battery and charged area identification module, charged area identification module, mains charger, electric energy
Storage battery, electric pressure converter are sequentially connected with, and power detecting controller is connect with electrical energy storage battery.Power supply unit realizes service
The power supply of robot whole system, power supply conversion transformation and the detection to remaining capacity, and be accomplished to specified charged area into
Row charging, electrical energy storage battery of the invention select high energy efficiency Li-ion batteries piles, and charged area identification is fixed using active RFID
Position technology is positioned.Specifically, when Li-ion batteries piles not enough power supply, power detecting controller can detect battery pack electricity
Measure it is low, robot to compartment administrative center report, charging is asked for instructions, after the permission for receiving compartment administrative center, by active
Charging obtains electrical label electric connector contraposition connection charging in RFID identification automatic identification to compartment.After charging, electricity
Source detection controller detects battery electric quantity abundance, and machine is reported to compartment administrative center, is asked for instructions and is worked, and receives compartment
After administrative center allows, robot is continued back in compartment and is worked.
As shown in fig. 7, mobile unit include independent driving wheel, retarder, DC servo motor, band buffer it is universal driven
Wheel, rotary encoder and motor-drive circuit, motor-drive circuit, DC servo motor, retarder, rotary encoder are sequentially
Connection, motor-drive circuit are connected to central control unit；Independent driving wheel is connect with retarder, band buffer universal driven wheel with
Independent driving wheel connection.The mobile unit of the present embodiment is two groups, constitutes two sets of mobile power devices.Motor-drive circuit is in
Control unit connection control is entreated, rear-wheel of the independent driving wheel as robot realizes machine by the speed difference of driving wheel
The turning function of people realizes moving forward and backward for robot when speed is identical；With buffering universal wheel driven wheel as robot
Front-wheel, cooperation driving wheel are completed to advance, retreat, turn to.
As shown in figure 8, image identification unit includes camera and the image pick-up card that connect with camera, Image Acquisition
Card is connect with central control unit, and central control unit is connected with image procossing identification software.The image recognition list of the present embodiment
Member can be realized the identification to face features in compartment and carry out real-time photography monitoring, identify that may be present latent on train
In offender and a suspect；If service robot is in time to train center service it was found that dangerous goods or a suspect
Device report, guarantees the safety of train operation.
As shown in figure 9, positioning unit include the active RFID signal framing module being connect with central control unit and
Zigbee wireless network locating module；Active RFID signal framing module includes active RFID reader, electronic tag and leads to
Communication network, RFID reader are connect with electronic tag；Zigbee wireless network locating module include Zigbee radio reference node,
Zigbee wireless location node and communication network, Zigbee radio reference node are connect with Zigbee wireless location node；
Zigbee radio reference node, electronic tag are set in compartment, and Zigbee wireless location node, RFID reader are installed on
On service robot；Active RFID reader, Zigbee wireless location node are connect with communication network.The positioning list of the present embodiment
Member realizes the seamless of city different distance in such a way that active RFID signal framing and the positioning of Zigbee wireless network combine
Gap positioning: by constructing RFID location system, the RSSI value of active RFID, the position of calculating robot indoors are acquired；Machine
People sends RSSI to the reference mode set as Zigbee wireless location node and collects order, collects this RSSI at once
Value calculates the position of people indoors after the multiple sampling of this mode；Last central control unit is to the above positioning number
According to the exact position for obtaining robot after being analyzed and processed.Service robot in the present embodiment is in first task, first
Building whole train compartment map is completed, Zigbee radio reference node is installed in four corners of each compartment respectively in train,
Among compartment four edges line and RRID electronic tag is installed in central location, and it is fixed that ZigBee wireless location is equipped with robot
Position node and active RFID reader send RSSI to Zigbee radio reference node and neighbouring RFID electronic label respectively and collect
Order, the RSSI value acquired back by each reference mode and electronic tag carry out the position of calculating robot, by software algorithm
Processing obtains the accurate position of robot, realizes the positioning of robot.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (10)
1. a kind of passenger train intelligent Service system based on service robot, which is characterized in that including service robot, column
Vehicle central server, communal facility service condition real-time feedback system, the passenger facilities terminal at passenger seat, crew
Emergency service mobile terminal, passenger's mobile terminal and station management center server, the service robot, communal facility make
With situation real-time feedback system, passenger facilities terminal, crew's emergency service mobile terminal, passenger's mobile terminal, train center
Server is communicated by the local area network disposed in train；The train central server by first information communication unit with
The connection of station management center server.
2. the passenger train intelligent Service system according to claim 1 based on service robot, which is characterized in that institute
Stating service robot includes central control unit and the power supply unit connecting with central control unit, functional unit, positioning list
Member, detection unit, the second information communication unit, mobile unit, image identification unit, storage unit, power supply unit and heating
Refrigeration unit, second information communication unit are connect with train central server.
3. the passenger train intelligent Service system according to claim 2 based on service robot, which is characterized in that institute
Stating functional unit includes mending with the auxiliary food delivery module of train central server communication connection, module of taking care of the luggage, ticket ticket checking
Ticket module, commodity self-service Sales module, connection staff's module, hazard recognition article module and a suspect identify mould
Block, the connection staff module are connect with crew's emergency service mobile terminal.
4. the passenger train intelligent Service system according to claim 3 based on service robot, which is characterized in that institute
Stating functional module further includes the air cleaning unit for purifying column in-vehicle air.
5. the passenger train intelligent Service system according to claim 2 based on service robot, which is characterized in that institute
Stating detection unit includes the laser range finder connecting with central control unit, acceleration transducer, gyroscope, odometer, electronics
Compass and ultrasonic sensor.
6. the passenger train intelligent Service system according to claim 2 based on service robot, which is characterized in that institute
Stating the second information communication unit includes sequentially connected reception of wireless signals module, network communication server and wireless signal hair
Module is sent, the reception of wireless signals module is connected to central control unit, the wireless signal sending module and train center
Server connection.
7. the passenger train intelligent Service system according to claim 2 based on service robot, which is characterized in that institute
Stating power supply unit includes that the mains charger connecting with central control unit, electric pressure converter, power detecting controller, electric energy are deposited
Storage battery and charged area identification module, the charged area identification module, mains charger, electrical energy storage battery, voltage
Converter is sequentially connected with, and the power detecting controller is connect with electrical energy storage battery.
8. the passenger train intelligent Service system according to claim 2 based on service robot, which is characterized in that institute
State mobile unit include independent driving wheel, retarder, DC servo motor, band buffer universal driven wheel, rotary encoder and
Motor-drive circuit, the motor-drive circuit, DC servo motor, retarder, rotary encoder are sequentially connected with, the motor
Driving circuit is connected to central control unit；The independent driving wheel is connect with retarder, the band buffer universal driven wheel with
Independent driving wheel connection.
9. the passenger train intelligent Service system according to claim 2 based on service robot, which is characterized in that institute
State the image pick-up card that image identification unit includes camera and connect with camera, described image capture card and the center
Control unit connection, the central control unit are connected with image procossing identification software.
10. according to the described in any item passenger train intelligent Service systems based on service robot of claim 2 to 9,
Be characterized in that, the positioning unit include the active RFID signal framing module being connect with central control unit and Zigbee without
Line network location module；The active RFID signal framing module includes active RFID reader, electronic tag and communication network
Network, the RFID reader are connect with electronic tag；The Zigbee wireless network locating module includes Zigbee radio reference
Node, Zigbee wireless location node and communication network, the Zigbee radio reference node and Zigbee wireless location section
Point connection；The Zigbee radio reference node, electronic tag are set in compartment, the Zigbee wireless location node,
RFID reader is installed on service robot；The active RFID reader, Zigbee wireless location node and communication network
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810967461.4A CN109120701A (en) | 2018-08-23 | 2018-08-23 | A kind of passenger train intelligent Service system based on service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810967461.4A CN109120701A (en) | 2018-08-23 | 2018-08-23 | A kind of passenger train intelligent Service system based on service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109120701A true CN109120701A (en) | 2019-01-01 |
Family
ID=64860842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810967461.4A Pending CN109120701A (en) | 2018-08-23 | 2018-08-23 | A kind of passenger train intelligent Service system based on service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109120701A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110068333A (en) * | 2019-04-16 | 2019-07-30 | 深兰科技（上海）有限公司 | A kind of high-speed rail robot localization method, apparatus and storage medium |
| CN110443680A (en) * | 2019-07-19 | 2019-11-12 | 北京科技大学 | A kind of train meal ordering system based on artificial intelligence |
| CN110524555A (en) * | 2019-08-28 | 2019-12-03 | 南京市晨枭软件技术有限公司 | A kind of station robot service system |
| CN111489023A (en) * | 2020-04-03 | 2020-08-04 | 武汉理工大学 | Multifunctional intelligent robot system for processing dynamic crew service demand information |
| WO2023030954A1 (en) * | 2021-09-06 | 2023-03-09 | Siemens Mobility GmbH | Method and system using a blockchain to provide usage information representing the usage of a vehicle |
| WO2024055439A1 (en) * | 2022-09-14 | 2024-03-21 | 卡斯柯信号有限公司 | Train obstacle information display method and device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104375417A (en) * | 2014-11-05 | 2015-02-25 | 济南大学 | Intelligent service robot in waiting hall |
| CN104899303A (en) * | 2015-06-10 | 2015-09-09 | 杭州祥声通讯股份有限公司 | Cloud big data analysis system applied to rail transportation means |
| CN106101243A (en) * | 2016-06-27 | 2016-11-09 | 上海斐讯数据通信技术有限公司 | A kind of Intelligent seat control system |
| CN107682390A (en) * | 2017-08-01 | 2018-02-09 | 深圳市盛路物联通讯技术有限公司 | A kind of facility information processing method and processing device based on Internet of Things |
-
2018
- 2018-08-23 CN CN201810967461.4A patent/CN109120701A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104375417A (en) * | 2014-11-05 | 2015-02-25 | 济南大学 | Intelligent service robot in waiting hall |
| CN104899303A (en) * | 2015-06-10 | 2015-09-09 | 杭州祥声通讯股份有限公司 | Cloud big data analysis system applied to rail transportation means |
| CN106101243A (en) * | 2016-06-27 | 2016-11-09 | 上海斐讯数据通信技术有限公司 | A kind of Intelligent seat control system |
| CN107682390A (en) * | 2017-08-01 | 2018-02-09 | 深圳市盛路物联通讯技术有限公司 | A kind of facility information processing method and processing device based on Internet of Things |
Non-Patent Citations (3)
| Title |
|---|
| 程付超: ""客运列车综合服务系统的设计与实现"", 《福建电脑》 * |
| 贾松: ""智能铁路旅客服务信息系统研究"", 《中国优秀硕士学位论文全文数据库》 * |
| 龙驰鹏等: ""基于移动终端的客运列车服务系统开发"", 《铁道技术监督》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110068333A (en) * | 2019-04-16 | 2019-07-30 | 深兰科技（上海）有限公司 | A kind of high-speed rail robot localization method, apparatus and storage medium |
| CN110443680A (en) * | 2019-07-19 | 2019-11-12 | 北京科技大学 | A kind of train meal ordering system based on artificial intelligence |
| CN110524555A (en) * | 2019-08-28 | 2019-12-03 | 南京市晨枭软件技术有限公司 | A kind of station robot service system |
| CN111489023A (en) * | 2020-04-03 | 2020-08-04 | 武汉理工大学 | Multifunctional intelligent robot system for processing dynamic crew service demand information |
| WO2023030954A1 (en) * | 2021-09-06 | 2023-03-09 | Siemens Mobility GmbH | Method and system using a blockchain to provide usage information representing the usage of a vehicle |
| WO2024055439A1 (en) * | 2022-09-14 | 2024-03-21 | 卡斯柯信号有限公司 | Train obstacle information display method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109120701A (en) | A kind of passenger train intelligent Service system based on service robot | |
| CN104375417B (en) | A kind of Waiting Lounge intellect service robot | |
| US11370123B2 (en) | Mobile robot and method of controlling the same | |
| US9996086B2 (en) | Methods and systems for transportation to destinations by a self-driving vehicle | |
| CN113269343B (en) | Power management system, power management method, and power management device | |
| CN207370256U (en) | Luggage case, smart machine and the system of automatically walk | |
| US10802487B2 (en) | Delivery system | |
| US20160257212A1 (en) | Recharging apparatus and method | |
| CN109029463A (en) | The more balance car independent navigations in interior and scheduling system towards vehicle safe driving | |
| CN110461186A (en) | Luggage case, smart machine and the system of automatically walk | |
| CN109947091A (en) | Movable body, scheduling system, server and the method for dispatching movable body | |
| CN202424782U (en) | Vehicle-mounted terminal device | |
| CN105679068A (en) | Intelligent vehicle automatic driving system and method in cooperation with intelligent parking lot | |
| CN104407545A (en) | Intelligent scenic region service robot | |
| CN102097860A (en) | Intelligent robot patrol system for safety detection of substation | |
| CN108388266A (en) | A kind of UAV system for logistics delivery | |
| CN102025775A (en) | Monitoring system for automobiles in internet of things | |
| WO2017161659A1 (en) | Radio frequency identification tag and radio frequency identification system | |
| CN109840735A (en) | Delivery system, server, movable body and luggage allocator | |
| CN109283930A (en) | A kind of spherical intelligent inspection robot | |
| WO2019177552A1 (en) | A shopping robot | |
| CN106864282A (en) | Vehicular intelligent charging system and its application | |
| CN109747455A (en) | Movable body rescue system and movable body rescue mode | |
| CN202075626U (en) | Multi-sensor system of intelligent space and nurse robot | |
| KR102599784B1 (en) | Airport robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190101 |