CN102141797A - Airport terminal service robot and control method thereof - Google Patents
Airport terminal service robot and control method thereof Download PDFInfo
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- CN102141797A CN102141797A CN2010105872677A CN201010587267A CN102141797A CN 102141797 A CN102141797 A CN 102141797A CN 2010105872677 A CN2010105872677 A CN 2010105872677A CN 201010587267 A CN201010587267 A CN 201010587267A CN 102141797 A CN102141797 A CN 102141797A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/36—Other airport installations
- B64F1/366—Check-in counters
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Abstract
The invention discloses an airport terminal service robot and a control method thereof. The robot comprises a body, a control system, an identity card identifier and a boarding card printer; the body comprises a chassis, a shell, two driving wheels and two driven wheels; the shell is arranged on the surface of the chassis; the two driving wheels and the two driven wheels are arranged on two sides of the rear part and the front part of the chassis respectively, and a wheel cover is arranged above each wheel; and the control system, the identity card identifier and the boarding card printer are all arranged in an equipment cabin of the shell. The airport terminal service robot can realize manual remote control or automatic control, can provide functions of mobile self-service check-in, fixed line guide, baggage carrying, information query, multi-language voice communication, mobile monitoring and the like in a centralized service mode, and can be recreationally interacted with passengers so as to further simplify the check-in procedures, facilitate outgoing of civil aviation passengers, facilitate improvement of service efficiency and promote the integral scientific and technological level of an airport terminal.
Description
Technical field
The invention belongs to the civil aviation technical field, particularly relate to a kind of terminal service robot and control method thereof.
Background technology
Along with the develop rapidly of civil aviaton's cause, airport terminal in all parts of the country can not meet the demands far away on function and facility, therefore transforms one after another.Because the different style of each terminal, and scale, the division of moulding and functional areas also all has nothing in common with each other, therefore just go into the passenger of terminal in most cases to the layout in the terminal, the position of Counter service etc. all is unfamiliar with, so usually do not know to handle relevant formality where and how, therefore most of airports are at present still with manually, the mode of fixed point is provide advice and every business service, so not only can increase waiting the time of passenger, passenger's check-in is numerous and diverse, but also can increase airport employe's labour intensity, also need to be equipped with more staff simultaneously, therefore the operational efficiency on airport is low, the operation cost height.
In order to address this problem, day intrinsic safety river Electronics Co., Ltd has developed the airport service robot of a kind of RoboPorter by name, tests on airport, Kitakyushu.The wheeled mobile robot of the artificial a kind of trolley type of this machine, it can be no more than the destination of the luggage of 20kg to any programming for passenger's carrying, F-Zero is 2.16km, the telephone microphone that the passenger can pick up in the robot during use is carried out speech exchange with it, and some information of inquiry airport periphery.But do not mention in the document that this robot possesses mobile SCM, mobile monitor and the multilingual function that exchanges the aspect.
In addition, the robot that Korea S airport people's commune discloses a kind of " omnipresent (Ubi Quitous) ", and used in domestic air routes such as Jin Pu, airports, Jinsen.This robot can provide various Airport information services to the passenger, comprises that the position of flight time, vehicles introduction and amenities is introduced, but also services for life such as weather, news, the physiological function rhythm and pace of moving things, body fat mensuration can be provided.This robot can move voluntarily, utilizes sound and simple gesture to greet to the passenger, and can show different postures and accompany passenger's souvenir of taking pictures.Though this robot can provide the information service than horn of plenty, shortcoming be can do nothing to help the passenger carry luggage, to passenger's channeling conduct, utility services such as mobile SCM are provided, and not strong for the service specific aim of airport particular surroundings.
In a word, above-mentioned these similar machine people exist function singleness, service business disperse, can not simplify check-in, to defectives such as the specific aim of environment and adaptability are not strong.
Summary of the invention
In order to address the above problem, the object of the present invention is to provide a kind of terminal service robot that integrates multinomial functions such as traveler guiding, baggage handling, information consultation, mobile SCM, multi-language voice interchange and mobile monitor.
Another object of the present invention is to provide a kind of control method of above-mentioned terminal service robot.
In order to achieve the above object, terminal service robot provided by the invention comprises body, control system, I.D. recognizer and boarding card printer; Described body comprises chassis, shell, two driving wheels and two engaged wheels; Wherein shell is installed in the surface on chassis, two parts before and after being divided into, anterior end face forms the hand baggage placement platform, the inside at rear portion is equipment compartment, and the middle part of rear end face is provided with an I.D. recognizer and inserts mouth and a boarding card printer outlet, and a side lower part of body also is provided with a battery door; Two driving wheels and two engaged wheels are installed in the rear portion and the front part sides on chassis respectively, and each top of taking turns all is equipped with a wheel cover; Control system, I.D. recognizer and boarding card printer are installed in the equipment compartment of shell.
Described control system comprises master control system, man-machine interactive system, environment sensing supervisory system, control and drive system, communication system and power-supply system; Wherein:
Master control system is made up of the main and auxiliaries that adopts cable network to communicate mutually, wherein main frame comprises main frame master control borad, control and driver module, audio frequency output module and PTZ driver module, and the main frame master control borad is connected with driver module, audio frequency output module and PTZ (Pan Tilt Zoom) driver module with control by the PC104+ bus; Subsidiary engine comprises subsidiary engine master control borad, A/D, IO module and image capture module, and the subsidiary engine master control borad is connected with A/D, IO module and image capture module by the PC104+ bus;
Man-machine interactive system comprises two parts, and first is made up of loudspeaker and microphone, and second portion is made up of touch-screen and LCD; Wherein loudspeaker links to each other with the main frame master control borad by the audio frequency output module; Microphone links to each other with the subsidiary engine master control borad by audio interface (ICH4), and the rear end top interior that it is installed in shell is fastenedly connected with shell; Touch-screen is installed in the rear end face upper face of shell, and it links to each other with the subsidiary engine master control borad by USB (universal serial bus) (USB) interface; LCD is installed in the inside of touch-screen, and with touch-screen near, its interface (VGA) and subsidiary engine master control borad by output simulating signal on the video card joins;
Control can be formed by device by the 1st drive motor, the 2nd drive motor, PTZ control device and power supply are continuous with drive system; Wherein the output shaft of the 1st drive motor and the 2nd drive motor links to each other with a driving wheel by reducer casing respectively, and joins by control on scrambler and the main frame and driver module; The PTZ control device links to each other with PTZ driver module on the main frame; Power supply is continuous then to join with the main frame master control board by device;
The environment sensing supervisory system is made up of inner sensory perceptual system and outside sensory perceptual system: wherein inner sensory perceptual system comprises the 1st, the 2nd photoelectric encoder and 3D digital compass; 1st, the 2nd photoelectric encoder is integrated in respectively on the tailing axle of the 1st, the 2nd drive motor, and links to each other with the main frame master control borad with driver module by control; The 3D digital compass links to each other with the subsidiary engine master control borad by serial ports RS232; Outside sensory perceptual system comprises Pan/Tilt/Zoom camera, two rear portion visible illumination lamps, two bottom visible illumination lamps, the 1st laser ranging system and the 2nd laser ranging systems; Wherein Pan/Tilt/Zoom camera is installed in the rear end face top surface of shell, and it links to each other with the subsidiary engine master control borad by image capture module; Two rear portion visible illumination lamps are arranged on the rear end face middle part surface of shell, and two bottom visible illumination lamps then are installed in respectively on the wheel cover of two driving wheels, and all link to each other with the subsidiary engine master control borad by A/D, IO module; The 1st laser ranging system is arranged on the rear end face lower surface of shell, and the 2nd laser ranging system then is installed in the front end of hand baggage placement platform, and links to each other with the subsidiary engine master control borad by serial ports RS232 respectively;
Communication system is made up of switch and WAP, and wherein switch links to each other with main and auxiliaries by wired network simultaneously; Switch joins by netting twine and WAP simultaneously;
Power-supply system is made up of battery, charger and power panel, is used to other system's power supply in the control system.
Described I.D. recognizer links to each other with the subsidiary engine master control borad by USB (universal serial bus) (USB); The boarding card printer joins by serial ports RS232 and subsidiary engine master control borad.
Described environment sensing supervisory system also comprises four collision avoidance systems that are installed in the wheel cover external margin position of two driving wheels and two engaged wheels respectively, and collision avoidance system links to each other with the subsidiary engine master control borad by A/D, IO module.
Described environment sensing supervisory system also comprises a smog, fire detecting arrangement, and this device mainly is made up of smog, temperature detection sensor and related circuit thereof, and it links to each other with the subsidiary engine master control borad by A/D, IO module.
Described driving wheel adopts inflated wheel, and engaged wheel adopts universal wheel.
The host control method of terminal service robot provided by the invention comprises the following step that carries out in order:
1) the S1 stage of initialization apparatus and self check, this stage is first stage after powering on, and in this stage, main frame will carry out power-up initializing, self check operation;
2) judge each of main frame operation normal S2 stage whether, in this stage, whether main frame will normally be judged the self check operating result in S1 stage, if judged result is a "Yes", enters the S3 stage, otherwise enter the S13 stage, to carry out corresponding abnormality processing, withdraw from the master control circulation then;
3) judge whether to exist S3 stage of local steering order, this stage will judge currently whether have local steering order, if judged result is a "Yes", then enter the S4 stage, otherwise directly enter the S5 stage;
4) in the S4 stage of the corresponding local steering order of execution, in this stage, main frame will be carried out the local steering order of current existence;
5) judge whether S5 stage of internet message, this stage will judge currently whether have internet message, if judged result is a "Yes", enter the S6 stage, otherwise directly enter the S11 stage;
6) obtain S6 stage of decision behavior according to sensor information, in this stage, main frame will draw current decision behavior according to each sensor information that subsidiary engine is sent here;
7) the S7 stage of the display network message and the result of decision on the interface, in this stage, main frame transmits relevant idsplay order to subsidiary engine, and goes out the above-mentioned internet message and the result of decision by liquid crystal display displays;
8) behavior constantly obtains S8 stage of final behavior command in the fusion, and in this stage, main frame will be determined the operational order of the current concrete action that will carry out according to current action decision-making and last a status information constantly;
9) whether decision instruction allows S9 stage of carrying out, and this stage will judge by determined operational order of S8 stage whether possess executable condition, if judged result is a "Yes", enter the S10 stage, otherwise turn back to the porch in S6 stage;
10) 10 stages of each position order are carried out in coordination, and this stage will carry out by determined operational order of S8 stage;
11) judge whether S11 stage of withdrawing from, in this stage, main frame will judge whether exit criteria is set up, if judged result is a "Yes", withdraw from the master control circulation to stop operation, continue circulation otherwise turn back to the porch in S3 stage;
12) send the S12 stage of withdrawing from information to subsidiary engine, in this stage, main frame will send to subsidiary engine (31) and withdraw from information, promptly notify subsidiary engine to carry out and exit command, and main frame withdraws from the master control circulation to stop operation then.
The subsidiary engine control method of terminal service robot provided by the invention comprises the following step that carries out in order:
1) the S21 stage of initialization apparatus and self check; This stage is first stage after powering on, and in this stage, subsidiary engine will carry out power-up initializing, self check operation;
2) judge each of subsidiary engine operation normal S22 stage whether, in this stage, whether subsidiary engine will normally be judged the self check operating result in S21 stage, if judged result is a "Yes", then enter the S23 stage, otherwise enter the S31 stage,, withdraw from the master control circulation then to carry out corresponding abnormality processing;
3) gather S23 stage of each sensor information, in this stage, subsidiary engine will be gathered the information of each sensor successively;
4) the S24 stage of each sensor information of pre-service, in this stage, subsidiary engine adopts relevant filtering and fault-tolerant technique that sensor information is carried out pretreatment operation;
5) show S25 stage of each sensor pretreatment information, in this stage, subsidiary engine will go out resulting each sensing data in the stage at S24 by liquid crystal display displays;
6) judge the S26 stage whether network is communicated with, this stage will judge that whether current network connects normal, if judged result is a "Yes", enters the S27 stage, otherwise turn back to the porch in S23 stage;
7) packing, to the S27 stage of main frame transmission sensor information, in this stage, subsidiary engine will send main frame (30) to by switch then in S24 resulting each sensing data arrangement packing in the stage earlier;
8) judge whether to receive the S28 stage that host computer control is instructed, in this stage, subsidiary engine will judge whether to receive the steering order of main frame, if judged result is a "Yes", enter the S29 stage, otherwise directly enter the S30 stage;
9) carry out the S29 stage that host computer control is instructed, in this stage, subsidiary engine will be carried out the control command that resulting main frame transmits in the stage at S28;
10) judge whether S30 stage of withdrawing from, in this stage, subsidiary engine will judge whether exit criteria is set up, if judged result is a "Yes", withdraw from the master control circulation stopping operation, otherwise the porch that turns back to S23 is to continue circulation.
Terminal service robot provided by the invention can be realized manual remote control or Autonomous Control, and can be that the passenger provides mobile SCM, can independently finish route guiding, baggage handling, information inquiry according to passenger's specific requirement in the mode of centralized services, functions such as multi-language voice interchange and mobile monitor, and can with passenger's entertainment interactive, therefore can further simplify check-in, make things convenient for civil aviaton's travelling, help improving efficiency of service, promote the whole scientific and technological level of terminal.
Description of drawings
Fig. 1 is a terminal service robot external structure stereographic map provided by the invention.
Fig. 2 is that terminal service-delivery machine philtrum control system provided by the invention constitutes block diagram.
Fig. 3 is a terminal service-delivery machine philtrum control system electrical structure diagram provided by the invention.
Fig. 4 is a terminal service robot host control method process flow diagram provided by the invention.
Fig. 5 is a terminal service robot subsidiary engine control method process flow diagram provided by the invention.
Embodiment
Below in conjunction with the drawings and specific embodiments terminal service robot provided by the invention and control method thereof are elaborated.
As shown in Figure 1-Figure 3, terminal service robot provided by the invention comprises body, control system, I.D. recognizer 3 and boarding card printer 4; Described body comprises chassis 11, shell 15, two driving wheels 7 and two engaged wheels 12; Wherein shell 15 is installed in the surface on chassis 11, two parts before and after being divided into, anterior end face forms hand baggage placement platform 14, the inside at rear portion is equipment compartment, and the middle part of rear end face is provided with an I.D. recognizer and inserts mouthful 43 and boarding card printer outlets 44, and a side lower part of body also is provided with a battery door 10; Two driving wheels 7 and two engaged wheels 12 are installed in the rear portion and the front part sides on chassis 11 respectively, and each top of taking turns all is equipped with a wheel cover; Control system 23, I.D. recognizer 3 and boarding card printer 4 are installed in the equipment compartment of shell 15.
Described control system comprises master control system 20, man-machine interactive system 21, environment sensing supervisory system 22, control and drive system 23, communication system 24 and power-supply system 25; Wherein:
Man-machine interactive system 21 comprises two parts, and first is made up of loudspeaker 40 and microphone 35, and it is mutual to be used to finish the man machine language, and second portion is made up of touch-screen 2 and LCD 34, is used to finish man-machine touch screen interaction; Wherein loudspeaker 40 links to each other with the main frame master control borad by the audio frequency output module, is used for output audio signal, and the keeper can control the opening and closing of two-way voice transmissions as required; Microphone 35 links to each other with the subsidiary engine master control borad by audio interface (ICH4), it is installed in the rear end top interior of shell 15, is fastenedly connected with shell 15, is used to realize the bidirectional remote transmission of voice messaging, be that speech recognition realizes that in subsidiary engine 31 voice output is then finished in main frame 30; Touch-screen 2 is installed in the rear end face upper face of shell 15, and it links to each other with the subsidiary engine master control borad by USB (universal serial bus) (USB) interface; LCD 34 be installed in touch-screen 2 in the centre, and with touch-screen 2 near, its interface (VGA) and subsidiary engine master control borad by output simulating signal on the video card joins;
Control is used for control robot and moves freely on the road surface with drive system 23, but and the movement velocity of real-time regulated robot and direction of motion, it can be formed by device 42 by the 1st drive motor the 38, the 2nd drive motor 39, PTZ control device 41 and power supply are continuous; Wherein the output shaft of the 1st, the 2 drive motor 38,39 links to each other with a driving wheel 7 by reducer casing respectively, and simultaneously with main frame 30 on control and driver module join; PTZ control device 41 links to each other with PTZ driver module on the main frame 30, is used for the change of level, pitching camera angle of Long-distance Control Pan/Tilt/Zoom camera 1 and zoom, change action such as doubly, realizes location and interaction entertainment to cooperate robot body; Control partly adopts the special-purpose motion control chip LM629 of National Semiconductor as kernel control chip with the motion control in the driver module, LM629 constitutes the master-slave mode kinetic control system by PC104+ bus and main frame master control borad, and LM629 can carry out accurate real-time calculation task in high performance digital moving control; The main frame master control borad is mutual by a senior command set and LM629, as provide parameters such as speed, distance, LM629 is by PID controller output pulse width modulation signal, again through overdriving and control module just can promote the 1st drive motor 38 and the 2nd drive motor 39 turns round; Power supply continuous can device 42 join with the main frame master control board, be used to control the charging of power-supply system 25 or change battery, can continuous firing to guarantee robot;
Environment sensing supervisory system 22 is input perception parts of master control system 20, and it utilizes the sensor acquisition external information, and this information is carried out fusion treatment, is used for behavior planning and decision-making.This system is made up of inner sensory perceptual system and outside sensory perceptual system; Wherein inner sensory perceptual system comprises the 1st, the 2nd photoelectric encoder 45,46 and 3D digital compass 36, is used for the state of monitoring robot, with the behavior of adjustment and control robot; 1st, the 2nd photoelectric encoder 45,46 is integrated in respectively on the tailing axle of the 1st, the 2nd drive motor 38,39, and links to each other with the main frame master control borad with driver module by control, is used to calculate the mileage of two driving wheels, 7 motions; 3D digital compass 36 links to each other with the subsidiary engine master control borad by serial ports RS232, is used for determining the angle of robot; Outside sensory perceptual system comprises Pan/Tilt/Zoom camera 1, two rear portion visible illumination lamps 5, two bottom visible illumination lamp the 6, the 1st laser ranging systems 8 and the 2nd laser ranging systems 13, be used for state and characteristic information that robot obtains all kinds of targets of surrounding environment, make between robot-environment reciprocation can take place, thereby make robot adaptive ability be arranged environment.Wherein Pan/Tilt/Zoom camera 1 is installed in the rear end face top surface of shell 15, and it links to each other with the subsidiary engine master control borad by image capture module, is used for the collection of external image; Two rear portion visible illumination lamps 5 are arranged on the rear end face middle part surface of shell 15, two 6 on bottom visible illumination lamps are installed in respectively on the wheel cover of two driving wheels 7, and all, be used to provide effective illumination by linking to each other with the subsidiary engine master control borad by A/D, IO module; The 1st laser ranging system 8 is arranged on the rear end face lower surface of shell 15, the 2nd laser ranging system 13 then is installed in the front end of hand baggage placement platform 14, and link to each other with the subsidiary engine master control borad by serial ports RS232 respectively, to constitute 360 ° investigative range, be used for barrier around the detection machine people, and utilize this information to realize automatic obstacle avoiding; Robot carries out location and the navigation under the indoor environment by merging information such as Pan/Tilt/Zoom camera 1, photoelectric encoder 45,3D digital compass 36 and laser ranging system 8,13;
Power-supply system 25 provides a reliable and stable power source for robot, be used to other system's power supply in the control system, it is made up of battery, charger and power panel, battery can adopt lead-acid battery, its charging control is to finish by device 42 by power supply is continuous, makes the robot can continuous firing after the charging.
Described I.D. recognizer 3 links to each other with the subsidiary engine master control borad by USB (universal serial bus) (USB), is used to discern user's I.D. and obtains relevant information; Boarding card printer 4 joins by serial ports RS232 and subsidiary engine master control borad, is used to print passenger's boarding card.
Described environment sensing supervisory system 22 also comprises four collision avoidance systems 9 that are installed in the wheel cover external margin position of two driving wheels 7 and two engaged wheels 12 respectively, collision avoidance system 9 links to each other with the subsidiary engine master control borad by A/D, IO module, and itself and Pan/Tilt/Zoom camera 1 are served as the task of perception monitoring operate outside environment jointly.
Described environment sensing supervisory system 22 also comprises a smog, fire detecting arrangement 37, this device mainly is made up of smog, temperature detection sensor and related circuit thereof, it links to each other with the subsidiary engine master control borad by A/D, IO module, be used to monitor the working environment, and realize smog alarm and fire alarm.
Described driving wheel 7 adopts inflated wheel, can play the effect of damping like this; Engaged wheel 12 adopts universal wheel.
Terminal robot hardware provided by the invention system has adopted two host computer systems---host computer system and auxiliary system, System Software and realize also adopting two host computer systems.Host computer system is carried out behaviour decision making according to the subsidiary engine data that receive, with the action of control robot body; Carry out the output of voice output and music; Send the touch-screen steering order to subsidiary engine, finish man-machine interaction jointly with auxiliary system.Auxiliary system is mainly used in sensor information collection, pre-service, transmits to host computer system with the sensor information packing and by network.The collection of the collection of the collection of the collection that sensor information is handled the collection comprise voice signal and identification, image information and the collection of pre-service, laser distance measuring system ranging information and pre-service, the collection of clashing into information and pre-service, contact screen information and pre-service, battery voltage information and pre-service, compass information and pre-service, I.D. are discerned and printer prints boarding card etc.In addition, auxiliary system can also provide information searching function to the passenger, the passenger can by the mode of touching touch-screen finish multiple information inquiry and and the terminal robot between realize interactive.
Fig. 4 is a terminal service robot host control method process flow diagram provided by the invention.As shown in Figure 4, terminal service robot host control method provided by the invention comprises the following step that carries out in order:
1) the S1 stage of initialization apparatus and self check, this stage is first stage after powering on, and in this stage, main frame 30 will carry out power-up initializing, self check operation;
2) judge each operation of main frame 30 normal S2 stage whether, in this stage, whether main frame 30 will normally be judged the self check operating result in S1 stage, if judged result is a "Yes", enter the S3 stage, otherwise enter the S13 stage,, withdraw from the master control circulation then to carry out corresponding abnormality processing;
3) judge whether to exist S3 stage of local steering order, this stage will judge currently whether have local steering order, if judged result is a "Yes", then enter the S4 stage, otherwise directly enter the S5 stage;
4) in the S4 stage of the corresponding local steering order of execution, in this stage, main frame 30 will be carried out the local steering order of current existence;
5) judge whether S5 stage of internet message, this stage will judge currently whether have internet message, if judged result is a "Yes", enter the S6 stage, otherwise directly enter the S11 stage;
6) obtain S6 stage of decision behavior according to sensor information, in this stage, main frame 30 will draw current decision behavior according to each sensor information that subsidiary engine 31 is sent here;
7) the S7 stage of the display network message and the result of decision on the interface, in this stage, main frame 30 transmits relevant idsplay order to subsidiary engine 31, and demonstrates the above-mentioned internet message and the result of decision by LCD 34;
8) behavior constantly obtains S8 stage of final behavior command in the fusion, and in this stage, main frame 30 will be determined the operational order of the current concrete action that will carry out according to current action decision-making and last a status information constantly;
9) whether decision instruction allows S9 stage of carrying out, and this stage will judge by determined operational order of S8 stage whether possess executable condition, if judged result is a "Yes", enter the S10 stage, otherwise turn back to the porch in S6 stage;
10) 10 stages of each position order are carried out in coordination, and this stage will carry out by determined operational order of S8 stage;
11) judge whether S11 stage of withdrawing from, in this stage, main frame 30 will judge whether exit criteria is set up, if judged result is a "Yes", withdraw from the master control circulation to stop operation, continue circulation otherwise turn back to the porch in S3 stage;
12) send the S12 stage of withdrawing from information to subsidiary engine, in this stage, main frame 30 will send to subsidiary engine 31 and withdraw from information, promptly notify subsidiary engine 31 to carry out and exit command, and main frame 30 withdraws from the master control circulation to stop operation then.
Fig. 5 is a terminal service robot subsidiary engine control method process flow diagram provided by the invention.As shown in Figure 5, terminal service robot subsidiary engine control method provided by the invention comprises the following step that carries out in order:
1) the S21 stage of initialization apparatus and self check; This stage is first stage after powering on, and in this stage, subsidiary engine 31 will carry out power-up initializing, self check operation;
2) judge each of subsidiary engine operation normal S22 stage whether, in this stage, whether subsidiary engine 31 will normally be judged the self check operating result in S21 stage, if judged result is a "Yes", then enter the S23 stage, otherwise enter the S31 stage,, withdraw from the master control circulation then to carry out corresponding abnormality processing;
3) gather S23 stage of each sensor information, in this stage, subsidiary engine 31 will be gathered the information of each sensor successively;
4) the S24 stage of each sensor information of pre-service, in this stage, subsidiary engine 31 adopts relevant filtering and fault-tolerant technique that sensor information is carried out pretreatment operation;
5) show S25 stage of each sensor pretreatment information, in this stage, subsidiary engine 31 will demonstrate resulting each sensing data in the stage at S24 by LCD 34;
6) judge the S26 stage whether network is communicated with, this stage will judge that whether current network connects normal, if judged result is a "Yes", enters the S27 stage, otherwise turn back to the porch in S23 stage;
7) packing, to the S27 stage of main frame transmission sensor information, in this stage, subsidiary engine 31 will send main frame 30 to by switch 32 then in S24 resulting each sensing data arrangement packing in the stage earlier;
8) judge whether to receive the S28 stage that host computer control is instructed, in this stage, subsidiary engine 31 will judge whether to receive the steering order of main frame 30, if judged result is a "Yes", enter the S29 stage, otherwise directly enter the S30 stage;
9) carry out the S29 stage that host computer control is instructed, in this stage, subsidiary engine 31 will be carried out the control command that resulting main frame 30 transmits in the stage at S28;
10) judge whether S30 stage of withdrawing from, in this stage, subsidiary engine 31 will judge whether exit criteria is set up, if judged result is a "Yes", withdraw from the master control circulation stopping operation, otherwise the porch that turns back to S23 is to continue circulation.
Terminal service robot host control method provided by the invention and subsidiary engine control method have been described above, have further specified main program module and the work characteristics thereof in master control system 20, moved below.
The Control Software that is adopted in the terminal service-delivery machine robot system provided by the invention mainly is divided into four modules, be respectively odometer and compass and merge locating module, locating module, main system control module and user interactive module based on visual signature, first three module realizes that in robot main frame 30 the 4th module realizes in robot subsidiary engine 31.
Odometer and compass merge locating module provides real-time posture information for robot control.This module is by the 1st, the 2nd photoelectric encoder 45,46 and 3D digital compass 36 gather the mileage of two driving wheels 7 and the angle-datas of robot in real time, after fusion treatment, obtain the higher robot posture information of confidence level, and with this information main system control module that is sent to Network Based.
Locating module based on visual signature provides reliably posture information accurately for robot, in initial pose the unknown, the pose confidence level is lower or robot takes place swindles under the situation and play a significant role.This module utilizes the sift feature of the mark information of known map to position calculating.
Main system control module is mainly realized the expression of map and establishment, task scheduling, the robot functions such as path trace control based on fixed route.
User interactive module mainly realizes the mutual of software systems and passenger, and the passenger can assign the instruction of guiding to robot, and this module also can demonstrate the status information of current robot.
When the passenger need use terminal service robot provided by the invention to load luggage, it can be placed on luggage hand baggage placement platform 14, and this robot just can be transported to it any position in terminal like this.
When the passenger need guide, at first touch touch-screen 2 with the hand point, select bootmode and goal-selling point then the business model on LCD 34, click afterwards begins the guiding sign, and at this moment route guidance begins to carry out.The passenger can follow the terminal service robot according to the voice guide prompting of guiding of the picture on the LCD 34 and loudspeaker 40 and arrive required impact point.
When the passenger needs SCM, at first click touch-screen 2 with hand, select the SCM pattern then in the business model on LCD 34, at this moment master control system 20 will be inserted the inside that mouth 43 is put into I.D. recognizer 3 with its I.D. by the I.D. recognizer by LCD 34 prompting passengers, after confirming that I.D. has been put into, under the control of master control system 20 I.D. recognizer 3 will one-off scanning I.D. image and chip in data message, afterwards I.D. is inserted the mouth 43 from the I.D. recognizer and withdraw from, master control system 20 will connect the remote data storehouse subsequently, and the prompting passenger operates by the flow process that provides on the LCD 34, continuous to finish the correlation tractor driver, boarding card printer 4 can print boarding card immediately under the control of master control system 20 at last, and offer the passenger by boarding card outlet 44, finish the SCM process thus.
When the passenger needs information inquiry, at first click touch-screen 2 with hand, select the information inquiry pattern then in the business model on LCD 34, LCD 3 will demonstrate the query pattern homepage, comprise four big class functions under this homepage: Airport information, transportation guide, tourist lodging, entertainment interactive.The passenger can use finger to click submodule, enters subpage frame and checks related content.
In addition, owing to have multilingual display interface on the LCD 34 of this terminal service robot, be applicable to that therefore the passenger of different language country uses, so easy to use.
Claims (8)
1. terminal service robot is characterized in that: described terminal service robot comprise body, control system,, I.D. recognizer (3) and boarding card printer (4); Described body comprises chassis (11), shell (15), two driving wheels (7) and two engaged wheels (12); Wherein shell (15) is installed in the surface of chassis (11), two parts before and after being divided into, anterior end face forms hand baggage placement platform (14), the inside at rear portion is equipment compartment, and the middle part of rear end face is provided with an I.D. recognizer and inserts mouthful (43) and a boarding card printer outlet (44), and a side lower part of body also is provided with a battery door (10); Two driving wheels (7) and two engaged wheels (12) are installed in the rear portion and the front part sides on chassis (11) respectively, and each top of taking turns all is equipped with a wheel cover; Control system (23), I.D. recognizer (3) and boarding card printer (4) are installed in the equipment compartment of shell (15).
2. terminal service robot according to claim 1 is characterized in that: described control system comprises master control system (20), man-machine interactive system (21), environment sensing supervisory system (22), control and drive system (23), communication system (24) and power-supply system (25); Wherein:
Master control system (20) is made up of the main frame (30) and the subsidiary engine (31) that adopt cable network to communicate mutually, wherein main frame (30) comprises main frame master control borad, control and driver module, audio frequency output module and PTZ driver module, and the main frame master control borad is connected with driver module, audio frequency output module and PTZ driver module with control by the PC104+ bus; Subsidiary engine (31) comprises subsidiary engine master control borad, A/D, IO module and image capture module, and the subsidiary engine master control borad is connected with A/D, IO module and image capture module by the PC104+ bus;
Man-machine interactive system (21) comprises two parts, and first is made up of loudspeaker (40) and microphone (35), and second portion is made up of touch-screen (2) and LCD (34); Wherein loudspeaker (40) links to each other with the main frame master control borad by the audio frequency output module; Microphone (35) links to each other with the subsidiary engine master control borad by audio interface, and it is installed in the rear end top interior of shell (15), is fastenedly connected with shell (15); Touch-screen (2) is installed in the rear end face upper face of shell (15), and it links to each other with the subsidiary engine master control borad by USB (universal serial bus); LCD (34) is installed in the inside of touch-screen (2), and with touch-screen (2) near, its by on the video card output simulating signal interface and subsidiary engine master control borad join;
Control can be formed by device (42) by the 1st drive motor (38), the 2nd drive motor (39), PTZ control device (41) and power supply are continuous with drive system (23); Wherein the output shaft of the 1st drive motor (38) and the 2nd drive motor (39) links to each other with a driving wheel (7) by reducer casing respectively, and joins by control and the driver module on scrambler and the main frame (30); PTZ control device (41) links to each other with PTZ driver module on the main frame (30); Power supply is continuous then to join with the main frame master control board by device (42);
Environment sensing supervisory system (22) is made up of inner sensory perceptual system and outside sensory perceptual system; Wherein inner sensory perceptual system comprises the 1st, the 2nd photoelectric encoder (45,46) and 3D digital compass (36); 1st, the 2nd photoelectric encoder (45,46) is integrated in respectively on the tailing axle of the 1st, the 2nd drive motor (38,39), and links to each other with the main frame master control borad with driver module by control; 3D digital compass (36) links to each other with the subsidiary engine master control borad by serial ports RS232; Outside sensory perceptual system comprises Pan/Tilt/Zoom camera (1), two rear portion visible illumination lamps (5), two bottom visible illumination lamps (6), the 1st laser ranging system (8) and the 2nd laser ranging systems (13); Wherein Pan/Tilt/Zoom camera (1) is installed in the rear end face top surface of shell (15), and it links to each other with the subsidiary engine master control borad by image capture module; Two rear portion visible illumination lamps (5) are arranged on the rear end face middle part surface of shell (15), and two bottom visible illumination lamps (6) then are installed in respectively on the wheel cover of two driving wheels (7), and all link to each other with the subsidiary engine master control borad by A/D, IO module; The 1st laser ranging system (8) is arranged on the rear end face lower surface of shell (15), and the 2nd laser ranging system (13) then is installed in the front end of hand baggage placement platform (14), and links to each other with the subsidiary engine master control borad by serial ports RS232 respectively;
Communication system (24) is made up of switch (32) and WAP (33), and wherein switch (32) links to each other with subsidiary engine (31) with main frame (30) by wired network simultaneously; Switch (32) joins by netting twine and WAP (33) simultaneously;
Power-supply system (25) is made up of battery, charger and power panel, is used to other system's power supply in the control system.
3. terminal service robot according to claim 1 is characterized in that: described I.D. recognizer (3) links to each other with the subsidiary engine master control borad by USB (universal serial bus) (USB); Boarding card printer (4) joins by serial ports RS232 and subsidiary engine master control borad.
4. terminal service robot according to claim 2, it is characterized in that: described environment sensing supervisory system (22) also comprises four collision avoidance systems (9) that are installed in the wheel cover external margin position of two driving wheels (7) and two engaged wheels (12) respectively, and collision avoidance system (9) links to each other with the subsidiary engine master control borad by A/D, IO module.
5. terminal service robot according to claim 2, it is characterized in that: described environment sensing supervisory system (22) also comprises a smog, fire detecting arrangement (37), this device mainly is made up of smog, temperature detection sensor and related circuit thereof, and it links to each other with the subsidiary engine master control borad by A/D, IO module.
6. terminal service robot according to claim 1 is characterized in that: described driving wheel (7) adopts inflated wheel, and engaged wheel (12) adopts universal wheel.
7. the host control method of a terminal service robot as claimed in claim 1, it is characterized in that: described host control method comprises the following step that carries out in order:
1) the S1 stage of initialization apparatus and self check, this stage is first stage after powering on, and in this stage, main frame (30) will carry out power-up initializing, self check operation;
2) judge each of main frame operation normal S2 stage whether, in this stage, whether main frame (30) will normally be judged the self check operating result in S1 stage, if judged result is a "Yes", enter the S3 stage, otherwise enter the S13 stage,, withdraw from the master control circulation then to carry out corresponding abnormality processing;
3) judge whether to exist S3 stage of local steering order, this stage will judge currently whether have local steering order, if judged result is a "Yes", then enter the S4 stage, otherwise directly enter the S5 stage;
4) in the S4 stage of the corresponding local steering order of execution, in this stage, main frame (30) will be carried out the local steering order of current existence;
5) judge whether S5 stage of internet message, this stage will judge currently whether have internet message, if judged result is a "Yes", enter the S6 stage, otherwise directly enter the S11 stage;
6) obtain S6 stage of decision behavior according to sensor information, in this stage, main frame (30) will draw current decision behavior according to each sensor information that subsidiary engine (31) are sent here;
7) the S7 stage of the display network message and the result of decision on the interface, in this stage, main frame (30) transmits relevant idsplay order to subsidiary engine (31), and demonstrates the above-mentioned internet message and the result of decision by LCD (34);
8) behavior constantly obtains S8 stage of final behavior command in the fusion, and in this stage, main frame (30) will be determined the operational order of the current concrete action that will carry out according to current action decision-making and last a status information constantly;
9) whether decision instruction allows S9 stage of carrying out, and this stage will judge by determined operational order of S8 stage whether possess executable condition, if judged result is a "Yes", enter the S10 stage, otherwise turn back to the porch in S6 stage;
10) 10 stages of each position order are carried out in coordination, and this stage will carry out by determined operational order of S8 stage;
11) judge whether S11 stage of withdrawing from, in this stage, main frame (30) will judge whether exit criteria is set up, if judged result is a "Yes", withdraw from the master control circulation to stop operation, continue circulation otherwise turn back to the porch in S3 stage;
12) send the S12 stage of withdrawing from information to subsidiary engine, in this stage, main frame (30) will send to subsidiary engine (31) and withdraw from information, promptly notify subsidiary engine (31) to carry out and exit command, and main frame (30) withdraws from the master control circulation to stop operation then.
8. the subsidiary engine control method of a terminal service robot as claimed in claim 1, it is characterized in that: described subsidiary engine control method comprises the following step that carries out in order:
1) the S21 stage of initialization apparatus and self check; This stage is first stage after powering on, and in this stage, subsidiary engine (31) will carry out power-up initializing, self check operation;
2) judge each of subsidiary engine operation normal S22 stage whether, in this stage, whether subsidiary engine (31) will normally be judged the self check operating result in S21 stage, if judged result is a "Yes", then enter the S23 stage, otherwise enter the S31 stage,, withdraw from the master control circulation then to carry out corresponding abnormality processing;
3) gather S23 stage of each sensor information, in this stage, subsidiary engine (31) will be gathered the information of each sensor successively;
4) the S24 stage of each sensor information of pre-service, in this stage, subsidiary engine (31) adopts relevant filtering and fault-tolerant technique that sensor information is carried out pretreatment operation;
5) show S25 stage of each sensor pretreatment information, in this stage, subsidiary engine (31) will demonstrate resulting each sensing data in the stage at S24 by LCD (34);
6) judge the S26 stage whether network is communicated with, this stage will judge that whether current network connects normal, if judged result is a "Yes", enters the S27 stage, otherwise turn back to the porch in S23 stage;
7) packing, to the S27 stage of main frame transmission sensor information, in this stage, subsidiary engine (31) will send main frame (30) to by switch (32) then in S24 resulting each sensing data arrangement packing in the stage earlier;
8) judge whether to receive the S28 stage that host computer control is instructed, in this stage, subsidiary engine (31) will judge whether to receive the steering order of main frame (30), if judged result is a "Yes", enter the S29 stage, otherwise directly enter the S30 stage;
9) carry out the S29 stage that host computer control is instructed, in this stage, subsidiary engine (31) will be carried out the control command that resulting main frame (30) transmits in the stage at S28;
10) judge whether S30 stage of withdrawing from, in this stage, subsidiary engine (31) will judge whether exit criteria is set up, if judged result is a "Yes", withdraw from the master control circulation stopping operation, otherwise the porch that turns back to S23 is to continue circulation.
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| CN201010587267A CN102141797B (en) | 2010-12-15 | 2010-12-15 | Airport terminal service robot and control method thereof |
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| CN201010587267A CN102141797B (en) | 2010-12-15 | 2010-12-15 | Airport terminal service robot and control method thereof |
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