CN104375417B - A kind of Waiting Lounge intellect service robot - Google Patents
A kind of Waiting Lounge intellect service robot Download PDFInfo
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- CN104375417B CN104375417B CN201410614952.2A CN201410614952A CN104375417B CN 104375417 B CN104375417 B CN 104375417B CN 201410614952 A CN201410614952 A CN 201410614952A CN 104375417 B CN104375417 B CN 104375417B
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Abstract
The present invention discloses a kind of Waiting Lounge intellect service robot, including：Central control unit, functional unit, positioning unit, detection unit, information communication unit, power supply unit, mobile unit, man-machine interaction unit, image identification unit, memory cell, heating refrigeration unit.Central control unit and functional unit, positioning unit, detection unit, information communication unit, power supply unit, mobile unit, man-machine interaction unit, image identification unit, memory cell, heat refrigeration unit connection, realize that the information gathering and processing of unit are controlled, complete to take care of the luggage in Waiting Lounge, ticket inquiry purchase, drink self-help selling, lottery ticket is bought, image recognition fire self-extinguishing, Waiting Lounge is ensured public security, air cleaning, air wetting, hot water service, passenger is accompanied to chat, amusement is provided for passenger, contact staff, clean ground, Domestic News service function is provided.
Description
Technical field
The present invention relates to a kind of intellect service robot, especially for a kind of Waiting Lounge intellect service robot.
Background technology
With the development and progress of society, the exchange of people is more and more frequent, and traffic is increasingly facilitated, and is gone on business, travels, is visited
Parent, go to school, return to one's native place etc. living trip problem all have inseparable contact with traffic.People would generally select aircraft, fire
The vehicles such as car, car are gone on a journey, and no matter select which kind of vehicles trip, and people can be run into asking that Waiting Lounge is waited
Topic.Waiting Lounge can receive ten hundreds of passengers daily, and warm thoughtful clothes are provided when Waiting Lounge is waited for these passengers
Business becomes an insoluble problem all the time.Meanwhile, the trouble free service at station is also critically important work, in face of such as
Passenger more than this, security work also becomes quite heavy.Therefore, these can be solved by inventing a kind of Waiting Lounge intellect service robot
Problem, it is that passenger completes a series of services to help station staff, while ensureing the safety of station hall.
At present, domestic and international service robot is household service robot, guest-meeting robot, nursing robot, weeding mostly
A series of robots such as robot, transfer robot, the service that these robots can be provided can not all meet Waiting Lounge clothes
The functional requirement of business.Therefore, the problem of station staff can be solved by inventing a kind of Waiting Lounge intellect service robot, be given simultaneously
Passenger takes most warm quality service.
The content of the invention
There is provided a kind of Waiting Lounge intelligence for the problem of present invention can not meet above-mentioned Waiting Lounge service aspect for prior art
Can service robot, the robot that people's completion can be replaced to service Waiting Lounge.The Waiting Lounge intellect service robot is mainly carried
It is provided with lower service：Take care of the luggage, ticket inquiry purchase, the purchase of drink self-help selling, lottery ticket, the self-extinguishing of image recognition fire,
Waiting Lounge security personnel, air cleaning, air wetting, hot water service, accompany passenger's chat, provide for passenger amusement, contact staff,
Clean ground, Domestic News service function is provided.The entirely autonomous intelligence of the Waiting Lounge service robot provides a variety of services above,
It is not only that passenger provides warm intimate service, the journey to passenger has been taken convenience and enjoyment, more improves station
Service quality, it is ensured that the safety of Waiting Lounge and clean and tidy.
In order to complete above-mentioned purpose, the present invention uses following technical scheme.
A kind of Waiting Lounge intellect service robot, it is characterised in that the robot includes：Central control unit, function
Unit, positioning unit, detection unit, information communication unit, power supply unit, mobile unit, man-machine interaction unit, image recognition list
Member, memory cell, heating refrigeration unit.Central control unit and functional unit, positioning unit, detection unit, information communication unit
Member, power supply unit, mobile unit, man-machine interaction unit, image identification unit, memory cell, heating refrigeration unit connection, are realized
The information gathering of unit and processing are controlled, complete to take care of the luggage in Waiting Lounge, ticket inquiry purchase, drink self-help selling,
Lottery ticket purchase, the self-extinguishing of image recognition fire, Waiting Lounge security personnel, air cleaning, air wetting, hot water service, passenger is accompanied to chat
My god, amusement, contact staff are provided for passenger, cleaning ground, Domestic News service function is provided.
Described central control unit uses the control mode that arm processor and DSP Processor are combined, it is ensured that Waiting Lounge
The collection information and the efficiency of processing information of service robot, it is ensured that accurate control unit completes correlation function.
Described functional unit includes：Payment transaction module, module of taking care of the luggage, ticket inquiry purchase module, drink are certainly
Assisted sales module, lottery ticket purchase module, image recognition fire self-extinguishing module, Waiting Lounge security module, air-purifying module,
Air wetting module, hot water service's module, accompany passenger's chat module, entertainment modules be provided for passenger, contact staff module,
Clean earth module, Domestic News module is provided.
Payment transaction module uses payment transaction on line and two kinds of modes of doing business of transaction of paying in cash in the functional unit
Progress take care of the luggage payment, purchase ticket pay, purchase drink pay, purchase lottery ticket pay and other users setting the need for prop up
Pay the service of money.Robot keeper can independently set whether service charges and toll amount.Payment transaction includes on line：
The means of payment that two-dimensional code scanning payment, bank card payment etc. pass through network.Transaction of paying in cash can recognize currency and coins,
And small change is carried out to transaction money.
Module of being taken care of the luggage in the functional unit is using two layers of protection locking passenger institute of identity card identification and fingerprint recognition
The heavy luggage for needing short time domestic demand to keep an eye on, with the activity in the short time such as facilitate passenger to visit the restroom.Luggage is kept an eye on by machine
The steel wire rope electronic lock for indicating code identification on the device person pins luggage.
In the functional unit ticket inquiry purchase module by liquid crystal touch display screen in man-machine interaction unit point out into
Row associative operation, operation information is transmitted to central control unit, is associated by information communication unit with station ticket system, realizes
The associative operation of ticket inquiry purchase, selects the means of payment to be paid by payment transaction module, after paying successfully, robot
Ticket can be printed and ejected by built-in drawing machine device.
Drink self-help selling module can sell three kinds of drinks of offer and hot water in the functional unit.Wherein three kinds drinks
There are Soda Water, fruit drink, soaking beverage.These three beverages can provide hot drink and cool drink.Soaking beverage includes glycan milk
The pouring type drinks such as tea, original flavor coffee.Prompting is operated in liquid crystal touch display screen in man-machine interaction unit, is passed through
After payment transaction module is paid successfully, the different drinks of selection are operated according to passenger, the drink of robot built-in makes module meeting
Corresponding drink is made, and when confirming that there is container in drink exit by detection unit object detection, begins to flow out drink to appearance
In device.
Functional unit purchase module of prizing is that passenger provides lottery ticket self-help and betted, and lottery ticket payment, lottery ticket is drawn a bill clothes
Business, can buy the lottery ticket oneself admired in time for the passenger that likes lottery ticket and provide quality service.
Image recognition fire self-extinguishing module is carried out by image identification unit to Initial Stage of Fire in the functional unit
Image judges, when recognizing that fire occurs, to central control unit photos and sending messages, by information communication unit to station administrative center
Alarm, and it is automatic close to burning things which may cause a fire disaster, burning things which may cause a fire disaster is put out by the extinguishing device in robot body.
Waiting Lounge security module can recognize the offender face absconded by image identification unit in the functional unit
Portion's feature, by information communication unit in time to the display alarm of station administrative center after being analyzed and processed by central control unit.
Simple Electronic Control can be implemented and eject the string bag and carry out net to it to catch to criminal by running into Emergency time, it is to avoid be missed most
Favourable arrests chance.
Waiting Lounge security module can also be automatically performed the dangerous metal to being mailed in carried with passenger and luggage
Article carries out being provided with metal detector device in detection identification, the module, and detection area is big, sweep speed is fast, sensitivity pole
Height, the detectable metal threat object body for being hidden in all kinds with human body and in luggage.
Air-purifying module installs air cleaning unit in robot body in the functional unit, by central control unit
The function operation is controlled to purify air in Waiting Lounge, the effects such as having removal formaldehyde, PM2.5, peculiar smell, flue gas provides strong for passenger
The comfortable air ambient of health.
Air humidification module is used in the functional unit installs air purified humidification device in robot body, according to
The ambient humidity situation of humidity sensor collection, controls the function to be worked by moisture requirement, is Waiting Lounge by central control unit
Interior air wetting, the humidification device is applied to all groups, can also prevent winter influenza germ, and comfortable safety is provided for passenger
Air ambient.
Hot water service's module is similar with the operation of drink self-help selling module in the functional unit, and passenger hands over without paying
Easily, this service provides free hot water, and hot water is provided for passenger by hot water outlet.
The lcd touch that passenger's chat module is accompanied in the functional unit needs passenger in man-machine interaction unit is shown
Prompting is operated in screen, after the completion of operation, and Waiting Lounge intellect service robot is actively and passenger carries out communication.This module
Including speech recognition equipment and sound generating mechanism, central control unit is transmitted information to, the identification mankind of robot are realized
Language, and corresponding answer is made by speech player.
In the functional unit lcd touch that entertainment modules need passenger in man-machine interaction unit is provided for passenger
Prompting is operated in display screen, after the completion of operation, and Waiting Lounge intellect service robot can actively play music, tell a story, imprison
Silent joke etc. provides for passenger loosens comfortable waiting environment.
Contacted in the functional unit staff's module can solve when passenger has an emergency with station staff
Directly converse, illustrate the special requirement of oneself, the problem of passenger is made in time is resolved.Staff's offer can be for example provided
The companion or child of station lost contact, the contact service of getting on the bus in advance or other special circumstances are looked in help.
Earth module is cleaned in the functional unit using the small-sized cleaning floor suction for being placed in robot bottom design
Device, completes simple floor cleaning work.
Domestic News module is provided in the functional unit by the large-size screen monitors liquid crystal display of robot placement behind to new
Information is heard to display by screens.The content that station administrative staff are independently set can also be played.
The positioning unit is by the way of active RFID signal framing and ZigBee wireless network indoor positionings are combined
Realize the seamless positioning of indoor different distance.Active RFID signal framing includes active RFID reader, electronic tag, communication
Network, by building RFID location system, gathers the RSSI value of active RFID, the position of calculating robot indoors.ZigBee
Wireless network indoor positioning includes reference mode, positioning node, communication network, and robot is as positioning node to the ginseng set
Examine node and send RSSI collection orders, this RSSI value is collected at once, after the multiple repairing weld by this mode, calculating robot
Position indoors.Last central control unit provides the accurate position of robot after being analyzed and processed to above location data
Put.
The detection unit realizes the detection to the temperature, humidity of environment, realizes the detection barrier of robot itself, knows
Other direction and oneself state.Including humidity sensor, temperature sensor, laser range finder, acceleration transducer, gyroscope, inner
Journey meter, electronic compass, ultrasonic sensor.The moisturt register and temperature of environment are detected by humidity sensor, temperature sensor, with
And the temperature of the drink of heating refrigeration unit；Pass through laser range finder, acceleration transducer, gyroscope, odometer, electronics sieve
Disk, ultrasonic sensor detection barrier, identification direction position and oneself state.
Described information communication unit includes network communication server, internet, reception of wireless signals and sending module.It is logical
Cross the structure contacted with multirobot LAN system that the unit completes robot central controller and internet, moment
Holding and the communication contacted between robot of station management center server, this element use communication.
Said supply unit realizes the power supply of robot whole system, Power convert transformation and the detection to dump energy,
And complete automatic to specified charged area charging.Deposited including mains charger, electric pressure converter, power detecting controller, electric energy
Storage battery, charged area identification.Power storage Selection of Battery high energy efficiency Li-ion batteries piles.Charged area identification is using active
RFID location technologies.
The mobile unit realizes movement and a series of completion robot motions of the robot in Waiting Lounge.The module bag
Include 2 independent driving wheels, 2 decelerators, 2 DC servo motors, 2 bands and buffer universal driven pulley, 2 rotary encoders, 2
Individual motor-drive circuit.Motor-drive circuit is connected by central controller and controlled；After 2 independent driving wheels are as robot
Wheel, realizes the turning function of robot by the speed difference of two driving wheels, the advance of robot is realized when speed is identical
And retrogressing；2, with front-wheel of the universal driven pulley as robot is buffered, coordinate 2 driving wheels to complete to advance, retreat, turn to；Often
One speed reducer and the connection of each driving wheel；Each DC servo motor and decelerator, rotary encoder, an electricity
Drive circuit is connected, and constitutes two sets of mobile power set.
The man-machine interaction unit realizes that the information between people and robot is exchanged, including liquid crystal touch display screen, voice
Identifying device, liquid crystal display, speech player.People can be operated by liquid crystal touch display screen, by various instructions
Robot is conveyed to central control unit；Voice messaging is conveyed to by central control unit by speech recognition equipment, center
Control unit has been handled after information, completes liquid crystal display, speech play and other functions.
Described image recognition unit realizes identification, the identification of fire burning things which may cause a fire disaster to face features, real-time photography monitoring.Bag
Include high-definition camera, image pick-up card, image procossing identification software.
The memory cell realizes that the data of the image gathered to robot, voice, environmental information and unit are carried out
Record and storage.Including graphics data saving, speech data storage, detection data storage.
The heating refrigeration unit realizes heating and the refrigeration to drink, to provide hot drink and cold drink.Including automatically controlled heating
Device, automatically controlled refrigerator device.According to actual needs, heating, refrigeration are controlled it by central control unit.
The beneficial effects of the invention are as follows：By this Waiting Lounge intellect service robot, asking for the interior service of Waiting Lounge is solved
Topic.Provided for Waiting Lounge passenger and staff take care of the luggage, ticket inquiry purchase, drink self-help selling, lottery ticket purchase, scheme
As identification fire self-extinguishing, Waiting Lounge security personnel, air cleaning, air wetting, hot water service, passenger is accompanied to chat, carried for passenger
For entertainment, contact staff, cleaning ground, a series of offer services of Domestic News.The present invention improves Waiting Lounge for passenger
The quality of service, reduces the amount of labour of staff, enhances the safety of Waiting Lounge.Operational efficiency of the present invention is high, and intelligence is complete
Automation, operating safety factor is high, using simple.The present invention is not only adapted to Waiting Lounge environment, while can be used for other
The place of indoor needs service.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention.
Fig. 2 is information communication unit structural representation of the present invention.
Fig. 3 is positioning unit structural representation of the present invention.
Fig. 4 is positioning unit localization method schematic diagram of the present invention.
Fig. 5 is mobile unit structural representation of the present invention.
Fig. 6 is detection unit structural representation of the present invention.
Fig. 7 is functional unit structural representation of the present invention.
Fig. 8 is man-machine interaction unit structural representation of the present invention.
Fig. 9 is service operations main interface schematic diagram of the present invention.
Figure 10 is image identification unit structural representation of the present invention.
Figure 11 is power supply unit structural representation of the present invention.
Figure 12 is present invention heating refrigeration unit workflow diagram.
In figure, 121.ZigBee radio references node one, 122.ZigBee radio references node two, 123.ZigBee is wireless
Reference mode three, 124.ZigBee radio references node four, 125.RFID electronic tags one, 126.RFID electronic tags two,
127.RFID electronic tags three, 128.RFID electronic tags four, 129.RFID electronic tags five, 130. charging cog region electronics marks
Label six, 131. robot positions.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples, to be specifically described the technical side of the present invention
Case.
As shown in figure 1, a kind of Waiting Lounge intellect service robot central control unit 10 of the invention using arm processor and
The control mode that DSP Processor is combined, with functional unit 11, positioning unit 12, detection unit 13, information communication unit 14,
Power supply unit 16, mobile unit 15, man-machine interaction unit 17, image identification unit 18, memory cell 19, heating refrigeration unit 20
Connect, the information gathering and processing for completing unit are controlled, it is ensured that what Waiting Lounge intellect service robot worked is smoothed out.
As shown in Fig. 2 robot is connected by information communication unit 14 with internet and station management center server, together
When complete robot between write to each other.Robot can be to station administrative center real-time Transmission by information communication unit 14
Information and the state position information of itself are collected, while receiving the order from station administrative center.By between robot
Connect and compose LAN, mutually realize communication, work of working in coordination, the coordinating and unifying is more efficiently completed Waiting Lounge service
Function.
Be illustrated in figure 3 the structural representation of positioning unit 12, including active RFID reader, electronic tag, communication network,
ZigBee radio references node, ZigBee wireless location nodes.Active RFID reader is installed with robot and ZigBee is fixed
Position node.
As shown in figure 4, robot localization method realization of the present invention is as follows：At the beginning of robot during task, complete to build first
Waiting Lounge map.ZigBee radio references node 1, ZigBee radio reference nodes are respectively mounted in four corners of Waiting Lounge
2 122, ZigBee radio references node 3 123, ZigBee radio references node 4 124.In the middle of Waiting Lounge four edges line and
RFID 1, RFID 2 126, RFID 3 127, RFID are installed Waiting Lounge middle position
Electronic tag 4 128, RFID 5 129.ZigBee wireless locations node and active RFID are installed with robot
Read write line, such as when robot works in robot position 131, ZigBee wireless locations node and active RFID read-write
Device sends RSSI to all ZigBee radio references nodes and neighbouring RFID respectively and collects order, passes through each reference node
The RSSI value that point and electronic tag are gathered back, carries out the position of calculating robot, is handled by software algorithm and draws robot essence
True position, realizes the positioning of robot.
As shown in figure 5, controlling to complete the advance, retrogressing, left and right turn of robot by mobile unit 15, robot is realized
Movement in Waiting Lounge.
As shown in fig. 6, having laser range finder, acceleration transducer, gyroscope, odometer, electronics sieve in detection unit 13
Disk, ultrasonic sensor detection barrier, identification direction position and oneself state.Pass through positioning unit 12, mobile unit 15, inspection
The work of 13 3 units of unit is surveyed, robot realizes autonomous safe, accurate mobile in Waiting Lounge.
As shown in fig. 7, robot functional unit 11 is by central controller controls, including with lower module：Payment transaction module,
Take care of the luggage module, ticket inquiry purchase module, drink self-help selling module, lottery ticket purchase module, image recognition fire is automatic
Fire suppression module, Waiting Lounge security module, air-purifying module, air wetting module, hot water service's module, accompany passenger chat mould
Block, entertainment modules, contact staff module are provided for passenger, cleaning earth module, Domestic News module is provided.
When people need robot to service, as shown in figure 8, being completed by man-machine interaction unit 17 between people and robot
Information interchange.By calling the name of robot or coming in face of robot, robot can pass through speech recognition and figure
As identification finds that someone needs service, then stop moving into wait service state.As shown in figure 9, passenger is according to oneself institute
The service needed, the prompting for the service operations main interface that the touch operation display screen installed according to machine human body front portion is shown is entered
Row associative operation, robot can according to the related command of input, complete taking care of the luggage required for passenger, ticket inquiry purchase,
Drink self-help selling, lottery ticket purchase, hot water service, passenger's chat is accompanied, amusement is provided for passenger, contacts staff and services.When
After the completion of service, robot continues to move in Waiting Lounge.Robot is while work, the acquisition testing of central control unit 10
The environmental data of unit 13, control air-purifying module and the work of air wetting module complete air cleaning, air wetting, at any time
Keep the quality of Waiting Lounge air.Robot the unlatching of timing can clean earth module during movement, and ground is carried out
Cleaning.When completing once cleaning task, cleaning earth module is closed.Staff can set robot according to actual conditions
Clean the number of times on ground.The machine human body back side is provided with the display of large-size screen monitors, is provided by this display there is provided newest news
News, or the broadcasting content that display station administrative staff are set.It is real-time by the metal detector device installed with robot
It is automatically performed and detection identification is carried out to the dangerous metal mailed in carrying with passenger and luggage.
As shown in Figure 10, robot carries out image recognition while Waiting Lounge works by image identification unit 18, leads to
Cross to the shooting in Waiting Lounge, identification collects the face feature of passenger, and records in memory cell 19, if finding to abscond
During dangerous offender, reported by information communication unit 14 to station administrative center, station administrative center is connected to right after report
Robot sends tracking or simple net in time catches order.If have fire generation, image identification unit 18 can recognize burning things which may cause a fire disaster, to car
After the alarm of station administration center, it is moved in time near burning things which may cause a fire disaster, and to burning things which may cause a fire disaster spray fire extinguishing material, implements fire extinguishing.
As shown in figure 11, power supply unit 16 is powered for robot in real time, it is ensured that the normal electric energy of robot unit is supplied
Should.When Li-ion batteries piles not enough power supply, power detecting controller can detect that battery electric quantity is low, and robot is managed to station
Reason center is reported, is asked for instructions and is charged, after the permission for receiving station administrative center, recognizes that automatic identification is arrived by active RFID
Waiting Lounge charging cog region electronic tag 6 130 carries out electric connector contraposition connection charging.After charging terminates, power detecting control
Device processed detects battery electric quantity abundance, and robot is reported to station administrative center, is asked for instructions and is operated, and receives in the management of station
After the heart allows, robot continues back at Waiting Lounge and is operated.
As shown in figure 12, heating refrigeration unit 20 works is controlled by central control unit 10, is gathered according to temperature sensor
Drink temperature, judge whether to need to heat drink, freeze, stop heating or refrigerating operation.In hot drink, work as temperature
When degree is less than temperature is set, heater work；When temperature is higher than temperature is set, heater is stopped.In cold drink, work as temperature
When degree is higher than temperature is set, refrigerator work；When temperature is less than temperature is set, refrigerator is stopped.
Claims (1)
1. a kind of Waiting Lounge intellect service robot, it is characterised in that the robot includes：Central control unit, function list
Member, positioning unit, detection unit, information communication unit, power supply unit, mobile unit, man-machine interaction unit, image recognition list
Member, memory cell, heating refrigeration unit；The central control unit respectively with functional unit, positioning unit, detection unit, letter
Message communication unit, power supply unit, mobile unit, man-machine interaction unit, image identification unit, memory cell, heating refrigeration unit
Connection；Said supply unit respectively with central control unit, functional unit, positioning unit, detection unit, information communication unit,
Mobile unit, man-machine interaction unit, image identification unit, memory cell, heating refrigeration unit connection；
Described central control unit uses the control mode that arm processor and DSP Processor are combined, it is ensured that Waiting Lounge intelligence
The collection information and the efficiency of processing information of service robot, it is ensured that accurate control unit completes correlation function；
Described functional unit includes：Payment transaction module, module of taking care of the luggage, ticket inquiry purchase module, the self-service pin of drink
Sell module, lottery ticket purchase module, image recognition fire self-extinguishing module, Waiting Lounge security module, air-purifying module, air
Humidification module, hot water service's module, accompany passenger's chat module, entertainment modules be provided for passenger, contact staff module, cleaning
Earth module, offer Domestic News module；
Payment transaction module is carried out using payment transaction on line and two kinds of modes of doing business of transaction of paying in cash in the functional unit
Take care of the luggage payment, purchase ticket pay, purchase drink pay, purchase lottery ticket pay and other users setting the need for pay gold
The service of money；Robot keeper can independently set whether service charges and toll amount；Payment transaction includes on line：Two dimension
Code scanning is paid, bank card is paid；Transaction of paying in cash can recognize currency and coins, and carry out small change to transaction money；
Module of being taken care of the luggage in the functional unit is using required for two layers of protection locking passenger of identity card identification and fingerprint recognition
The heavy luggage that short time domestic demand is kept an eye on；The steel wire rope electronic lock for indicating code identification that luggage keeps an eye on robot is pinned
Luggage；
Ticket inquiry purchase module carries out phase by liquid crystal touch display screen prompting in man-machine interaction unit in the functional unit
Operation is closed, operation information is transmitted to central control unit, is associated by information communication unit with station ticket system, realizes ticket
The associative operation of purchase is inquired about, selects the means of payment to be paid by payment transaction module, after paying successfully, robot built-in
Drawing machine device ticket can be printed and ejected；
Pointed out in the functional unit in liquid crystal touch display screen of the drink self-help selling module in man-machine interaction unit into
Row operation, after being paid successfully by payment transaction module, the different drinks of selection, the drink of robot built-in are operated according to passenger
Corresponding drink can be made by making module, and when confirming that there is container in drink exit by detection unit object detection, start stream
Go out drink in container；
The functional unit prize purchase module be passenger provides lottery ticket self-help bet, lottery ticket payment, the lottery ticket service of drawing a bill；
Image recognition fire self-extinguishing module carries out image by image identification unit to Initial Stage of Fire in the functional unit
Judge, when recognizing that fire occurs, to central control unit photos and sending messages, reported by information communication unit to station administrative center
It is alert and automatic close to burning things which may cause a fire disaster, burning things which may cause a fire disaster is put out by the extinguishing device in robot body；
Waiting Lounge security module can recognize that the offender absconded face is special by image identification unit in the functional unit
Levy, by information communication unit in time to the display alarm of station administrative center after being analyzed and processed by central control unit；Run into
Emergency time can implement simple Electronic Control and eject the string bag and carry out net to it to catch to criminal, it is to avoid miss most favourable
Arrest chance；
Waiting Lounge security module can also be automatically performed the dangerous metal to being mailed in carried with passenger and luggage
Carry out that metal detector device is installed in detection identification, the module, the detectable institute being hidden in human body and in luggage
There is the metal threat object body of species；
Air-purifying module installs air cleaning unit in robot body in the functional unit, by central control unit control
Air in module work purification Waiting Lounge, there is removal formaldehyde, PM2.5, peculiar smell, flue gas effect, provides healthy comfortable for passenger
Air ambient；
Air humidification module is used in the functional unit installs air purified humidification device in robot body, according to humidity
The ambient humidity situation of sensor collection, controls the module to be worked by moisture requirement by central control unit, is empty in Waiting Lounge
Gas is humidified；
Accompanied in the functional unit in the liquid crystal touch display screen that passenger's chat module needs passenger in man-machine interaction unit
Prompting is operated, after the completion of operation, and Waiting Lounge intellect service robot is actively and passenger carries out communication；This module includes
Speech recognition equipment and speech player, transmit information to central control unit, realize the language of the identification mankind of robot,
And corresponding answer is made by speech player；
The lcd touch that providing entertainment modules in the functional unit for passenger needs passenger in man-machine interaction unit is shown
Prompting is operated in screen；
Contacted in the functional unit staff's module can solve it is direct with station staff when passenger has an emergency
Call, illustrates the special requirement of oneself, the problem of passenger is made in time is resolved；
Earth module is cleaned in the functional unit using the small-sized cleaning floor suction device for being placed in robot bottom design, it is complete
Into the work of simple floor cleaning；
Domestic News module is provided in the functional unit to provide news by the large-size screen monitors liquid crystal display of robot placement behind
News are displayed by screens；The content that station administrative staff are independently set can also be played；
The positioning unit is realized by the way of active RFID signal framing and ZigBee wireless network indoor positionings are combined
The seamless positioning of indoor different distance；Active RFID signal framing includes active RFID reader, electronic tag, communication network
Network, by building RFID location system, gathers the RSSI value of active RFID, the position of calculating robot indoors；ZigBee without
Gauze network indoor positioning includes reference mode, positioning node, communication network, and robot is as positioning node to the reference set
Node sends RSSI and collects order, this RSSI value is collected at once, after the multiple repairing weld by this mode, calculating robot exists
Indoor position；Last central control unit provides the exact position of robot after being analyzed and processed to above location data；
The detection unit realizes the detection to the temperature, humidity of environment, realizes detection barrier, the identification side of robot itself
To and oneself state；Including humidity sensor, temperature sensor, laser range finder, acceleration transducer, gyroscope, odometer,
Electronic compass, ultrasonic sensor；The humidity and temperature of environment, and heating are detected by humidity sensor, temperature sensor
The temperature of the drink of refrigeration unit；Pass through laser range finder, acceleration transducer, gyroscope, odometer, electronic compass, ultrasound
Wave sensor detection barrier, identification direction position and oneself state；
Described information communication unit includes network communication server, internet, reception of wireless signals and sending module；By this
Unit completes the structure contacted with multirobot LAN system of robot central controller and internet, and the moment keeps
With the communication contacted between robot of station management center server, this element uses communication；
Said supply unit realizes the power supply of robot whole system, Power convert transformation and the detection to dump energy, and complete
Into automatic to specified charged area charging；Including mains charger, electric pressure converter, power detecting controller, power storage electricity
Pond, charged area identification；Power storage Selection of Battery high energy efficiency Li-ion batteries piles；Charged area identification is determined using active RFID
Position technology；
The mobile unit realizes movement and a series of completion robot motions of the robot in Waiting Lounge；The unit includes 2
Individual independent driving wheel, 2 decelerators, 2 DC servo motors, 2 bands buffer universal driven pulley, 2 rotary encoders, 2
Motor-drive circuit；Motor-drive circuit is connected by central controller and controlled；2 independent driving wheels as robot trailing wheel,
The turning function of robot is realized by the speed difference of two driving wheels, realizes the advance of robot with after when speed is identical
Move back；2, with front-wheel of the universal driven pulley as robot is buffered, coordinate 2 driving wheels to complete to advance, retreat, turn to；It is each to subtract
Fast device and the connection of each driving wheel；Each DC servo motor and decelerator, rotary encoder, a motor drive
Dynamic circuit connection, constitutes two sets of mobile power set；
The man-machine interaction unit realizes that the information between people and robot is exchanged, including liquid crystal touch display screen, speech recognition
Device, liquid crystal display, speech player；People can be operated by liquid crystal touch display screen, and various instructions are passed on
To robot to central control unit；Voice messaging is conveyed to by central control unit by speech recognition equipment；
Described image recognition unit realizes identification, the identification of fire burning things which may cause a fire disaster to face features, real-time photography monitoring；Including height
Clear camera, image pick-up card, image procossing identification software；
The memory cell realizes that the data of the image gathered to robot, voice, environmental information and unit are recorded
And storage；Including graphics data saving, speech data storage, detection data storage；
The heating refrigeration unit realizes heating and the refrigeration to drink, to provide hot drink and cold drink；Including automatically controlled heater, electricity
Control cooler device；Central control unit controls it heating, refrigeration；
Robot is connected by information communication unit (14) with internet and station management center server, while completing robot
Between write to each other；Robot can collect information by information communication unit (14) to station administrative center real-time Transmission
With the state position information of itself, while receive the order from station administrative center；Pass through connecting and composing between robot
LAN, mutually realizes communication, and work of working in coordination, the coordinating and unifying is more efficiently completed the function of Waiting Lounge service；
At the beginning of robot during task, complete to build Waiting Lounge map first；Be respectively mounted in four corners of Waiting Lounge ZigBee without
Line reference mode one (121), ZigBee radio references node two (122), ZigBee radio references node three (123), ZigBee
Radio reference node four (124)；RFID one is installed with Waiting Lounge middle position in the middle of Waiting Lounge four edges line
(125), RFID two (126), RFID three (127), RFID four (128), RFID electronics marks
Sign five (129)；ZigBee wireless locations node and active RFID read write line are installed, when robot is in robot with robot
When position (131) works, ZigBee wireless locations node and active RFID read write line are wirelessly joined to all ZigBee respectively
Examine node and neighbouring RFID sends RSSI and collects order, the RSSI gathered back by each reference mode and electronic tag
Value, carries out the position of calculating robot, is handled by software algorithm and draws the accurate position of robot, realizes determining for robot
Position；
Detection unit has laser range finder, acceleration transducer, gyroscope, odometer, electronic compass, supersonic sensing in (13)
Device detection barrier, identification direction position and oneself state；Pass through positioning unit (12), mobile unit (15), detection unit
The work of (13) three units, robot realizes autonomous in Waiting Lounge safety, accurate movement；
When people need robot to service, the information interchange between people and robot is completed by man-machine interaction unit (17)；
By calling the name of robot or coming in face of robot, robot can find have by speech recognition and image recognition
People needs service, then stops moving into wait service state；Service of the passenger according to required for oneself, according to the machine person
The prompting for the service operations main interface that the touch operation display screen that body front portion is installed is shown carries out associative operation, and robot can basis
The related command of input, completes taking care of the luggage required for passenger, ticket inquiry purchase, the purchase of drink self-help selling, lottery ticket, hot
Water service, passenger's chat is accompanied, amusement is provided for passenger, contacts staff and services；After the completion of service, robot continues waiting
Car is moved in the Room；Robot is while work, the environmental data of central control unit (10) acquisition testing unit (13), control
Air-purifying module and the work of air wetting module complete air cleaning, air wetting, and the quality of Waiting Lounge air is kept at any time；
Robot the unlatching of timing can clean earth module during movement, and ground is cleaned；Appoint when completing once to clean
During business, cleaning earth module is closed；Staff can set the number of times on robot cleaner ground according to actual conditions；Robot
The body back side is provided with the display of large-size screen monitors, and by this display, there is provided newest Domestic News, or display station custodian
The broadcasting content that member is set；It is automatically performed in real time by the metal detector device installed with robot to being carried with passenger
Detection identification is carried out with the dangerous metal mailed in luggage；
Robot carries out image recognition, by Waiting Lounge while Waiting Lounge works by image identification unit (18)
Shooting, identification collects the face feature of passenger, and records in memory cell (19), if the dangerous crime that finds to abscond divides
The period of the day from 11 p.m. to 1 a.m, reports, station administrative center is connected to after report to machine human hair by information communication unit (14) to station administrative center
Go out tracking or simple net in time catches order；If have fire generation, image identification unit (18) can recognize burning things which may cause a fire disaster, be managed to station
After the alarm of center, it is moved in time near burning things which may cause a fire disaster, and to burning things which may cause a fire disaster spray fire extinguishing material, implements fire extinguishing；
Power supply unit (16) is powered for robot in real time, it is ensured that the normal electric energy supply of robot unit；Work as lithium-ion electric
During the group not enough power supply of pond, it is low that power detecting controller can detect battery electric quantity, and robot is reported to station administrative center, please
Show and charged, after the permission for receiving station administrative center, recognize that automatic identification charges to Waiting Lounge by active RFID and know
Other area electronic tag six (130) carries out electric connector contraposition connection charging；After charging terminates, power detecting controller is detected
Battery electric quantity is sufficient, and robot is reported to station administrative center, is asked for instructions and is operated, and receives after the permission of station administrative center,
Robot continues back at Waiting Lounge and is operated；
Heat refrigeration unit (20) work to be controlled by central control unit (10), the temperature of the drink gathered according to temperature sensor
Degree, judges whether to need to heat drink, freezes, stops heating or refrigerating operation；In hot drink, when temperature is less than setting
During temperature, heater work；When temperature is higher than temperature is set, heater is stopped；In cold drink, when temperature is higher than setting
During temperature, refrigerator work；When temperature is less than temperature is set, refrigerator is stopped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410614952.2A CN104375417B (en) | 2014-11-05 | 2014-11-05 | A kind of Waiting Lounge intellect service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410614952.2A CN104375417B (en) | 2014-11-05 | 2014-11-05 | A kind of Waiting Lounge intellect service robot |
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| CN104375417B true CN104375417B (en) | 2017-11-07 |
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| CN201410614952.2A Expired - Fee Related CN104375417B (en) | 2014-11-05 | 2014-11-05 | A kind of Waiting Lounge intellect service robot |
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| CN104848848A (en) * | 2015-03-30 | 2015-08-19 | 北京云迹科技有限公司 | Robot map drafting and positioning method based on wireless base station and laser sensor as well as system thereof |
| CN105059351A (en) * | 2015-07-17 | 2015-11-18 | 济南大学 | Safe intelligent baby carriage capable of preventing baby from being stolen |
| CN105005331A (en) * | 2015-07-17 | 2015-10-28 | 济南大学 | Safe intelligent baby carriage capable of identifying user |
| CN105059352A (en) * | 2015-07-17 | 2015-11-18 | 济南大学 | Safe intelligent baby carriage capable of being lifted |
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| CN105619416A (en) * | 2016-01-29 | 2016-06-01 | 刘亚军 | Red wine shopping guide robot |
| CN105928061A (en) * | 2016-04-27 | 2016-09-07 | 深圳市智能体科技有限公司 | Indoor air conditioning device and method |
| CN106200977A (en) * | 2016-07-20 | 2016-12-07 | 成都我的科技有限公司 | For jewelry design and the intelligent robot of sale |
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| CN106054901A (en) * | 2016-08-18 | 2016-10-26 | 沈阳凤天机器人科技有限公司 | Autonomous mobile sell robot |
| CN106383517B (en) * | 2016-09-30 | 2019-06-07 | 汕头大学 | A kind of autonomous mobile robot platform control system, method and device |
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| CN106903703A (en) * | 2017-05-02 | 2017-06-30 | 旗瀚科技有限公司 | It is a kind of to order the service robot of coffee function with intelligence |
| JP6812325B2 (en) * | 2017-10-26 | 2021-01-13 | 株式会社日立ビルシステム | Robot management system |
| CN107657490A (en) * | 2017-11-03 | 2018-02-02 | 北京翰宁智能科技有限责任公司 | One kind may move self-service reward voucher generating means |
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| CN108247650B (en) * | 2018-02-01 | 2019-09-17 | 达闼科技（北京）有限公司 | Processing method, device, robot, moving object and readable storage medium storing program for executing |
| CN108734083B (en) * | 2018-03-21 | 2023-04-25 | 北京猎户星空科技有限公司 | Control method, device, equipment and storage medium of intelligent equipment |
| CN108806013A (en) * | 2018-04-04 | 2018-11-13 | 昆山市工研院智能制造技术有限公司 | The patrol robot ecosystem |
| CN108427421A (en) * | 2018-04-26 | 2018-08-21 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of intelligent distribution robot control system |
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