CN110667877A - Airport luggage self-service consignment vehicle set and intelligent control method thereof - Google Patents
Airport luggage self-service consignment vehicle set and intelligent control method thereof Download PDFInfo
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- CN110667877A CN110667877A CN201910966395.3A CN201910966395A CN110667877A CN 110667877 A CN110667877 A CN 110667877A CN 201910966395 A CN201910966395 A CN 201910966395A CN 110667877 A CN110667877 A CN 110667877A
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- 238000013439 planning Methods 0.000 claims abstract description 9
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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
- B64F1/368—Arrangements or installations for routing, distributing or loading baggage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses an airport luggage self-service consignment train unit and an intelligent control method thereof, wherein the airport luggage self-service consignment train unit comprises a plurality of independent intelligent moving trolleys, each intelligent moving trolley comprises a chassis with a driving wheel, a battery, a driving device and a VCU (video command unit) which are arranged in the chassis, a millimeter wave radar arranged on the side surface of the chassis, a cargo hold arranged on the chassis, a conveying belt arranged in the cargo hold and a pressure sensor arranged under the conveying belt, wherein doors are arranged at the front end and the rear end of the cargo hold, glass windows are arranged at the left side and the right side of the cargo hold, an alarm, a laser radar and a display screen are arranged at the top of the cargo hold, the doors. The intelligent mobile vehicle has the advantages that the automatic driving and vehicle networking technologies are combined, the automation degree is high, the intelligent mobile vehicle can achieve active obstacle avoidance and path planning, congestion-free rapid transportation is achieved in an unmanned working area according to the cloud server instruction, and the transportation is more rapid and efficient.
Description
Technical Field
The invention relates to the field of airport self-service boarding, in particular to an airport luggage self-service consignment train unit and an intelligent control method thereof.
Background
With the improvement of living standard of people in the world, the people can not get out of reach by taking the airplane, and more people select to take the airplane for going out. The pressure of airport transportation is greatly increased by the popularization of taking an airplane for traveling, the current airport luggage consignment process is more complicated, people need to bring luggage to the manual counter of the department of navigation, the luggage is queued in front of the counter to be handled, the consignment handling process is more troublesome, passengers need to put the luggage on a conveyor belt, the weighing, ticket issuing and other work are completed by workers, the precious time of the passengers is wasted by the processes, the misoperation is possibly caused under the condition of extremely compact schedule, and the inconvenience is brought to the traveling of people. On the other hand, because the equipment for check-in of different airlines in the airport terminal has larger occupied area and low space utilization rate, a plurality of cities need to build a new terminal in a huge refuge and increase the labor cost to deal with the increased passenger flow.
At present, intelligent and unmanned equipment is tried to solve the problems at present in new airports at home and abroad, and the used technical methods mainly comprise image recognition, face recognition, self-service check-in equipment, unmanned consignment equipment and the like.
Many prior patents propose their own solutions for unmanned shipping equipment. The self-service check-in equipment is integrated to unmanned shipping equipment in patents applied by China civil aviation information network, Chengdu aviation wisdom rainbow enterprise management and consultation, and China civil aviation university; patents applied by tianjin aviation air equipment ltd, such as patent publication No. CN206907121U entitled self-service baggage consignment system and patent publication No. CN208843055U entitled self-service baggage consignment equipment, focus on innovation in baggage transportation and baggage tag scanning. Although the floor space of the self-service check-in equipment is small enough, the unmanned delivery equipment still needs a large number of conveying belts and security inspection devices with large floor space, and the conveying belts and the security inspection devices are dispersed at various positions of a waiting hall, so that the problem of low space utilization rate is not fundamentally solved. The patent publication number of China civil aviation airport construction group company is CN204904405U, the patent name is airport passenger self-service consignment luggage device, the method using luggage throwing port and special transportation channel is disclosed, but the problem of queue time increase can be faced when the passenger flow is too large. The patent of the Shenzhen applied for Jie Guang science and technology industry Limited is CN103942867B, the name of which is a self-help consignment device for air passenger luggage, and proposes that self-help consignment equipment is added beside a traditional counter, but the problem of low efficiency is not solved fundamentally.
Therefore, how to help passengers to efficiently finish check-in and consign luggage in a more intelligent and systematic way becomes a problem to be solved urgently.
Disclosure of Invention
The invention aims to solve the problems of complicated manual baggage consignment procedures in an airport, overlarge occupied area of airport terminals, high construction cost and talent shortage in small and medium-sized airports at present, and provides an airport baggage self-service consignment train unit and an intelligent control method thereof.
In order to realize the purpose, the following technical scheme is provided:
the utility model provides an airport luggage self-service consignment of a motor train unit, includes independent many intelligent movement dollies, intelligent movement dollies are including the chassis that has the drive wheel, arrange battery, drive arrangement, VCU in the chassis in, arrange the millimeter wave radar of chassis side in, arrange the cargo hold on the chassis in, arrange the conveyer belt in the cargo hold in, arrange the pressure sensor under the conveyer belt in, open at both ends around the cargo hold has the door, open the cargo hold left and right sides has the glass window, alarm, laser radar and display screen are installed at the cargo hold top, the door adopts the rolling slats door, the door side-mounting has the electronic lock, pins the rolling slats door that will pull down, drive arrangement and drive wheel power supply are given to the battery.
An intelligent control method for an airport luggage self-service consignment train unit is characterized by comprising the following steps:
s1: the intelligent self-help check-in terminal sends an instruction for calling the intelligent moving trolley through the cloud server, and the cloud server searches after receiving the request and sends the position of the intelligent self-help check-in terminal to the intelligent moving trolley in a standby state;
s2: after receiving the calling signal, the intelligent mobile car senses the environment through a laser radar and a millimeter wave radar, performs track planning and following control through a VCU (video command unit) in combination with a stored airport map, automatically drives to a specified position, and synchronizes passenger ticket purchasing information from an intelligent self-service check-in terminal to the intelligent mobile car through a local area network;
s3: the passenger puts the luggage on a conveyor belt of the intelligent moving trolley, the intelligent moving trolley automatically finishes weighing the luggage through a pressure sensor arranged in the vehicle-mounted conveyor belt, the weight is displayed on a display screen above the cargo compartment, the passenger pays for the fee according to the prompt on the display screen of the intelligent self-service check-in terminal and prints out a luggage adhesive label, and the passenger adhesive label is signed on the luggage;
s4: after the situation that no mistake exists is confirmed, passengers pull out the roller shutter doors positioned in front of and behind the cargo compartment of the intelligent mobile trolley, and lock the doors through electronic locks on the roller shutter doors, so that the luggage is sealed in the cargo compartment of the intelligent mobile trolley;
s5: the method comprises the steps that an automatic driving mode of the intelligent mobile car is started, environment sensing is carried out through a laser radar and a millimeter wave radar according to a stored airport map, path planning is carried out through a VCU, once an obstacle is found, a signal is sent to the VCU in time, the VCU carries out closed-loop control through a real-time PID algorithm, the rotating speed of a driving wheel is adjusted, and active obstacle avoidance is carried out until the intelligent mobile car carries luggage and reaches an entrance of an unmanned consignment working area;
s6: if the roller shutter door is violently damaged in the transportation process of the intelligent moving trolley, the pressure sensor senses the gravity change of the luggage on the conveyor belt, and the alarm sends out alarm buzzing sound;
s7: if the intelligent mobile trolley smoothly enters the unmanned consignment working area, the intelligent mobile trolley starts a car networking running mode and sends passenger ticket purchasing information to the cloud server, the cloud server sends the matched position of the baggage consignment station of the flight to the intelligent mobile trolley, and meanwhile, the real-time planned motion trail and the real-time planned motion speed are sent to the intelligent mobile trolley;
s8: after the millimeter wave radar detects that the intelligent mobile trolley reaches a designated position, the conveyor belt of the intelligent mobile trolley is in butt joint with the conveyor belt of a luggage consignment station or the conveyor belts of other intelligent mobile trolleys at the same height, and the intelligent mobile trolley sends an electronic lock opening instruction to the VCU to complete automatic unlocking;
s9: the VCU starts a driving device, so that the conveyor belt of the intelligent moving trolley and the conveyor belt of the butted luggage consignment station or the conveyor belts of other intelligent moving trolleys rotate along the same direction, the luggage is transferred to a luggage loading area from the intelligent moving trolley, and the luggage security check work is carried out;
s10: after the intelligent moving trolley detects that the luggage is unloaded through the pressure sensor, an unloading completion instruction is sent to the cloud server through the network, and the cloud server controls the intelligent moving trolley to return to a standby area or appoint the position of the intelligent self-service check-in terminal according to the calling condition of the intelligent self-service check-in terminal;
s11: if the intelligent mobile trolley detects that the electric quantity of the intelligent mobile trolley is insufficient, the network connection with the cloud server is interrupted, the automatic driving mode is started, and the intelligent mobile trolley arrives at a wireless charging area to be charged;
s12: after the intelligent mobile car is fully charged, the intelligent mobile car leaves the wireless charging area, the network connection with the cloud server is restarted, and a new calling request is waited.
The invention has the beneficial effects that:
1. the automatic consignment of the luggage in the airport can be realized, the complicated procedure of manual consignment of the counter at present is eliminated, and the time of passengers is greatly saved.
2. In the brand-new airport planning, the occupied area of the airport terminal is greatly reduced compared with that of the traditional terminal, the construction time is short, and the construction cost is low.
3. The labor cost for airport operation is reduced, the original operator can do more meaningful consulting help work, and the problem of talent shortage in small and medium airports is solved.
4. The intelligent moving trolley combines the chassis and the conveyor belt into a whole, can be butted with a luggage consignment station, automatically finishes the work of unloading luggage, efficient conveying, follow-up security check and the like, and saves the work of airport staff.
5. The intelligent mobile vehicle has the advantages that the automatic driving and vehicle networking technologies are combined, the automation degree is high, the intelligent mobile vehicle can achieve active obstacle avoidance and path planning, congestion-free rapid transportation is achieved in an unmanned working area according to the cloud server instruction, and the transportation is more rapid and efficient.
6. The safety device of the intelligent moving trolley is provided with double insurance, not only a rolling door and an electronic lock, but also a sensor and an alarm, so that the safety of the luggage transportation is ensured.
7. The passenger can finish the work of calling the intelligent moving trolley, paying overweight luggage, printing luggage labels and the like at the intelligent self-service check-in terminal by the simple human-computer interaction system.
8. The luggage security check process is connected with the passenger network ticket buying and ticketing system, and for luggage which does not pass the security check, information reminding is sent to a passenger mobile phone which does not pass the luggage security check in time through the luggage tag code and the reserved information of the passenger network ticket buying and ticketing system, and the luggage security check process is matched with the passenger network ticket buying and ticketing system for further checking. Meanwhile, the passenger can know the luggage security check condition in time by combining the large screen of the waiting room and broadcasting for notification.
9. The passenger can inquire the current luggage consignment state (including three conditions of in-transit, start security check, security check pass/fail) at any time through the mobile phone APP, if the passenger temporarily encounters an emergency, such as personal articles in luggage need to be taken, the passenger can stop luggage transportation through the mobile phone APP at any time before the luggage does not start the security check, the intelligent mobile platform arrives at an airport hall through automatic driving after receiving a passenger stop instruction, the passenger can open the electronic lock of the intelligent mobile trolley rolling door through the mobile phone APP, the automatic consignment program is restarted after the personal affairs are processed, and the system is more humanized.
Drawings
FIG. 1 is a schematic diagram of an intelligent mobile trolley in an unopened state;
FIG. 2 is a schematic diagram of the state that the intelligent mobile trolley closes the roller shutter door;
FIG. 3 is a right side view of the intelligent mobile cart;
FIG. 4 is a main view of the smart mobile car;
FIG. 5 is a schematic view of the internal structure of the belt;
FIG. 6 is a schematic view of an airport baggage self-service consignment train;
FIG. 7 is a plan view of an airport;
FIG. 8 is a schematic diagram of a wireless charging selection state;
FIG. 9 is a block diagram of electrical connections inside the intelligent mobile cart;
FIG. 10 is a block diagram of an intelligent control method for an airport baggage self-service consignment train.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
An airport luggage self-service consignment train set comprises an independent multi-section intelligent movable trolley 1, wherein the intelligent movable trolley 1 shown in figures 1-5 and 9 comprises a chassis with a driving wheel 14, a battery, a driving device 130 and a VCU112 which are arranged in the chassis, a millimeter wave radar 110 arranged on the side face of the chassis, a cargo hold 18 arranged on the chassis, a conveying belt 13 arranged in the cargo hold 18, a pressure sensor 111 arranged under the conveying belt 13, doors 11 arranged at the front end and the rear end of the cargo hold 18, glass windows 10 arranged at the left side and the right side of the cargo hold 18, an alarm 15, a laser radar 16 and a display screen 17 arranged at the top of the cargo hold 18, the doors 11 are rolling doors, and an electronic lock 12 is arranged on the side face of the doors 11 to lock the rolling doors which. The driving device 130 is used for driving the conveyor belt 13 to rotate, and the battery supplies power to the driving device 130 and the driving wheel 14. The millimeter wave radar 110, the laser radar 16, the pressure sensor 111, the alarm 15, the electronic lock 12, the display screen 17, the driving device 130 and the driving wheel 14 are all electrically connected with the VCU.
Wherein the battery can be wirelessly rapidly charged.
Wherein, the conveyor belt 13 comprises a PVC cloth layer 131 and a roller rotating shaft 132.
An intelligent control method for an airport baggage self-service consignment train as shown in fig. 6-8 and fig. 10 comprises the following steps:
s1: the intelligent self-service check-in terminal F1 sends an instruction for calling the intelligent mobile car 1 through the cloud server, the cloud server searches after receiving the request and sends the position of the intelligent self-service check-in terminal F1 to the intelligent mobile car 1 in a standby state; the intelligent self-check-in terminal F1 is located in the airport lobby F.
S2: after receiving the calling signal, the intelligent mobile car 1 senses the environment through the laser radar 16 and the millimeter wave radar, performs track planning and following control by combining a stored airport map, automatically drives to a specified position, and synchronizes passenger ticket purchasing information from the intelligent self-help check-in terminal F1 to the intelligent mobile car 1 through a local area network;
s3: the passenger puts the luggage on the conveyor belt 13 of the intelligent moving trolley 1, the intelligent moving trolley 1 automatically finishes luggage weighing through a pressure sensor, the passenger pays for the luggage according to the prompt on the display screen of the intelligent self-service check-in terminal F1 and prints out a luggage adhesive label, and the passenger adheres the label to the luggage; the payment for the excess amount can adopt payment modes such as code scanning and the like.
S4: after confirming that no mistake is found, the passenger pulls out the rolling doors 19 positioned in front of and behind the intelligent mobile car 1, and the door locking is completed through the electronic locks 18 on the rolling doors 19, so that the luggage is sealed in the intelligent mobile car 1;
s5: the intelligent mobile trolley 1 starts an automatic driving mode, a VCU carries out path planning according to a stored airport map, environment sensing is carried out through a laser radar 16 and a millimeter wave radar, once an obstacle is found, a signal is sent to the VCU in time, the VCU carries out closed-loop control through a real-time PID algorithm, the rotating speed and the steering of a driving wheel 14 are adjusted, and active obstacle avoidance is carried out until the intelligent mobile trolley 1 carries luggage to reach an entrance of an unmanned consignment working area;
s6: if the rolling door 18 is damaged violently during the transportation of the intelligent moving trolley 1, the pressure sensor senses the gravity change of the luggage, and the alarm 15 sends out alarm buzzing;
s7: if the intelligent mobile trolley 1 smoothly enters the unmanned consignment working area D, the intelligent mobile trolley 1 starts a car networking running mode and sends passenger ticket purchasing information to the cloud server, the cloud server sends the matched station port position of the flight baggage consignment station D to the intelligent mobile trolley 1, and meanwhile sends the real-time planned motion trail and the real-time planned motion speed to the intelligent mobile trolley 1; flight baggage terminal D includes the terminals of a plurality of flights, such as D1, D2, D3-D7, and the like.
S8: after the millimeter wave radar detects that the intelligent mobile trolley 1 reaches a designated position, the conveyor belt 13 of the intelligent mobile trolley 1 is in butt joint with the total conveyor belt 20 of the luggage consignment station D or the conveyor belts of other intelligent mobile trolleys 1 at the same height, and the intelligent mobile trolley 1 sends an electronic lock opening instruction to the VCU to complete automatic unlocking;
s9: the VCU starts the driving device 130, so that the conveyor belt 13 of the intelligent mobile car 1 and the total conveyor belt 20 of the butted baggage consignment station D or the conveyor belts of other intelligent mobile cars 1 run in the same direction, the baggage is transferred from the intelligent mobile car 1 to the baggage loading area E, and the baggage security check work is carried out;
s10: after the intelligent mobile car 1 detects that the luggage is unloaded through the pressure sensor, an unloading completion instruction is sent to the cloud server through the network, and the cloud server controls the intelligent mobile car 1 to return to a standby area or appoint the position of an intelligent self-service check-in terminal F1 according to the calling condition of the intelligent self-service check-in terminal F1;
s11: if the intelligent mobile car 1 detects that the electric quantity of the intelligent mobile car is insufficient, the network connection with the cloud server is interrupted, the automatic driving mode is started, and the intelligent mobile car reaches a wireless charging area C to be charged;
s12: after the intelligent mobile car 1 is fully charged, the intelligent mobile car leaves the wireless charging area C, the network connection with the cloud server is restarted, and a new calling request is waited.
In step S11, a plurality of grid charging sites are divided in the wireless charging area C, each charging site corresponds to a digital code, and the ultrasonic signals are transmitted from the designated charging site according to the sequence of the digital codes from small to large, and the intelligent mobile cart 1 receives the ultrasonic signals of the charging site and can be wirelessly charged after being parked at the charging site. In the working state, as shown in fig. 8, two bionic ultrasonic transmitters of a designated charging position emit fan-shaped sound waves, and the intelligent mobile car 1 receives ultrasonic signals of the charging position C1, positions are located according to the angles of the two sound waves, and then the intelligent mobile car can be wirelessly charged after the intelligent mobile car is parked on the charging position C1; when the intelligent mobile car 1 that needs to charge when wireless charging district C is very much, can use 2 or more to charge the position and send fan-shaped sound wave simultaneously for the efficiency that intelligent mobile car 1 navigated and charges.
If the security check finds abnormal conditions, information reminding is timely sent to the mobile phone of the corresponding passenger through the luggage tag code and the reserved information of the passenger network ticket buying and ticketing system, and meanwhile reminding is carried out in the waiting room A through the large screen A2 and broadcasting, so that the passenger is informed to cooperate with subsequent further examination. The passenger mobile phone APP is connected with the cloud server through a network, a passenger can inquire the current luggage consignment state (comprising three conditions of in-transit, security inspection starting and security inspection passing/failing) at any time through the mobile phone APP, if the passenger meets emergency conditions temporarily, such as personal articles in luggage need to be taken, the passenger can stop luggage transportation through the mobile phone APP at any time before the luggage does not start the security inspection, the intelligent mobile platform arrives at an airport hall through automatic driving after receiving a passenger stop instruction, the passenger can open the electronic lock 12 of the rolling door of the cargo hold 18 of the intelligent mobile trolley 1 through the mobile phone APP, and the automatic consignment program is restarted after the personal affairs are processed.
If no problem exists, the passenger can pass through the security check area B, enters the waiting area A after passing the security check, waits for the airplane, and pays attention to the boarding information of the registration entrance A1.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. The utility model provides a self-service consignment train set of airport luggage, a serial communication port, including independent many intelligent movement dollies, intelligent movement dollies is including the chassis that has the drive wheel, arranges battery, drive arrangement, VCU in the chassis in, arranges the millimeter wave radar of chassis side in, arranges the cargo hold on the chassis in, arranges the conveyer belt in the cargo hold in, arranges the pressure sensor under the conveyer belt in, open both ends around the cargo hold has the door, open the cargo hold left and right sides has glass window, alarm, laser radar and display screen are installed at the cargo hold top, the door adopts the rolling slats door, door side-mounting has the electronic lock, pins the rolling slats door that will pull down, drive arrangement and drive wheel power supply are given to the battery.
2. The airport baggage self service consignment train as claimed in claim 1, wherein the battery is wirelessly rechargeable.
3. The airport baggage self service consignment train as claimed in claim 1, wherein the conveyor comprises a PVC cloth layer and a roller spindle.
4. The intelligent control method for the airport baggage self-service consignment train unit according to claim 1, comprising the steps of:
s1: the intelligent self-help check-in terminal sends an instruction for calling the intelligent moving trolley through the cloud server, and the cloud server searches after receiving the request and sends the position of the intelligent self-help check-in terminal to the intelligent moving trolley in a standby state;
s2: after receiving the calling signal, the intelligent mobile car senses the environment through a laser radar and a millimeter wave radar, performs track planning and following control through a VCU (video command unit) in combination with a stored airport map, automatically drives to a specified position, and synchronizes passenger ticket purchasing information from an intelligent self-service check-in terminal to the intelligent mobile car through a local area network;
s3: the passenger puts the luggage on a conveyor belt of the intelligent moving trolley, the intelligent moving trolley automatically finishes weighing the luggage through a pressure sensor arranged in the vehicle-mounted conveyor belt, the weight is displayed on a display screen above the cargo compartment, the passenger pays for the fee according to the prompt on the display screen of the intelligent self-service check-in terminal and prints out a luggage adhesive label, and the passenger adhesive label is signed on the luggage;
s4: after the situation that no mistake exists is confirmed, passengers pull out the roller shutter doors positioned in front of and behind the cargo compartment of the intelligent mobile trolley, and lock the doors through electronic locks on the roller shutter doors, so that the luggage is sealed in the cargo compartment of the intelligent mobile trolley;
s5: the method comprises the steps that an automatic driving mode of the intelligent mobile car is started, environment sensing is carried out through a laser radar and a millimeter wave radar according to a stored airport map, path planning is carried out through a VCU, once an obstacle is found, a signal is sent to the VCU in time, the VCU carries out closed-loop control through a real-time PID algorithm, the rotating speed of a driving wheel is adjusted, and active obstacle avoidance is carried out until the intelligent mobile car carries luggage and reaches an entrance of an unmanned consignment working area;
s6: if the roller shutter door is violently damaged in the transportation process of the intelligent moving trolley, the pressure sensor senses the gravity change of the luggage on the conveyor belt, and the alarm sends out alarm buzzing sound;
s7: if the intelligent mobile trolley smoothly enters the unmanned consignment working area, the intelligent mobile trolley starts a car networking running mode and sends passenger ticket purchasing information to the cloud server, the cloud server sends the matched position of the baggage consignment station of the flight to the intelligent mobile trolley, and meanwhile, the real-time planned motion trail and the real-time planned motion speed are sent to the intelligent mobile trolley;
s8: after the millimeter wave radar detects that the intelligent mobile trolley reaches a designated position, the conveyor belt of the intelligent mobile trolley is in butt joint with the conveyor belt of a luggage consignment station or the conveyor belts of other intelligent mobile trolleys at the same height, and the intelligent mobile trolley sends an electronic lock opening instruction to the VCU to complete automatic unlocking;
s9: the VCU starts a driving device, so that the conveyor belt of the intelligent moving trolley and the conveyor belt of the butted luggage consignment station or the conveyor belts of other intelligent moving trolleys rotate along the same direction, the luggage is transferred to a luggage loading area from the intelligent moving trolley, and the luggage security check work is carried out;
s10: after the intelligent moving trolley detects that the luggage is unloaded through the pressure sensor, an unloading completion instruction is sent to the cloud server through the network, and the cloud server controls the intelligent moving trolley to return to a standby area or appoint the position of the intelligent self-service check-in terminal according to the calling condition of the intelligent self-service check-in terminal;
s11: if the intelligent mobile trolley detects that the electric quantity of the intelligent mobile trolley is insufficient, the network connection with the cloud server is interrupted, the automatic driving mode is started, and the intelligent mobile trolley arrives at a wireless charging area to be charged;
s12: after the intelligent mobile car is fully charged, the intelligent mobile car leaves the wireless charging area, the network connection with the cloud server is restarted, and a new calling request is waited.
5. The intelligent control method for the airport luggage self-service consignment train unit according to claim 4, wherein a plurality of grid charging sites are divided in the wireless charging area in the step S11, each charging site corresponds to a digital code, the designated charging sites transmit ultrasonic signals according to the sequence of the digital codes from small to large, and the intelligent mobile car receives the ultrasonic signals of the charging sites and can be charged wirelessly after the intelligent mobile car stops at the charging sites.
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