KR20180040255A - Airport robot - Google Patents

Abstract

An embodiment of the present invention provides an airport robot, comprising: an object recognition portion for recognizing people in a surrounding image filmed during operation of a guidance service mode; a character confirmation portion for confirming whether a predicted dangerous character matched to a set danger monitoring condition among the people presents; and a control portion for converting the guidance service mode into a monitoring mode if the predicted dangerous character presents, and controlling the object recognition portion for monitoring the predicted dangerous character.

Description

Airport Robot {AIRPORT ROBOT}

The present invention relates to an airport robot, and more particularly, to an airport robot that is easy to monitor a dangerous person located in an airport.

Recently, the introduction of robots and the like has been discussed in order to provide users with various services more effectively in a public place such as an airport. Users can use various services such as airport guidance service, boarding information guidance service, and other multimedia contents provision service through the robot arranged at the airport.

However, in the case of advanced equipment such as a robot, the unit price is high, so the number of airport robots placed in the airport can be limited. Therefore, a more efficient service provision scheme using a limited number of airport robots may be required.

In recent years, we have developed a service to detect dangerous persons, for example, terrorists, criminals or persons who are expected to be crime, among a large number of people using airports in order to prevent crimes in the airport Research is underway.

The object of the embodiment is to provide an airport robot capable of confirming the presence of a dangerous person corresponding to behavior information of a previous dangerous person set among the people located in an airport.

Another object of the present invention is to provide an airport robot capable of monitoring the movement of a dangerous person by transmitting route information generated based on position coordinates of a dangerous person to at least one of other airport robots and an airport monitoring system when confirming the presence of a dangerous person .

Another object of the present invention is to provide an airport robot capable of monitoring a dangerous person when a dangerous person is identified when receiving route information from at least one of other airport robots and airport monitoring systems.

An airport robot according to an embodiment of the present invention includes an object recognizing unit for recognizing people in a surrounding image photographed during a guiding service mode operation, a person identifying unit for confirming whether there is a predicted risk person matched with the risk monitoring condition set among the people, And a control unit for switching the guidance service mode to the monitoring mode when there is a predicted danger person and controlling the object recognition unit to monitor the predicted danger person.

The airport robot according to the embodiment may further include a communication unit for communicating with other airport robots and an airport monitoring system, and the control unit may control the object recognition unit to detect a specific image of the expected dangerous person A risk judging unit for judging whether the predicted risk person is a risk person based on the behavior information and a risk judging unit for judging whether the predicted risk person is a risk person, And a drive control unit for controlling the communication unit to transmit the behavior information to at least one of the other airport robots and the airport monitoring system when the predicted dangerous person is determined to be the dangerous person .

In the airport robot according to the embodiment, the communication unit receives the specific route information transmitted from the specific airport robot, and the drive control unit switches from the monitoring standby mode to the monitoring mode, When the image of the predicted dangerous person is located in at least one of a specific anticipated travel route and a specific escapable route included in the specific route information, The specific expected risk person matched to the specific expected risk person.

The airport robot according to the embodiment can prevent the crime that may occur in the airport by monitoring the dangerous person who is considered to be a dangerous person among the people located in the airport, There is an advantage that convenience can be secured.

In addition, the airport robot according to the embodiment can continuously monitor the dangerous person by collaborating with at least one of the other airport robots and the airport monitoring system even if the dangerous person to be monitored moves, thereby lowering the probability of crime There is an advantage to be able to.

In addition, when the route information is received from at least one of the other airport robots and the airport surveillance system, the airport robot according to the embodiment can reduce the probability of a crime by monitoring when a dangerous person matching the route information is identified, There is an advantage to be able to see if you are moving around elsewhere.

1 is a system diagram showing the structure of an airport robot system according to an embodiment.
2 is a block diagram showing the hardware configuration of the airport robot shown in Fig.
3 is a block diagram showing a control configuration of the microcomputer and the AP of the airport robot shown in Fig.
4 is a block diagram showing a control configuration of an airport robot according to the first embodiment.
5 to 8 are exemplary operation diagrams of an operation of the airport robot according to the embodiment.

Hereinafter, an airport robot according to an embodiment will be described in detail with reference to the accompanying drawings.

1 is a system diagram showing the structure of an airport robot system according to an embodiment.

Referring to FIG. 1, an airport robot system may include an airport robot 100, a server 300, a camera 400, and a mobile terminal 500.

The airport robot 100 can perform patrol, guidance, cleaning, disinfection and transportation within the airport.

The airport robot 100 can transmit and receive signals to / from the server 300 or the mobile terminal 500. For example, the airport robot 100 can transmit and receive signals including the server 300 and the information on the situation in the airport. In addition, the airport robot 100 can receive image information of each area of the airport from the camera 400 in the airport.

Therefore, the airport robot 100 can monitor the status of the airport by synthesizing the image information photographed by the airport robot 100 and the image information received from the camera 400.

The airport robot 100 can receive commands directly from the user. For example, it is possible to directly receive a command from a user through input or voice input touching a display unit provided in the airport robot 100.

The airport robot 100 may perform operations such as patrol, guidance, and cleaning according to a command received from the user, the server 300, or the mobile terminal 500 and the like.

Next, the server 300 can receive information from the airport robot 100, the camera 400, and / or the mobile terminal 500. [ The server 300 may collectively store and manage information received from each of the devices. The server 300 may transmit the stored information to the airport robot 100 or the mobile terminal 500. In addition, the server 300 may transmit a command signal to each of a plurality of airport robots 100 disposed at an airport.

The camera 400 may include a camera installed in the airport. For example, the camera 400 may include a plurality of closed circuit television (CCTV) cameras installed in an airport, an infrared heat sensing camera, and the like. The camera 400 may transmit the photographed image to the server 300 or the airport robot 100.

The mobile terminal 500 can exchange data with the server 300 in the airport. For example, the mobile terminal 500 may receive airport-related data such as flight time schedules, airport maps, etc. from the server 300.

The user can obtain necessary information from the server 300 through the mobile terminal 500 by receiving the information. In addition, the mobile terminal 500 can transmit data such as a photograph, a moving picture, a message, and the like to the server 300. For example, the user can request the cleaning of the corresponding area by transmitting the lost photograph to the server 300 and receiving the missing photograph, or photographing the photograph of the area requiring cleaning in the airport to the server 300.

In addition, the mobile terminal 500 can transmit and receive data to and from the airport robot 100.

For example, the mobile terminal 500 may transmit a signal for calling the airport robot 100, a signal for requesting a specific operation, or an information request signal to the airport robot 100. The airport robot 100 may move to the position of the mobile terminal 500 or perform an operation corresponding to the command signal in response to the paging signal received from the mobile terminal 500. [ Or the airport robot 100 may transmit data corresponding to the information request signal to the mobile terminal 500 of each user.

2 is a block diagram illustrating a hardware configuration of an airport robot according to an embodiment.

Referring to FIG. 2, the hardware of the airport robot may include a microcomputer group and an AP group.

The microcomputer group may include a micom 110, a power source 120, an obstacle recognition unit 130, and a driving unit 140.

The microcomputer 110 can manage a driving unit 140 including a power supply unit 120 including a battery and the like among hardware of an airport robot, an obstacle recognition unit 130 including various sensors, and a plurality of motors and wheels have.

The power supply unit 120 may include a battery driver 121 and a lithium-ion battery 122.

The battery driver 121 can manage the charging and discharging of the lithium-ion battery 122.

The lithium-ion battery 122 may supply power for driving the airport robot, and may be constructed by connecting two 24V / 102A lithium-ion batteries in parallel, but is not limited thereto.

The obstacle recognizing unit 130 may include an IR remote control receiver 131, a USS 132, a Cliff PSD 133, an ARS 134, a Bumper 135, and an OFS 136.

The infrared (IR) remote control receiver 131 may include a sensor for receiving a signal of an IR remote controller for remotely controlling the airport robot.

USS (Ultrasonic sensor) 132 may be a sensor for determining the distance between the obstacle and the airport robot using ultrasonic signals.

The Cliff PSD 133 may include sensors for detecting cliffs or cliffs in an airport robot traveling range 360 degrees in all directions.

The ARS (Attitude Reference System) 134 may include a sensor capable of detecting the attitude of the airport robot. The ARS 134 may include a sensor consisting of three axes of acceleration and three axes of acceleration for detecting the amount of rotation of the airport robot.

The bumper 135 may include a sensor that detects a collision between the airport robot and the obstacle. The sensor included in the bumper 135 can detect a collision between the airport robot and the obstacle in the range of 360 degrees.

The OFS (Optical Flow Sensor) 136 may include a sensor for measuring the traveling state of an airport robot and a sensor for measuring the distance traveled by the airport robot on various floor surfaces.

The travel driving unit 140 includes a motor driver 141, a wheel motor 142, a rotation motor 143, a main brush motor 144, a side brush motor 145 and a suction motor 146 .

The motor driver 141 may serve to drive the wheel motor 142, the brush motor 143, and the suction motor 146 for traveling and cleaning the airport robot.

The wheel motor 142 may drive a plurality of wheels for driving the airport robot. The rotation motor 143 may be driven to rotate left and right, up and down, or rotate the head of the main body of the airport robot or the airport robot, It can be driven for turning or turning of the wheels.

The main brush motor 144 can drive a brush for sweeping dirt on the airport floor and the side brush motor 145 can drive a brush for sweeping dirt in the area around the outer surface of the airport robot. The suction motor 146 can be driven to suck the dirt on the airport floor.

The AP group may include an AP 150, a user interface unit 160, an object recognition unit 170, a location recognition unit 180, and a LAN 190.

The AP (Application Processor) 150 may be a central processing unit that manages the entire system of hardware modules of the airport robot.

The AP 150 may drive the application program for driving and the user input / output information to the microcomputer 110 using the position information inputted through the various sensors, so that the driving of the motor, for example, the driving driving unit 140, have.

The user interface unit 160 includes a user interface processor 161, an LTE router 162, a WIFI SSID 163, a microphone board 164, a barcode reader 165, a touch monitor 166, And a speaker 167.

The user interface processor 161 can control the operation of the user interface unit 160 responsible for user input and output.

The LTE router 162 can receive the necessary information from the outside and can perform LTE communication for transmitting information to the user.

The WIFI SSID 163 can perform position recognition of a specific object or an airport robot by analyzing the signal strength of WiFi.

The microphone board 164 receives a plurality of microphone signals, processes the voice signal into voice data, which is a digital signal, and analyzes the direction of the voice signal and the voice signal.

The barcode reader 165 can read barcode information written in a plurality of tickets used in an airport.

The touch monitor 166 may include a touch panel configured to receive user input and a monitor for displaying output information.

The speaker 167 can play a role of notifying the user of specific information by voice.

The object recognition unit 170 may include a 2D camera 171, an RGBD camera 172, and a recognition data processing module 173.

The 2D camera 171 may be a sensor for recognizing a person or an object based on a two-dimensional image.

For detecting a person or object using captured images having depth data obtained from a camera having RGBD sensors or other similar 3D imaging devices as RGBD cameras (Red, Green, Blue, Distance, 172) Sensor.

The recognition data processing module 173 can process a signal such as a 2D image / image or 3D image / image obtained from the 2D camera 171 and the RGBD camera 172 to recognize a person or an object.

The position recognition unit 180 may include a stereo board 181, a lidar 182, and a SLAM camera 183.

Simultaneous Localization And Mapping (SLAM) camera 183 may implement the co-location tracking and mapping technology.

The airport robot can detect the surrounding information by using the SLAM camera 183 and process the obtained information to create a map corresponding to the task execution space and estimate its own absolute position.

Light Detection and Ranging (Lidar) 182 is a laser radar, which can be a sensor that irradiates a laser beam and collects and analyzes backscattered light among light absorbed or scattered by an aerosol to perform position recognition.

The stereo board 181 processes and processes sensing data collected from the rider 182 and the SLAM camera 183 to manage the data for recognition of the position of an airport robot and recognition of obstacles.

The LAN 190 may communicate with the user input / output related user interface processor 161, the recognition data processing module 173, the stereo board 181 and the AP 150.

3 is a block diagram showing a control configuration of a microcomputer and an AP of an airport robot according to an embodiment of the present invention.

The microcomputer 210 and the AP 220 shown in FIG. 3 may have various control structures for controlling the recognition and behavior of the airport robot, but are not limited thereto.

Referring to FIG. 3, the microcomputer 210 may include a data access service module 215.

The data access service module 215 includes a data acquisition module 211, an emergency module 212, a motor driver module 213 and a battery manager module 214, . ≪ / RTI >

The data acquisition module 211 can acquire sensed data from a plurality of sensors included in the airport robot and transmit the sensed data to the data access service module 215.

The emergency module 212 is a module capable of detecting an abnormal state of the airport robot. When the airport robot performs a predetermined type of behavior, the emergency module 212 detects that the airport robot has entered an abnormal state .

The motor driver module 213 can manage driving control of a wheel, a brush, and a suction motor for driving and cleaning the airport robot.

The battery manager module 214 is responsible for charging and discharging the lithium-ion battery 122 of FIG. 2 and may transmit the battery status of the airport robot to the data access service module 215.

The AP 220 receives various types of cameras and sensors, user input, etc., and performs recognition and processing to control the operation of the airport robot.

The interaction module 221 synthesizes the recognition data received from the recognition data processing module 173 and the user input received from the user interface module 222 to collectively manage software that allows the user and the airport robot to interact with each other Lt; / RTI >

The user interface module 222 receives a user's close command such as a display unit 223, a key, a touch screen, and a reader, which is a monitor for current status of the airport robot and operation / To receive a remote signal, such as a signal from an IR remote control for remote control, or to receive user input from a user input 224 that receives a user's input signal from a microphone or bar code reader.

When at least one user input is received, the user interface module 222 may pass user input information to a state machine module 225.

The state management module 225 receiving the user input information can manage the entire state of the airport robot and issue an appropriate command corresponding to the user input.

The planning module 226 can determine the start and end points / actions for the specific operation of the airport robot in accordance with the command received from the state management module 225, and calculate the route to which the airport robot should move.

The navigation module 227 is responsible for the overall running of the airport robot, and may cause the airport robot to travel according to the travel route calculated by the planning module 226. [

The motion module 228 can perform the operation of the basic airport robot in addition to the traveling.

In addition, the airport robot may include the location recognition unit 230. [

The position recognition unit 230 may include a relative position recognition unit 231 and an absolute position recognition unit 234. [

The relative position recognition unit 231 can calculate the amount of movement of the airport robot for a predetermined period of time by correcting the amount of movement of the airport robot through the RGM mono sensor 232 and recognize the current environment of the airport robot through the LiDAR 233 can do.

The absolute position recognition unit 234 may include a Wifi SSID 235 and a UWB 236. [ The Wifi SSID 235 is a UWB sensor module for recognizing the absolute position of the airport robot, and is a WIFI module for estimating the current position by detecting the Wifi SSID.

The Wifi SSID 235 can recognize the position of the airport robot by analyzing the signal strength of the Wifi.

The UWB 236 can calculate the distance between the transmitter and the receiver and sense the absolute position of the airport robot.

In addition, the airport robot may include a map management module 240.

The map management module 240 may include a grid module 241, a path planning module 242, and a map partitioning module 243.

The grid module 241 can manage a grid-shaped map generated by the airport robot through the SLAM camera, or map data of the surrounding environment for the position recognition input to the airport robot in advance.

The path planning module 242 can take charge of the travel path calculation of the airport robots in the map division for cooperation among the plurality of airport robots. In addition, the path planning module 242 can calculate a traveling route through which the airport robot should move in an environment where one airport robot operates. The map division module 243 can calculate the area to be managed by the plurality of airport robots in real time.

The data sensed and calculated from the position recognition unit 230 and the map management module 240 may be transmitted to the state management module 225 again.

The state management module 225 can command the planning module 226 to control the operation of the airport robot based on the data sensed and calculated from the position recognition module 230 and the map management module 240. [

4 is a block diagram showing a control configuration of an airport robot according to the first embodiment.

Fig. 4 is a view showing a control configuration necessary for searching for a guardian and guiding a guardian of the airport robot shown in Figs. 2 and 3, and the control configuration shown in Fig. 4 is a configuration shown in Fig. 2 and Fig. Can be changed.

4, the airport robot 600 may include a communication unit 610, an object recognizing unit 620, a travel driving unit 630, a person identifying unit 640, and a controller 650.

The communication unit 610 may communicate with at least one of an airport monitoring system (not shown) and other air robots (not shown) disposed in the airport.

In the embodiment, the communication unit 610 may be the LET router 162 included in the user interface unit 160 shown in FIG. 2, but is not limited thereto.

The object recognition unit 620 may include a camera 622 and a recognition data processing module 624. [

The camera 622 can photograph the image (ms) of the surroundings during traveling to the setting zone or stopping at the setting position during the guide service mode operation under the control of the controller 650. [

Here, the camera 622 may be at least one camera that photographs an image ms with a radius of 1 DEG to 180 DEG, but is not limited thereto.

In an embodiment, the camera 622 may be, but is not limited to, the 2D camera 171 and the RGBD camera 172 described in FIG.

The recognition data processing module 624 can image the image ms transmitted from the camera 622 and recognize people in the image ms.

In an embodiment, the recognition data processing module 624 may be, but is not limited to, the recognition data processing module 173 described in FIG.

The recognition data processing module 624 may transmit the recognition result of the people to the control unit 650. [

The travel driving unit 630 may drive the motor so that the traveling driving unit 630 can move to the place selected by the person requesting the guidance service mode among the people under the control of the controller 650. [

In the embodiment, the travel driving unit 630 may be the same as the travel driving unit 140 described in FIG. 2, but is not limited thereto.

The person identifying unit 640 can check whether there is a predicted risk person matched with the risk monitoring condition set in the persons recognized by the object recognizing unit 620 and transmit the result to the controller 650. [

Here, the risk monitoring condition may include at least one of impression set, place, action, and terrorist list set for the previous dangerous persons.

The impression may be information on an impression of a criminal or terrorist offender at an airport or other public place, for example, how much it is masked with a face mask, a hat, etc., And may be information about whether or not the head is inclined.

In addition, the place is a place where crime or terrorism may occur in an airport or other public places, and it can be a place where people do not move mainly in the airport and can install explosives, etc., and can be around a warehouse, a staircase and a garbage can.

In addition, the actions may be, for example, an act of murder within the airport as an act of the criminal prior to the execution of an offense or terrorism in an airport or other public place, an activity to monitor the surroundings, and the like.

Also, the terrorist list may be a list set up in the airport monitoring system and listing the images of the criminals and the names corresponding to the images before the execution of terrorism or terrorism occurred in an airport or other public place.

In this way, the person identification unit 640 confirms that the expected dangerous person is present if the expected dangerous person is matched with the danger monitoring condition, and the presence of the expected dangerous person is notified to the control unit 640 .

The control unit 640 may include an information acquisition unit 652, a risk determination unit 654, and a drive control unit 656.

In the embodiment, the controller 650 may be at least one of the microcomputer 110 and the AP 150 shown in FIG. 2, but is not limited thereto.

First, the case where the airport robot 600 detects a dangerous person is described first.

The information acquiring unit 652 may control the object recognizing unit 620 to capture a specific image p_ms of the expected dangerous person when the predicted risk person is present from the person identifying unit 640 .

Thereafter, the information acquiring unit 652 can acquire the behavior information hf of the predicted danger person when the specific image p_ms is transferred.

Here, the behavior information hf may include at least one of the image of the expected dangerous person, the waiting time at the current position, and the presence of the companion after the presence of the expected dangerous person is confirmed.

That is, the behavior information hf may be information for making the predicted risk person a real danger person again. The behavior information hf may be information about the image of the expected risk person, the waiting time at the current position, Information, but is not limited thereto.

The risk judging unit 654 can judge whether the behavior information hf matches the behavior information of the previous danger persons, for example, criminals or terrorists who have committed terrorism at the airport or public place.

The drive control unit 656 may switch the guidance service mode to the monitoring mode when the expected danger person exists.

The drive control unit 656 determines that the behavior information hf is transmitted to at least one of the other airport robots and the airport monitoring system when the risk determination unit 654 determines that the expected dangerous person is a dangerous person The communication unit 610 can be controlled.

The drive control unit 656 generates route information lf including at least one of the anticipated movement route and the escapable route that are to be moved at the present position of the expected dangerous person and transmits at least one of the other airport robots and the airport monitoring system It is possible to control the communication unit 610 to be transmitted to one.

If it is determined that the expected dangerous person is not the dangerous person, the drive control unit 656 may switch the monitoring mode to the guidance service mode.

Then, the drive control unit 656 can control the communication unit 610 to transmit the monitoring release information (if) to at least one of the other airport robots and the airport monitoring system.

Different from the above, a description will be given of a case in which specific action information hf_1 indicating the presence of a dangerous person from a specific airport robot among the other airport robots is received during operation in the guidance service mode.

The drive control unit 656 can switch the guidance service mode to the monitoring standby mode when the specific behavior information hf_1 is transmitted through the communication unit 610. [

The drive control unit 656 switches the monitoring standby mode to the monitoring mode when the communication unit 610 receives the specific route information lf_1 transmitted from the specific airport robot, It is possible to extract the image of the expected dangerous person.

The driving control unit 656 extracts the image of the specific expected dangerous person and then when it is located in at least one of the specific anticipated travel route and the specific escapable route included in the specific route information lf_1, It is possible to monitor the specific expected danger person matching the image of the specific expected danger person in the image photographed by the object recognition unit 620. [

Thereafter, the drive control unit 656 can operate in the monitoring mode as described above.

In addition, the drive control unit 656 can switch from the monitoring standby mode to the guidance service mode when the communication unit 610 receives the specific monitoring release information (if_1) transmitted from the specific airport robot. Do not.

5 to 8 are exemplary operation diagrams of an operation of the airport robot according to the embodiment.

5 shows that the airport robot 600 and the other airport robots 701 to 703 in the airport operate in the guidance service mode set in the place where they are currently located.

At this time, the airport robot 600 can photograph an image (ms) including people located in the west (W) direction of the airport, that is, in the direction of the building (5).

6 shows an image (ms) taken by the airport robot 600. Fig.

Here, the airport robot 600 can confirm the presence of a predicted danger person matching the risk monitoring condition set among the people included in the image ms, and convert the guidance service mode into the monitoring mode.

Figs. 7 and 8 show the estimated travel route calculated by the airport robot 600 included in the route information lf of the anticipated danger person and the escape route of the anticipated danger person.

The airport robot 600 calculates an expected travel route to the place where the expected dangerous person is expected to move within the airport based on the current position and the travel direction of the expected dangerous person and the escape route that can escape from the place .

Then, the airport robot 600 can transmit the route information to the other airport robots 701 to 703.

As described above, when the expected dangerous person moves to the escapable route, the other airport robot 702 can monitor the expected dangerous person, and the other airport robot 703 can monitor the dangerous person after the monitoring of the other airport robot 702 The expected risk person may be monitored.

The embodiments described above are not limited to the configurations and methods described above, but the embodiments may be configured by selectively combining all or a part of the embodiments so that various modifications can be made.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.

Claims (13)

An object recognition unit for recognizing people from a surrounding image photographed during a guide service mode operation;
A person identifying unit for checking whether there is a predicted risk person matching the risk monitoring condition set out among the people; And
And a control unit for switching the guidance service mode to the monitoring mode when the expected dangerous person is present and controlling the object recognition unit to monitor the expected dangerous person. The method according to claim 1,
The object recognizing unit,
A camera for photographing the image; And
And a recognition data processing module for recognizing the people in the image and transmitting the position coordinates of the people to the controller. 3. The method of claim 2,
The camera comprises:
Wherein at least one camera captures the image with a radius of 1 DEG to 180 DEG. The method according to claim 1,
The above-
An airport robot comprising at least one of impression details, place, action and terrorist list set for previous risk persons. 5. The method of claim 4,
Wherein the person-
And if the expected dangerous person is matched with the danger monitoring condition, it confirms that the expected dangerous person exists, and delivers the presence of the expected dangerous person to the control unit. The method according to claim 1,
Further comprising a communication unit for communicating with other airport robots and an airport monitoring system,
Wherein,
An information acquisition unit for controlling the object recognition unit to receive a specific image of the expected risk person and acquiring behavior information of the expected risk person if the predicted risk person exists;
A risk judging unit for judging whether the predicted risk person is a risk person based on the behavior information; And
Wherein the guidance service mode is switched to the surveillance mode when the expected dangerous person is present and the behavior information is transmitted to at least one of the other airport robots and the airport monitoring system when the predicted dangerous person is determined to be the dangerous person, And a drive control section for controlling the communication section. The method according to claim 6,
Wherein the action information comprises:
An image of the expected dangerous person, a waiting time at the current position, and a companion presence. The method according to claim 6,
The risk judging unit,
Determines whether the behavior information matches the behavior information of the previous dangerous persons, and transmits the determination result to the control unit. The method according to claim 6,
The drive control unit may include:
Generating route information including at least one of a predicted travel route and an escapable route that are to be moved from a current position of the expected dangerous person when the predicted dangerous person is determined to be the dangerous person, And controls the communication unit to be transmitted to at least one of the plurality of systems. The method according to claim 6,
The drive control unit may include:
And switches the monitoring mode to the guidance service mode if it is determined that the expected dangerous person is not the dangerous person, and controls the communication unit to transmit the monitoring release information to at least one of the other airport robots and the airport monitoring system Airport robots. The method according to claim 6,
Wherein,
Receiving specific behavior information transmitted from a specific airport robot among the other airport robots,
The drive control unit may include:
And when the specific behavior information is received, switches the guidance service mode to the monitoring standby mode according to the specific behavior information. 12. The method of claim 11,
Wherein,
Receiving the specific route information transmitted from the specific airport robot,
The drive control unit may include:
Wherein the control unit switches from the monitoring standby mode to the monitoring mode, extracts an image of a specific expected danger person included in the specific action information, and displays the position information on at least one of a specific anticipated travel route and a specific escapable route included in the specific route information And monitors the specific anticipated danger person matching the image of the specific anticipated danger person in the specific image captured by controlling the object recognizing unit. 12. The method of claim 11,
Wherein,
Receiving specific monitoring release information transmitted from the specific airport robot,
The drive control unit may include:
And switches from the monitoring standby mode to the guidance service mode according to the specific monitoring release information.

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