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With the rapid development of civil aviation and the epidemic, there is an urgent need for an unmanned robot mobile service platform in the airport to reduce human labor and restrain the spread of virus. The airport mobile service platform is modular designed and built according to the airport environment and functional requirements. The platform is integrated with Kinect 2.0 camera system, which is calibrated by Zhang Zhengyou calibration principle to calculate the camera's internal and external parameters. The framework of visual SLAM (simultaneous localization and mapping) is designed and implemented. Then ORB (Oriented Fast and Rotated Brief) algorithm is used to extract and match the image feature points. Then, the images of adjacent frames are estimated and optimized. In the experiment, the platform prototype was put into the experimental site to draw the map, including the two-dimensional map and three-dimensional point cloud map. The prototype provides a mobile service platform based on visual sensor for the airport. Combined with the actual demand, other functional modules can be integrated into this platform simply to play their respective service roles.