CN111382998B - Airport luggage full-flow processing method and system and luggage processing system between unpacking - Google Patents

Airport luggage full-flow processing method and system and luggage processing system between unpacking Download PDF

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CN111382998B
CN111382998B CN202010126803.7A CN202010126803A CN111382998B CN 111382998 B CN111382998 B CN 111382998B CN 202010126803 A CN202010126803 A CN 202010126803A CN 111382998 B CN111382998 B CN 111382998B
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amr
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CN111382998A (en
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陈翼
杨秀清
向勇
马俊勇
廖诗来
叶毅
王小锐
李冰楠
李貌
李婷
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Civil Aviation Logistics Technology Co ltd
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Abstract

The invention discloses a method and a system for processing airport luggage in a full flow and a system for processing luggage between packages, which relate to the field of automatic and intelligent processing.A front-end AMR waiting and AMR cluster in a transportation area transports luggage to a security inspection area for security inspection; the AMR clusters in the middle-end AMR waiting and transporting area are respectively transported to a sorted luggage buffer area or a centralized unpacking area according to the security check result or directly transported to a sorted luggage collecting area according to the luggage emergency degree; the AMR cluster of the centralized unpacking region unpacks and rechecks the transported luggage, or transports the luggage to a luggage buffer device for buffering, then unpacks and rechecks the luggage, and transports the luggage to a sorting luggage buffer region after the luggage is qualified after the recheck; then the sorted goods are sorted to AMR clusters of an AMR waiting and sorting transportation area, conveyed to a sorting luggage collection area and transported to a luggage loading point. The invention solves the problems that the automation and intelligence degrees of the existing airport consignment luggage are low, the labor is consumed, and the real-time tracking of the whole flow information can not be realized, so that the luggage processing efficiency is low.

Description

Airport luggage full-flow processing method and system and luggage processing system between unpacking
Technical Field
The invention relates to the fields of automatic and intelligent processing and autonomous mobile robots, in particular to a method and a system for processing airport luggage in a full flow and a system for processing the luggage in a bag opening room, and particularly relates to a method and a system for processing a plurality of links and scenes of check-in, security check, transportation, bag opening, sorting and the like of the airport luggage by applying a mobile robot cluster.
Background
With the increasingly clear demand for the future 'four-type airport' construction, the future airport baggage handling method is more emphasized on higher automation degree and intelligence degree. Meanwhile, resolution 753 of International Association for Transport (IAT) requires that a large number of airlines in the world can realize the whole-process tracking of information of consigned baggage in airports, and the information is fed back to passengers in real time, so that the problems of misshipment and loss of baggage are finally solved.
At present, the processing method of consigned luggage at home and abroad still depends on a large amount of manual labor, a large amount of manual counters exist in an check-in link, and the check-in process of consigning luggage is finished manually. In the luggage transportation link, the traditional belt conveying mode is almost adopted at present, and the conveying efficiency and the intelligent degree are low. The concentrated unpacking room link is usually sent into the unpacking room by a conveyer belt, then unpacked after being carried and unloaded manually, and then the luggage is put into a conveying loop line manually, so that the phenomenon of damaging the luggage exists in the process. The consignment baggage sorting process still relies on a large number of manual hand-held scanning devices to scan baggage tags/barcodes one by one, and then manually sort and load the baggage tags/barcodes. Meanwhile, a large number of airports and airlines at home and abroad cannot realize real-time tracking of the whole flow information of consigned luggage from check-in to package opening to sorting and loading at present.
US20160244184A1 discloses a method of operating a checked baggage zone at an airport, in which items of baggage are first transported from an entrance facility to one of a plurality of screening stations, the items of baggage are placed on an automatic material handling device after they have arrived at the screening station, and the items of baggage are screened by personnel at the screening station. The method has the problems that a to-be-unpacked luggage buffer device is not arranged at the inspection station, when too much luggage is contained, the automatic material processing device can not process the luggage, the luggage is accumulated too much, the manual transportation or arrangement is required by workers, and the automation and intelligence degree is still low.
Therefore, the invention provides an airport luggage full-flow processing method and system and an inter-baggage handling system aiming at the problems.
Disclosure of Invention
The invention aims to: the airport luggage full-flow processing method solves the problems that the automation and intelligence degree of the conventional airport luggage consignment processing is low, the labor is consumed, and the real-time tracking of full-flow information cannot be realized, so that the luggage processing efficiency is low.
The technical scheme adopted by the invention is as follows:
a full-flow processing method of airport luggage comprises the following steps:
step 1: passengers handle consigned luggage by self, and the luggage is transported to a security inspection area for security inspection by an AMR cluster of a front-end AMR waiting and transporting area;
step 2: the AMR clusters of the middle-end AMR waiting and transporting area are respectively transported according to the luggage security check result, if the luggage is safe, the luggage is transported to a sorting luggage buffer area or directly transported to a sorting luggage collecting area according to the emergency degree of the luggage, and if the luggage is unsafe, the luggage is transported to a centralized unpacking area;
and step 3: the AMR cluster of the centralized unpacking region transports the luggage to be unpacked and then unpacks and rechecks the luggage, or transports the luggage to a luggage buffer device for buffering and then unpacking and rechecking the luggage, and transports the luggage to a sorting luggage buffer region after the recheck is qualified;
and 4, step 4: selecting the to-be-sorted luggage in the sorted luggage buffer area to an AMR cluster in an AMR waiting and sorting transportation area according to the flight opening time, and then conveying the luggage of the same flight to the same luggage collecting conveyor in the sorted luggage collecting area according to the flight information of the luggage;
and 5: and the AMR cluster of the rear-end AMR waiting and transporting area transports the luggage on the same luggage collecting conveyor to a luggage loading point according to the flight opening information to finish loading.
Further, data interaction is carried out among the AMR cluster of the front-end AMR waiting and transporting area, the AMR cluster of the middle-end AMR waiting and transporting area, the AMR cluster of the centralized unpacking area, the AMR cluster of the AMR waiting and sorting transporting area and the AMR cluster of the rear-end AMR waiting and transporting area according to the luggage data after self-service handling and consignment of passengers, so that real-time tracking of luggage information of the whole flow is realized.
Further, the step 1 specifically includes the following steps:
step 1.1: passengers finish check-in handling of checked and transported luggage on a self-service check-in counter of the check-in area by self-service, and send luggage transportation tasks to AMR clusters of a front-end AMR waiting and transporting area in real time according to the quantity and the positions of the luggage;
step 1.2: after the AMR cluster of the front-end AMR waiting and transporting area receives the luggage transporting task, the luggage is rapidly transported to the security inspection area, the security inspection machines with less queuing number are intelligently selected to be in butt joint according to the queuing condition of the security inspection machines, the security inspection machines perform security inspection on the luggage, and the acquired luggage security inspection data are sent to the AMR cluster of the middle-end AMR waiting and transporting area.
Further, the step 2 specifically includes the following steps:
step 2.1: the AMR cluster of the middle-end AMR waiting and transporting area intelligently judges whether the luggage is safe or not according to the luggage security check data;
step 2.2: if the luggage is safe, the AMR cluster of the middle-end AMR waiting and transporting area automatically transports the safe luggage to a luggage sorting buffer area or directly transports the safe luggage to a luggage sorting collecting area according to the urgency degree of the luggage; if the luggage is unsafe, unpacking inspection is needed, and the luggage to be unpacked is automatically transported to a centralized unpacking area.
Further, the step 3 specifically includes the following steps:
step 3.1: the AMR cluster in the centralized unpacking area transports the luggage to be unpacked to a luggage unpacking counter for unpacking inspection;
step 3.2: after the AMR cluster in the centralized unpacking region transports the to-be-unpacked luggage to a luggage buffer device for buffering, the AMR cluster transports the buffered to-be-unpacked luggage to a luggage unpacking counter for unpacking inspection;
step 3.3: the luggage which is unpacked according to the step 3.1 or 3.2 is transported to a rechecking security check machine by an AMR cluster for rechecking; if the rechecking is qualified and the luggage is safe, automatically transporting the safe luggage to a sorting luggage buffer area, and if the rechecking is unqualified and the luggage is unsafe, transporting the luggage to a luggage unpacking counter again by the AMR cluster for unpacking inspection again; the steps are repeated until the re-inspection is qualified, and the luggage is safe.
Further, the step 3.1 specifically includes the following steps:
step 3.1.1: the luggage to be unpacked which is transported to the centralized unpacking area is conveyed to a luggage loading port from a luggage output port of the lower line through a conveyor and then is loaded on the autonomous mobile robot;
step 3.1.2: and the autonomous mobile robot transports the luggage to be unpacked to a luggage unpacking counter according to the optimal path to carry out unpacking inspection.
Further, the step 3.2 specifically includes the following steps:
step 3.2.1: the luggage to be unpacked which is transported to the centralized unpacking area is conveyed to a luggage loading port from a luggage output port of the lower line through a conveyor and then is loaded on the autonomous mobile robot;
step 3.2.2: the autonomous mobile robot transports the luggage to be unpacked to a luggage caching and picking mechanical arm arranged at the luggage caching device according to the optimal path, and the luggage to be unpacked is loaded into the luggage caching device by the luggage caching and picking mechanical arm;
step 3.2.3: when the buffered luggage needs to be unpacked, the luggage buffering and picking mechanical arm picks the buffered luggage to be unpacked from the luggage buffering device and loads the sorted luggage to the autonomous mobile robot;
step 3.2.4: and the autonomous mobile robot transports the cached luggage to be unpacked to a luggage unpacking counter according to the optimal path to carry out unpacking inspection.
Further, the step 3.3 specifically includes the following steps:
step 3.3.1: the autonomous mobile robot directly transports the unpacked luggage to a rechecking luggage unloading input port;
step 3.3.2: the luggage enters from the rechecking luggage unloading input port, and is rechecked by the rechecking security inspection machine to obtain a rechecking result;
step 3.3.3: if the re-inspection is qualified and the luggage is safe, the safe luggage is transported to a luggage sorting buffer area through an online luggage input port;
step 3.3.4: if the baggage is unqualified for rechecking and the baggage is unsafe, the baggage which is unqualified for rechecking is loaded on the autonomous mobile robot through the offline loading port of the rechecking baggage, and is transported to the baggage unpacking counter again for unpacking and checking again;
step 3.3.5: and (5) repeating the steps 3.3.1-3.3.4 until the re-inspection is qualified and the luggage is safe.
A whole flow processing system for airport luggage is divided into a plurality of areas according to space, and comprises a check-in area, a front end AMR waiting and transporting area, a security inspection area, a middle end AMR waiting and transporting area, a centralized unpacking area, a luggage sorting buffer area, an AMR waiting and sorting transporting area, a luggage sorting collecting area and a rear end AMR waiting and transporting area;
a self-service check-in counter is arranged in the check-in area, a security check machine is arranged in the security check area, a luggage unpacking counter and a rechecking security check machine are arranged in the concentrated unpacking area, a luggage caching device and a luggage caching and selecting mechanical arm are arranged in the concentrated unpacking area and the sorting luggage caching area, and a luggage collecting conveyor is arranged in the sorting luggage collecting area;
AMR clusters are arranged in the front-end AMR waiting and transporting region, the middle-end AMR waiting and transporting region, the centralized unpacking region, the AMR waiting and sorting transporting region and the rear-end AMR waiting and transporting region, and data interaction is carried out among all the AMR clusters according to luggage data after passengers handle consignment by themselves so as to realize real-time tracking of luggage information of the whole flow.
A baggage handling system between airport baggage unpacking rooms comprises a standby offline baggage conveying line, an offline baggage input line, an online conveying line, an autonomous mobile robot, a baggage unpacking counter, a baggage caching device, a baggage caching and sorting mechanical arm and an autonomous mobile robot waiting and charging area;
the off-line luggage input line comprises an off-line luggage output port and an off-line luggage loading port, and luggage to be unpacked is conveyed to the off-line luggage loading port from the off-line luggage output port of the off-line luggage input line through the conveyor and then loaded onto the autonomous mobile robot;
the autonomous mobile robot directly transports the to-be-unpacked luggage to a luggage unpacking counter for unpacking inspection or transports the to-be-unpacked luggage to a luggage caching and selecting mechanical arm according to an optimal path, the luggage caching and selecting mechanical arm loads the to-be-unpacked luggage to a luggage caching device, and the luggage caching and selecting mechanical arm is also used for selecting the to-be-unpacked cached luggage from the luggage caching device, loading the to-be-unpacked cached luggage to the autonomous mobile robot and then transporting the to-be-unpacked luggage to the luggage unpacking counter for unpacking inspection;
the on-line conveying line comprises an on-line luggage input port, a rechecking luggage off-line loading port, a rechecking security inspection machine and a rechecking luggage unloading input port, the luggage which is finished by unpacking is directly conveyed to the rechecking luggage unloading input port by the autonomous mobile robot and is conveyed to the rechecking security inspection machine for rechecking, if the rechecking is qualified, the safe luggage is conveyed to a subsequent area through the on-line luggage input port, if the rechecking is unqualified, the unqualified luggage which is not qualified by the rechecking is loaded onto the autonomous mobile robot through the rechecking luggage off-line loading port, and the luggage is conveyed to the luggage unpacking counter for secondary unpacking inspection until the rechecking is qualified.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. a full-flow processing method for airport luggage uses AMR cluster to realize automatic and intelligent processing of multiple links and scenes of check-in, security check, transportation, unpacking, sorting and the like for airport luggage, and also realizes real-time tracking of luggage information in the full flow. According to the whole process of the method, the process is clear and ordered, the efficiency of check-in, security check, transportation, unpacking and sorting of the consigned luggage is improved, the automation and intelligentization level of the whole process of the consigned luggage is improved, the manpower quantity and the manpower labor are greatly reduced, the luggage damage caused by manpower is greatly reduced, and the limited space resource of the airport is reasonably utilized.
2. An airport luggage full-flow processing system has higher automation and intelligent processing level, which is mainly reflected in that: the check-in area adopts a mode of combining an automatic self-help check-in counter and a mobile robot, so that efficient automatic check-in is realized; the security inspection area adopts a mode that the mobile robot is directly combined with the security inspection machine, replaces a large amount of traditional collecting conveyor equipment, saves a large amount of security inspection machines, fully applies the application efficiency of the security inspection machine, avoids the redundant waste of the security inspection machine, and greatly improves the check-in efficiency and the security inspection efficiency; the AMR cluster of the middle-end AMR waiting and transporting area intelligently judges whether the luggage is safe or not according to the luggage security check data, the safe luggage is automatically transported to a sorting luggage cache area, the unsafe luggage is automatically transported to a centralized unpacking area for unpacking check, the unsafe luggage is intelligently processed according to the luggage safety condition and is transported to different areas, the flow is clear and ordered, and the condition that the luggage is piled too much is avoided; the centralized unpacking area adopts a mode of directly butting the mobile robot with the conveying line and the baggage unpacking counter, so that the automatic carrying processing of unpacked baggage is realized, and also adopts a mode of combining the mobile robot with the baggage buffering device and the baggage buffering and selecting mechanical arm, so that the automatic buffering of the to-be-unpacked baggage and the automatic selecting processing of the to-be-unpacked baggage are realized, the manual labor and the damage of the baggage are reduced, the space is saved, and the unpacking and checking efficiency is improved; the sorted luggage buffer area is butted with the mobile robot by adopting a luggage buffer device, so that the automatic storage and sorting of the luggage to be sorted are realized; the sorting baggage collection area is in butt joint with the mobile robot by adopting a baggage collection conveyor, so that the concentrated buffer storage and the efficient automatic conveying of the baggage on the same flight are realized.
3. The utility model provides an airport luggage unpacking room luggage processing system, combine autonomous mobile robot, the arm is selected to luggage buffer memory device and luggage buffer memory, according to waiting to unpack the luggage accumulation condition, directly carry the luggage to unpack the sales counter and carry out unpacking inspection, or treat to unpack the luggage and carry out unpacking inspection after the buffer memory, prevent to unpack the room luggage and pile up too much and cause the confusion, and select the arm through luggage buffer memory and load and sort, realized the automation to the consignment luggage, intelligent high-efficient accurate transportation and processing, realized waiting to unpack the automatic buffer memory of luggage and the automation of the luggage of waiting to unpack and select the processing, reduced artifical labour and luggage damage, the space is saved, the efficiency of unpacking inspection has been improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that for those skilled in the art, other relevant drawings can be obtained according to the drawings without inventive effort, wherein:
FIG. 1 is a region map of an airport baggage full flow processing system;
FIG. 2 is a schematic diagram of an airport baggage compartment baggage handling system;
the labels in the figure are: 1. the system comprises a check-in area, 101, a self-check-in counter, 2, a front-end AMR waiting and transporting area, 3, a security check-in area, 301, a security check-in machine, 4, a middle-end AMR waiting and transporting area, 5, a centralized unpacking area, 51, a standby offline baggage conveying line, 52, an offline baggage input line, 502, an offline baggage output port, 53, an online conveying line, 503, an online baggage input port, 504, a re-check offline baggage loading port, 505, a re-check security check-in machine, 506, a re-check baggage unloading input port, 507, an autonomous mobile robot, 508, an offline baggage loading port, 509, a baggage unpacking counter, 510, a baggage buffer device, 511, a baggage buffer picking mechanical arm, 512, an autonomous mobile robot waiting and charging area, 6, a sorting baggage buffer area, 7.AMR waiting and sorting transporting area, 8, a baggage collecting area, 801, a baggage collecting conveyor, 9, a rear-end AMR waiting and transporting area.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described herein and illustrated in the figures 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.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "...," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Interpretation of terms:
AMR: autonomous Mobile Robot, autonomous Mobile Robot.
The features and properties of the present invention are described in further detail below with reference to examples and the accompanying drawings.
Example one
The invention provides a method for processing airport luggage in a full flow, which comprises the following steps:
step 1: passengers handle consigned luggage by themselves, and the luggage is transported to a security inspection area 3 for security inspection by an AMR cluster of a front-end AMR waiting and transporting area 2;
step 1.1: passengers finish check-in handling of consigned luggage on a self-service check-in counter of the check-in area 1 by self-service, and send luggage transportation tasks to AMR clusters of the front-end AMR waiting and transporting area 2 in real time according to the number and the positions of the luggage, so that efficient automatic check-in is realized;
step 1.2: after the AMR cluster of the front-end AMR waiting and transporting area 2 receives a luggage transporting task, the luggage is rapidly transported to a security inspection area 3, a security inspection machine with a small queuing number is intelligently selected to be in butt joint according to the queuing condition of the security inspection machine, the security inspection machine performs security inspection on the luggage, the luggage security inspection data is obtained and sent to the AMR cluster of the middle-end AMR waiting and transporting area 4, a mode that a mobile robot is directly combined with the security inspection machine is adopted, a large amount of traditional collecting conveyor equipment is replaced, a large amount of security inspection machines are saved, the application efficiency of the security inspection machine is fully applied, the redundant waste condition of the security inspection machine is avoided, and the value machine and the security inspection efficiency are greatly improved;
step 2: the AMR clusters in the middle-end AMR waiting and transporting area 4 are respectively transported according to the luggage security check result, if the luggage is safe, the luggage is transported to a luggage sorting buffer area 6 or directly transported to a luggage sorting collecting area 8 according to the emergency degree of the luggage, if the luggage is unsafe, the luggage is transported to a centralized unpacking area 5, the luggage is intelligently processed according to the luggage safety condition and transported to different areas, the flow is clear and ordered, and the condition that the luggage is piled too much is avoided;
step 2.1: the AMR cluster of the middle AMR waiting and transporting area 4 intelligently judges whether the luggage is safe or not according to the luggage security check data;
step 2.2: if the luggage is safe, the AMR cluster of the middle AMR waiting and transporting area 4 automatically transports the safe luggage to a sorting luggage buffer area 6 or directly transports the safe luggage to a sorting luggage collecting area 8 according to the urgency degree of the luggage; if the luggage is unsafe, unpacking inspection is needed, and the luggage to be unpacked is automatically transported to a centralized unpacking area 5;
and step 3: the AMR cluster in the centralized unpacking region 5 transports the to-be-unpacked luggage and then unpacks and rechecks the luggage, or transports the luggage to the luggage buffer device 510 for buffering and then unpacking and rechecking the luggage, and transports the luggage to the sorting luggage buffer region 6 after the recheck is qualified, so that the automatic transport processing of the unpacked luggage is realized;
step 3.1: the AMR cluster of the centralized unpacking area 5 transports the luggage to be unpacked to a luggage unpacking counter 509 for unpacking inspection;
step 3.1.1: the luggage to be unpacked transported to the centralized unpacking area 5 is transported from the lower luggage output port 502 to the lower luggage loading port 508 through the conveyor, and then loaded onto the autonomous mobile robot 507;
step 3.1.2: the autonomous mobile robot 507 transports the luggage to be unpacked to the luggage unpacking counter 509 for unpacking inspection according to the optimal path;
step 3.2: after the to-be-unpacked luggage is transported to the luggage buffer device 510 for buffering by the AMR cluster of the centralized unpacking region 5, the buffered to-be-unpacked luggage is transported to the luggage unpacking counter 509 for unpacking inspection by the AMR cluster;
step 3.2.1: the luggage to be unpacked transported to the centralized unpacking area 5 is transported from the lower luggage output port 502 to the lower luggage loading port 508 through the conveyor, and then loaded onto the autonomous mobile robot 507;
step 3.2.2: the autonomous mobile robot 507 transports the luggage to be unpacked to a luggage buffer picking mechanical arm 511 arranged at a luggage buffer device 510 according to an optimal path, the luggage to be unpacked is loaded into the luggage buffer device 510 by the luggage buffer picking mechanical arm 511 according to a certain rule, the rule is set according to actual conditions, and the loading and sorting of the luggage by the mechanical arm belongs to the prior art, and is not described again;
step 3.2.3: when the buffered luggage needs to be unpacked, the luggage buffer picking mechanical arm 511 picks the buffered luggage to be unpacked from the luggage buffer device 510 and loads the sorted luggage to the autonomous mobile robot 507, the luggage buffer device 510 is an annular three-dimensional warehouse and is provided with a butt joint port for butt joint with the mobile robot, and the operation of the luggage buffer picking mechanical arm 511 is facilitated;
step 3.2.4: the autonomous mobile robot 507 transports the buffered luggage to be unpacked to the luggage unpacking counter 509 for unpacking inspection according to the optimal path, and the mobile robot 507 is combined with the luggage caching device 510 and the luggage caching and sorting mechanical arm 511, so that the automatic caching of the luggage to be unpacked and the automatic sorting of the luggage to be unpacked are realized, the manual labor and the damage of the luggage are reduced, the space is saved, and the unpacking inspection efficiency is improved;
step 3.3: the luggage unpacked according to the step 3.1 or 3.2 is transported to a rechecking security check machine 505 by an AMR cluster for rechecking; if the recheck is qualified and the luggage is safe, the safe luggage is automatically transported to a sorting luggage buffer area 6, and if the recheck is unqualified and the luggage is unsafe, the AMR cluster transports the luggage to the luggage unpacking counter 509 again for unpacking inspection again; the steps are repeated until the re-inspection is qualified, and the luggage is safe;
step 3.3.1: the autonomous mobile robot 507 directly transports the unpacked baggage to the reinspection baggage unloading input port 506;
step 3.3.2: the baggage enters from the rechecking baggage unloading inlet 506 and is rechecked by the rechecking security check machine 505 to obtain a rechecking result;
step 3.3.3: if the re-inspection is qualified and the luggage is safe, the safe luggage is transported to a luggage sorting buffer area 6 through an online luggage input port 503;
step 3.3.4: if the rechecking is unqualified and the luggage is unsafe, the luggage with unqualified rechecking is loaded on the autonomous mobile robot 507 through the rechecking luggage offline loading port 504 and is transported to the luggage unpacking counter 509 again for unpacking inspection again;
step 3.3.5: repeating the steps 3.3.1-3.3.4 until the re-inspection is qualified and the luggage is safe;
and 4, step 4: the baggage to be sorted on a baggage buffering device 510 in a baggage buffering area 6 is sorted to an AMR cluster of an AMR waiting and sorting transportation area 7 through a baggage buffering and sorting mechanical arm 511 according to the open time of a flight, the baggage buffering area 6 is butted with a mobile robot through the baggage buffering device 510, the automatic storage and sorting of the baggage to be sorted are realized, the baggage buffering device 510 in the baggage buffering area 6 is provided with two butt joints butted with the mobile robot and oppositely arranged, the transportation of the mobile robot is facilitated, the line superposition is prevented, the baggage sorting and transportation efficiency is increased, the baggage of the same flight is conveyed to the same baggage collecting conveyor 801 in a baggage sorting and collecting area 8 according to the flight information of the baggage, the baggage collecting area 8 is butted with the mobile robot through the baggage collecting conveyor 801, the front end and the rear end of a buffering conveyor belt of the baggage collecting conveyor 801 are directly butted with the mobile robot, and the centralized buffering and the efficient automatic conveying of the same baggage are realized;
and 5: the AMR cluster of the rear-end AMR waiting and transporting area 9 transports the baggage on the same baggage collecting conveyor 801 to the baggage loading point according to the flight opening information, completing the loading.
Further, the urgency of the baggage may include late baggage to take off by a flight, baggage with a higher demand for time, or baggage with a higher priority, and the AMR cluster of the middle AMR waiting and transporting area 4 may directly transport the baggage to the sorted baggage collection area 8.
Further, data interaction is performed among the AMR cluster of the front-end AMR waiting and transporting region 2, the AMR cluster of the middle-end AMR waiting and transporting region 4, the AMR cluster of the centralized unpacking region 5, the AMR cluster of the AMR waiting and sorting transporting region 7, and the AMR cluster of the rear-end AMR waiting and transporting region 9 according to the baggage data after the passenger self-service handling and consignment, so as to realize real-time tracking of baggage information in any link and any scene of the whole flow of baggage.
Furthermore, all the upper transfer mechanisms of the AMRs in the AMR cluster are provided with luggage tags or bar code identifiers, luggage in any region and any link can be bound with the AMRs after being loaded on the AMRs, data interaction is realized, and accordingly real-time information tracking of the whole luggage flow is realized. In addition, AMR can realize intelligent path planning in any region, and can autonomously select the optimal path to reach the destination according to the running road condition. The path planning method belongs to the prior art, and is not described herein again.
According to the airport luggage full-flow processing method, AMR clusters are applied to realize automatic and intelligent processing of a plurality of links and scenes of check-in, security check, transportation, unpacking, sorting and the like of airport checked luggage, and real-time tracking of luggage information in the full flow is also realized. According to the full flow processed by the method, the efficiency of check-in, security check, transportation, unpacking and sorting of the consigned luggage is improved, the automation and intelligentization level of the full flow processing of the consigned luggage is improved, the manpower quantity and the manpower labor are greatly reduced, the luggage damage caused by manpower is greatly reduced, and the limited space resource of the airport is reasonably utilized.
Example two
The present embodiment provides a baggage full-flow processing system for an airport based on the first embodiment, which is divided into a plurality of regions according to space, as shown in fig. 1, including a check-in area 1, a front end AMR waiting and transporting area 2, a security inspection area 3, a middle end AMR waiting and transporting area 4, a centralized unpacking area 5, a sorting baggage buffer area 6, an AMR waiting and sorting transporting area 7, a sorting baggage collecting area 8, and a rear end AMR waiting and transporting area 9;
the automatic baggage sorting system is characterized in that a self-service check-in counter 101 is arranged in the check-in area 1, a security check machine 301 is arranged in the security check area 3, a baggage unpacking counter 509 and a rechecking security check machine 505 are arranged in the concentrated unpacking area 5, a baggage caching device 510 and a baggage caching and picking mechanical arm 511 are arranged in the concentrated unpacking area 5 and the sorting baggage caching area 6, and a baggage collecting conveyor 801 is arranged in the sorting baggage collecting area 8, specifically, the baggage caching device 510 is an annular three-dimensional warehouse and is provided with a butt joint with a mobile robot, so that the operation of the baggage caching and picking mechanical arm 511 is facilitated, the baggage caching device 510 of the sorting baggage caching area 6 is provided with two butt joints with the mobile robot and is oppositely arranged, so that the transportation of the mobile robot is facilitated, the line superposition is prevented, the baggage sorting and transportation efficiency is increased, the front and rear ends of a caching conveyor belt of the baggage collecting conveyor 801 are directly butted with the mobile robot, and the concentrated caching and high-efficiency automatic transportation of the same baggage are realized;
AMR clusters are arranged in the front-end AMR waiting and transporting region 2, the middle-end AMR waiting and transporting region 4, the centralized unpacking region 5, the AMR waiting and sorting transporting region 7 and the rear-end AMR waiting and transporting region 9, and data interaction is carried out among all the AMR clusters according to luggage data after self-service handling and consignment of passengers, so that real-time tracking of luggage information in any link and any scene of the whole flow of luggage is realized.
Furthermore, all the upper transfer mechanisms of the AMRs in the AMR cluster are provided with luggage tags or bar code identifiers, luggage in any region and any link can be bound with the AMRs after being loaded on the AMRs, data interaction is realized, and accordingly real-time information tracking of the whole luggage flow is realized. And AMR can realize intelligent path planning in any area, and can autonomously select the optimal path to reach the destination according to the running road condition. The path planning method belongs to the prior art, and is not described herein again.
The airport luggage full-flow processing system of this embodiment has higher automation and intelligent processing level, mainly reflects in: the check-in area adopts a mode of combining an automatic self-help check-in counter and a mobile robot, so that efficient automatic check-in is realized; the security inspection area adopts a mode that the mobile robot is directly combined with the security inspection machine, replaces a large amount of traditional collecting conveyor equipment, saves a large amount of security inspection machines, fully applies the application efficiency of the security inspection machine, avoids the redundant waste of the security inspection machine, and greatly improves the check-in efficiency and the security inspection efficiency; the AMR cluster of the middle-end AMR waiting and transporting area intelligently judges whether the luggage is safe or not according to luggage security check data, the safe luggage is automatically transported to a sorting luggage buffer area, the unsafe luggage is automatically transported to a centralized unpacking area for unpacking check, the unsafe luggage is intelligently processed according to the luggage security condition and is transported to different areas, the flow is clear and ordered, and the condition that the luggage is piled too much is avoided; the centralized unpacking area adopts a mode of directly butting the mobile robot with the conveying line and the baggage unpacking counter, so that the automatic carrying processing of unpacked baggage is realized, and also adopts a mode of combining the mobile robot with the baggage buffering device and the baggage buffering and selecting mechanical arm, so that the automatic buffering of the to-be-unpacked baggage and the automatic selecting processing of the to-be-unpacked baggage are realized, the manual labor and the damage of the baggage are reduced, the space is saved, and the unpacking and checking efficiency is improved; the sorted luggage buffer area is butted with the mobile robot by adopting a luggage buffer device, so that the automatic storage and sorting of the luggage to be sorted are realized; the sorting baggage collection area is in butt joint with the mobile robot by adopting a baggage collection conveyor, so that the concentrated buffer storage and the efficient automatic conveying of the baggage on the same flight are realized.
EXAMPLE III
On the basis of the first embodiment, the present embodiment provides a baggage handling system for airport baggage unpacking rooms, which includes a standby offline baggage conveying line 51, an offline baggage input line 52, an online conveying line 53, an autonomous mobile robot 507, a baggage unpacking counter 509, a baggage buffering device 510, a baggage buffering and picking robot arm 511, and an autonomous mobile robot waiting and charging area 512; the drop line baggage input line 52 includes a drop line baggage output port 502 and a drop line baggage loading port 508; the upper line conveying line 53 comprises an upper line baggage input port 503, a rechecked baggage unloading load port 504, a rechecked security check machine 505 and a rechecked baggage unloading input port 506;
furthermore, the baggage buffering device 510 is an annular three-dimensional warehouse, and is provided with a docking port for docking with a mobile robot, so that the operation of the baggage buffering and picking mechanical arm 511 is facilitated.
The working process is as follows:
the luggage to be unpacked is transported from the off-line luggage output port 502 of the off-line luggage input line 52 to the off-line luggage loading port 508 via the conveyor, and is loaded onto the autonomous mobile robot 507;
when a few bags to be unpacked exist in the unpacking room, the upper limit value of the bags to be unpacked can be set according to actual conditions, and the autonomous mobile robot 507 directly transports the bags to be unpacked to the bag unpacking counter 509 for unpacking inspection according to the optimal path;
when the number of the to-be-unpacked luggage in the unpacking room exceeds the upper limit value and is large, the autonomous mobile robot 507 transports the to-be-unpacked luggage to the luggage caching and picking mechanical arm 511 according to the optimal path, and the luggage to-be-unpacked luggage is loaded into the luggage caching device 510 by the luggage caching and picking mechanical arm 511 according to a certain rule; according to the actual situation of the baggage unpacking counter 509, when the cached baggage to be unpacked can be unpacked and inspected, the baggage caching and picking mechanical arm 511 picks and loads the cached baggage to be unpacked from the baggage caching device 510 onto the autonomous mobile robot 507 and transports the cached baggage to the baggage unpacking counter 509 for unpacking and inspection;
when unpacking inspection is carried out, after a baggage owner takes out corresponding unqualified articles, the autonomous mobile robot 507 directly transports the unpacked baggage to a recheck baggage unloading input port 506, the baggage is transported to a recheck security inspection machine 505 for recheck, if the recheck is qualified, the safe baggage is transported to a subsequent area through an online baggage input port 503, if the recheck is unqualified, the unqualified baggage is loaded to the autonomous mobile robot 507 through an offline baggage loading port 504 for recheck, and the baggage is transported to a baggage unpacking counter 509 again for unpacking inspection until the recheck is qualified.
The system for processing luggage between unpacking of the embodiment, combine autonomous mobile robot 507, luggage buffer device 510, mechanical arm 511 is selected in luggage buffer, according to the luggage accumulation condition of waiting to unpack, either directly carry luggage unpacking counter 509 and unpack the inspection, or treat that unpacked luggage is buffered and unpacked the inspection again, prevent that unpacked luggage from piling up too much and causing the confusion, and select mechanical arm 511 through luggage buffer and load and sort, realized the automation to consign luggage, intelligent high-efficient accurate transportation and processing, realized waiting to unpacked the automatic buffer of luggage and the automatic processing of selecting of waiting to unpacked luggage, artificial labor and luggage damage have been reduced, the space is saved, the efficiency of unpacking the inspection is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, and any modifications, equivalents and improvements made by those skilled in the art within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (8)

1. A full-flow processing method for airport luggage is characterized by comprising the following steps:
step 1: passengers handle consigned luggage by themselves, and the luggage is transported to a security inspection area (3) for security inspection by an AMR cluster of a front-end AMR waiting and transporting area (2);
and 2, step: the AMR clusters of the middle-end AMR waiting and transporting area (4) are respectively transported according to the luggage security check result, if the luggage is safe, the luggage is transported to a sorting luggage buffer area (6) or directly transported to a sorting luggage collecting area (8) according to the emergency degree of the luggage, and if the luggage is unsafe, the luggage is transported to a centralized unpacking area (5);
and step 3: the AMR cluster of the concentrated unpacking region (5) transports the luggage to be unpacked and then unpacks and rechecks the luggage, or transports the luggage to a luggage buffer device (510) for buffering and then unpacking and rechecking the luggage, and transports the luggage to a sorting luggage buffer region (6) after the recheck is qualified;
and 4, step 4: the method comprises the steps that luggage to be sorted in a luggage sorting cache region (6) is sorted to an AMR cluster of an AMR waiting and sorting transportation region (7) according to flight opening time, and luggage of the same flight is conveyed to the same luggage collecting conveyor (801) of a luggage sorting collection region (8) according to flight information of the luggage;
and 5: the AMR cluster of the rear-end AMR waiting and transporting area (9) transports the luggage on the same luggage collecting conveyor (801) to a luggage loading point according to the flight opening information to finish loading;
data interaction is carried out among the AMR cluster of the front-end AMR waiting and transporting area (2), the AMR cluster of the middle-end AMR waiting and transporting area (4), the AMR cluster of the centralized unpacking area (5), the AMR cluster of the AMR waiting and sorting transporting area (7) and the AMR cluster of the rear-end AMR waiting and transporting area (9) according to luggage data after self-service handling of passengers, so that real-time tracking of luggage information of the whole process is realized;
the step 2 specifically comprises the following steps:
step 2.1: the AMR cluster of the middle AMR waiting and transporting area (4) intelligently judges whether the luggage is safe or not according to the luggage security check data;
step 2.2: if the luggage is safe, the AMR cluster of the middle-end AMR waiting and transporting area (4) automatically transports the safe luggage to a sorting luggage buffer area (6) or directly transports the safe luggage to a sorting luggage collecting area (8) according to the urgency degree of the luggage; if the luggage is unsafe, unpacking inspection is needed, and the luggage to be unpacked is automatically transported to a centralized unpacking area (5).
2. The airport baggage full flow processing method of claim 1, wherein: the step 1 specifically comprises the following steps:
step 1.1: passengers finish check-in handling of consigned luggage on a self-service check-in counter of the check-in area (1) by self-service, and send luggage transportation tasks to AMR clusters of the front-end AMR waiting and transporting area (2) in real time according to the number and the positions of the luggage;
step 1.2: after the AMR cluster of the front-end AMR waiting and transporting area (2) receives the luggage transporting task, the luggage is rapidly transported to the security inspection area (3), the security inspection machines with small queuing number are intelligently selected to be in butt joint according to the queuing condition of the security inspection machines, the security inspection machines perform security inspection on the luggage, and the acquired luggage security inspection data are sent to the AMR cluster of the middle-end AMR waiting and transporting area (4).
3. The airport baggage full flow processing method of claim 1, wherein: the step 3 specifically comprises the following steps:
step 3.1: the AMR cluster of the concentrated unpacking area (5) transports the luggage to be unpacked to a luggage unpacking counter (509) for unpacking inspection;
step 3.2: after the AMR cluster of the centralized unpacking area (5) transports the luggage to be unpacked to a luggage buffer device (510) for buffering, the AMR cluster transports the buffered luggage to be unpacked to a luggage unpacking counter (509) for unpacking and checking;
step 3.3: the luggage unpacked according to the step 3.1 or 3.2 is transported to a rechecking security inspection machine (505) by an AMR cluster for rechecking; if the rechecking is qualified and the luggage is safe, the safe luggage is automatically transported to a sorting luggage buffer area (6), and if the rechecking is unqualified and the luggage is unsafe, the AMR cluster transports the luggage to a luggage unpacking counter (509) again for unpacking inspection again; the steps are repeated until the re-inspection is qualified, and the luggage is safe.
4. The airport baggage full-flow processing method according to claim 3, wherein: the step 3.1 specifically comprises the following steps:
step 3.1.1: the luggage to be unpacked transported to the centralized unpacking area (5) is conveyed to a luggage loading port (508) from a luggage output port (502) through a conveyor and then loaded onto an autonomous mobile robot (507);
step 3.1.2: the autonomous mobile robot (507) transports the luggage to be unpacked to the luggage unpacking counter (509) according to the optimal path for unpacking inspection.
5. The airport baggage full-flow processing method according to claim 3, wherein: the step 3.2 specifically comprises the following steps:
step 3.2.1: the luggage to be unpacked transported to the centralized unpacking area (5) is conveyed to a luggage loading port (508) from a luggage output port (502) through a conveyor and then loaded onto an autonomous mobile robot (507);
step 3.2.2: the autonomous mobile robot (507) transports the luggage to be unpacked to a luggage buffer picking mechanical arm (511) arranged at the luggage buffer device (510) according to the optimal path, and the luggage to be unpacked is loaded into the luggage buffer device (510) by the luggage buffer picking mechanical arm (511);
step 3.2.3: when the buffered luggage needs to be unpacked, the luggage buffering and picking mechanical arm (511) picks the buffered luggage to be unpacked from the luggage buffering device (510) and loads the sorted luggage to the autonomous mobile robot (507);
step 3.2.4: the autonomous mobile robot (507) transports the buffered luggage to be unpacked to the luggage unpacking counter (509) according to the optimal path for unpacking inspection.
6. The airport baggage full-flow processing method according to claim 4 or 5, wherein the step 3.3 comprises the following steps:
step 3.3.1: the autonomous mobile robot (507) directly transports the unpacked luggage to a rechecking luggage unloading input port (506);
step 3.3.2: the baggage enters from a rechecking baggage unloading input port (506), and is rechecked by a rechecking security check machine (505) to obtain a rechecking result;
step 3.3.3: if the re-inspection is qualified and the luggage is safe, the safe luggage is transported to a luggage sorting buffer area (6) through an online luggage input port (503);
step 3.3.4: if the rechecking is unqualified and the luggage is unsafe, the luggage with unqualified rechecking is loaded on the autonomous mobile robot (507) through the rechecking luggage offline loading port (504), and is transported to the luggage unpacking counter (509) again for unpacking inspection again;
step 3.3.5: and (5) repeating the steps of 3.3.1-3.3.4 until the re-inspection is qualified and the luggage is safe.
7. An airport baggage full-flow processing system based on the airport baggage full-flow processing method of any one of claims 1 to 3, characterized in that: the system is divided into a plurality of areas according to space, and comprises a value machine area (1), a front end AMR waiting and transporting area (2), a security inspection area (3), a middle end AMR waiting and transporting area (4), a centralized unpacking area (5), a sorted luggage cache area (6), an AMR waiting and sorting transporting area (7), a sorted luggage collecting area (8) and a rear end AMR waiting and transporting area (9);
a self-service check-in counter (101) is arranged in the check-in area (1), a security check machine (301) is arranged in the security check area (3), a luggage unpacking counter (509) and a rechecking security check machine (505) are arranged in the concentrated unpacking area (5), a luggage caching device (510) and a luggage caching and selecting mechanical arm (511) are arranged in the concentrated unpacking area (5) and the sorting luggage caching area (6), and a luggage collecting and conveying machine (801) is arranged in the sorting luggage collecting area (8);
AMR clusters are arranged in the front-end AMR waiting and transporting region (2), the middle-end AMR waiting and transporting region (4), the centralized unpacking region (5), the AMR waiting and sorting transporting region (7) and the rear-end AMR waiting and transporting region (9), and data interaction is carried out among all the AMR clusters according to luggage data after self-service handling and consignment of passengers, so that real-time tracking of luggage information in the whole flow is realized.
8. An airport baggage unpacking room baggage processing system based on the airport baggage full-flow processing method of claim 3, characterized in that: the system comprises a standby offline luggage conveying line (51), an offline luggage input line (52), an online conveying line (53), an autonomous mobile robot (507), a luggage unpacking counter (509), a luggage buffer device (510), a luggage buffer picking mechanical arm (511) and an autonomous mobile robot waiting and charging area (512);
the down-line luggage input line (52) comprises a down-line luggage output port (502) and a down-line luggage loading port (508), and luggage to be unpacked is conveyed from the down-line luggage output port (502) of the down-line luggage input line (52) to the down-line luggage loading port (508) through a conveyor and then loaded onto the autonomous mobile robot (507);
the autonomous mobile robot (507) directly transports the luggage to be unpacked to the luggage unpacking counter (509) for unpacking inspection or transports the luggage to the luggage buffer picking mechanical arm (511) according to the optimal path, the luggage to be unpacked is loaded into the luggage buffer device (510) by the luggage buffer picking mechanical arm (511), and the luggage buffer picking mechanical arm (511) is also used for picking the buffer luggage to be unpacked from the luggage buffer device (510), loading the buffer luggage to the autonomous mobile robot (507) and transporting the luggage to the luggage unpacking counter (509) for unpacking inspection;
the online conveying line (53) comprises an online luggage input port (503), a rechecking luggage offline loading port (504), a rechecking security check machine (505) and a rechecking luggage unloading input port (506), the luggage which is unpacked is directly conveyed to the rechecking luggage unloading input port (506) by the autonomous mobile robot (507) and conveyed to the rechecking security check machine (505) for rechecking, if the rechecking is qualified, the safe luggage is conveyed to a subsequent area through the online luggage input port (503), if the rechecking is unqualified, the luggage which is not rechecked is loaded to the autonomous mobile robot (507) through the rechecking luggage offline loading port (504), and the luggage is conveyed to the luggage unpacking counter (509) again for unpacking check again until the rechecking is qualified.
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