CN112389979A

CN112389979A - Airport autonomous mobile robot, baggage cargo transferring system and using method

Info

Publication number: CN112389979A
Application number: CN202110066130.5A
Authority: CN
Inventors: 杨秀清; 向勇; 马俊勇; 毛刚; 陈翼; 陈柏宇; 李貌; 李冰楠; 胡桐
Original assignee: Civil Aviation Logistics Technology Co ltd
Current assignee: Civil Aviation Logistics Technology Co ltd
Priority date: 2021-01-19
Filing date: 2021-01-19
Publication date: 2021-02-23
Anticipated expiration: 2041-01-19
Also published as: CN112389979B

Abstract

The invention discloses an airport autonomous mobile robot, a baggage cargo transferring system and a using method thereof, belonging to the field of airport logistics automation and intellectualization and baggage information full-range tracking. The application method of the autonomous mobile robot comprises the autonomous mobile robot for the airport, a lead-in conveying line, a cache conveyor, a running path, a queuing area and an upper task management system, wherein the lead-in conveying line and the cache conveyor are respectively provided with a photoelectric sensor and an RFID reader-writer. The invention can realize the secondary sorting of the luggage leaving the port, does not need manual participation, can automatically finish the sorting of the luggage, can configure the number of the autonomous mobile robots according to the actual needs of the system, and can configure a small number of the autonomous mobile robots when the system needs low processing efficiency.

Description

Airport autonomous mobile robot, baggage cargo transferring system and using method

Technical Field

The invention belongs to the field of automation and intellectualization of airport logistics, the field of Automatic Mobile Robots (AMR) and the field of whole-process luggage information tracking, and particularly relates to an airport automatic Mobile Robot, a luggage cargo transfer system and a using method.

Background

At present, the airport luggage and goods handling system mainly adopts a rail type conveying mode that traditional conveyors, turntables, independent carrying systems and the like are fixed on the ground, the handling mode often needs to meet the handling peak demand of 5 years or 10 years or even longer in the future when being designed, so that the handling capacity of the logistics system is far higher than the handling demand of the existing luggage at the initial stage of building, and a large amount of resources are wasted. In addition, the current logistics system also has a large number of manual processing links, such as the processing of luggage between unpacking rooms, the secondary sorting of turntables and the like, which causes the problems of low luggage or goods processing efficiency, loss, damage, mistransportation, incapability of automatically acquiring luggage or goods information and the like.

Especially, in the current carousel baggage sorting mode, baggage of 3-5 flights is often sorted into the same carousel, at this time, a plurality of workers are required to scan bar codes of all baggage again in sequence, then baggage of different flights is sorted, the labor intensity of the workers is high, the workers need to repeatedly stoop to scan baggage bar codes and unload baggage of a specified flight from the carousel, and as the secondary baggage sorting by workers is influenced by a plurality of factors such as manpower objectivity, subjectivity and the like, the baggage sorting efficiency is low, and wrong sorting is easy to occur, so that situations such as flight delay or wrong baggage transportation are caused.

In addition, when the autonomous mobile robot is applied in the industry at present, an upper transfer mechanism is integrated on a mature chassis, so that the chassis is difficult to maintain, and the upper transfer mechanism is difficult to disassemble and assemble.

Disclosure of Invention

The invention aims to: the airport autonomous mobile robot, the baggage cargo transferring system and the using method thereof are provided, so that the number of workers and the labor intensity of the workers are greatly reduced, the baggage damage rate is reduced, and the overhauling speed of a chassis of a trolley is increased.

The technical scheme adopted by the invention is as follows:

an airport autonomous mobile robot comprises an upper transfer device, an RFID reader-writer, a signal receiver and a chassis, wherein the upper transfer device is connected with the chassis through a hinge;

the upper transfer device comprises a front baffle, a rear baffle and a conveying device, the conveying device is arranged between the front baffle and the rear baffle, photoelectric sensors are arranged on the upper surfaces of the front baffle and the rear baffle, a mounting hole for a dismounting female terminal is formed in the bottom surface of the front baffle, and a dismounting terminal is fixedly arranged in the mounting hole for the dismounting female terminal;

the disassembly and assembly terminal comprises a disassembly and assembly female terminal and a disassembly and assembly male terminal, the disassembly and assembly female terminal comprises a spring and a base body, one end of the spring is fixedly connected with the base body, one end of the spring, which is far away from the base body, is provided with a spherical ball, the disassembly and assembly male terminal comprises a convex card, and the disassembly and assembly male terminal is connected with the disassembly and assembly female terminal through the convex card;

and the power supply input end of the transmission device is connected with the battery.

Further, the conveying device comprises a power roller, an unpowered roller and a belt, the power roller and the unpowered roller are connected to the inner side faces of the front baffle and the rear baffle through roller supports, supporting plates are arranged on the roller supports, the belt is sleeved on the cylindrical surfaces of the power roller and the unpowered roller, and the power roller is an electric roller with power.

Further, the chassis comprises a chassis stabilizing frame, a bearing frame, a decorative plate, an RFID reader-writer and a control processor, the bearing frame is fixedly connected to the upper surface of the chassis stabilizing frame, a battery is arranged inside the bearing frame, the chassis stabilizing frame is connected with a driving wheel, the decorative plate is connected with a disassembling terminal, and a power input end of the driving wheel is connected with the battery.

Furthermore, the chassis stabilizing frame is also provided with auxiliary traveling wheels, and the auxiliary traveling wheels are arranged at the bottom of the chassis stabilizing frame and positioned between the driving wheels.

Further, air bags are arranged on two sides of the chassis stabilizing frame, which are close to the front baffle and the rear baffle.

Furthermore, one end of the bearing frame, which is close to the battery, is provided with a laser radar, and the other end of the bearing frame is provided with a reversing radar.

An airport luggage cargo transferring system comprises the autonomous mobile robot for an airport, a lead-in conveying line, a buffer storage conveyor and an upper task management system;

the import conveying line and the buffer conveyor are used for conveying the luggage or goods to be conveyed to a specified position;

the upper task management system is a control center for dispatching the autonomous mobile robot;

the import conveying line and the cache conveyor are respectively provided with a photoelectric sensor and an RFID reader-writer and are used for reading information of the luggage or the goods;

the import conveying line conveys the luggage or the goods to the position of the main mobile robot, the main mobile robot loads the luggage or the goods, then the luggage or the goods are conveyed and unloaded to the buffer conveyor through an instruction sent by the upper layer task management system, and the buffer conveyor continuously conveys the luggage or the goods to the corresponding position.

The system further comprises a running path and a queuing area, wherein the running path is annular, a branch path is arranged beside the running path and corresponds to each cache conveyor, a loading area is correspondingly arranged on each branch path, the cache conveyors convey the luggage or goods conveyed from the corresponding running path to the corresponding loading area, and the queuing area is a waiting position when the autonomous mobile robot does not receive the instruction.

Further, the operation path is communicated with the introduction conveying line, a charging area is arranged inside the operation path, and the charging area is close to the queuing area.

The application method of the airport luggage cargo transferring system adopts the airport luggage cargo transferring system;

the method comprises the following steps:

s11: placing the autonomous mobile robot in a queuing area, and waiting for an upper task management system to send an instruction;

s12: putting the luggage or goods into a lead-in conveying line;

s13: the imported conveying line scans bar codes of transported luggage or goods and transmits information to an upper-layer task management system;

s14: the upper task management system sends out an instruction for dispatching the autonomous mobile robot, the corresponding autonomous mobile robot moves to a specified position after receiving a signal through the signal receiver, and an RFID reader on the autonomous mobile robot confirms the bar code information of the luggage or the goods;

s15: the autonomous mobile robot starts the upper transfer device to load the luggage or goods;

s16: scanning the transported luggage or goods by five groups of photoelectric sensors on the autonomous mobile robot, and adjusting the position of the luggage or goods on the upper transfer mechanism;

s17: the upper task management system distributes the collected bar code information of the luggage or the goods to corresponding loading areas;

s18: the autonomous mobile robot transports goods or luggage to a loading area matched with the bar code information according to the running path;

s19: the autonomous mobile robot starts the upper transfer device to unload the luggage or goods to the buffer conveyor;

s20: after the baggage or goods are unloaded, the autonomous mobile robot selects the optimal path to return to the queuing area, and the buffer conveyor conveys the baggage or goods to the loading area.

In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:

1. in the invention, in the aspect of the robot structure, an upper transfer turnover mechanism convenient for chassis maintenance and a quick disassembly terminal structure capable of quickly disassembling and assembling plastic plates are designed, so that the chassis can be maintained quickly and the upper transfer mechanism can be disassembled and assembled quickly.

2. According to the invention, the secondary sorting of the departure luggage can be realized, the sorting of the luggage can be automatically completed without manual participation, the number of the autonomous mobile robots can be configured according to the actual needs of the system, when the airport is put into operation and the system demand processing efficiency is low, a small number of autonomous mobile robots can be configured, and as time goes on, the system demand processing efficiency is high, the number of the autonomous mobile robots can be increased according to the needs, thereby being beneficial to reducing the early-stage input cost of airport operators, and the luggage or goods processing efficiency can be improved and simultaneously the construction cost can be saved by configuring as required.

3. In addition, in the traditional turntable processing mode, no matter one piece of luggage or goods or dozens of pieces of luggage or goods, the system must continuously operate, energy waste is caused, according to the scheme, each piece of luggage or goods is processed by a single autonomous mobile robot according to actual needs, and meanwhile, the shortest path algorithm of the scheme is matched, so that the energy consumption is greatly reduced.

Drawings

FIG. 1 is a schematic diagram of the working path of an autonomous mobile robot of the present invention;

FIG. 2 is a schematic diagram of the overall structure of the autonomous mobile robot of the present invention;

fig. 3 is a front view of the autonomous mobile robot upper transfer device of the present invention when it is opened;

FIG. 4 is a right side view of FIG. 3 of the present invention;

fig. 5 is a front view of the autonomous mobile robot upper transfer device of the present invention when closed;

FIG. 6 is a top view of the invention of FIG. 5;

FIG. 7 is a cross-sectional view of the transfer device of the present invention;

FIG. 8 is a top view of the chassis of the present invention;

FIG. 9 is an enlarged view at A of FIG. 2;

FIG. 10 is a schematic view of the terminal assembly of the present invention;

the labels in the figure are: 101 batteries, 102 bearing frames, 103 airbags, 104 laser radars, 105 reversing radars, 106 chassis stabilizing frames, 107 auxiliary traveling wheels, 108 driving wheels, 201 power rollers, 202 decorative plates, 203 supporting plates, 204 unpowered rollers, 205 front baffles, 206 rear baffles, 207 photoelectric sensors, 208 roller supports, 209 hinges, 210 belts, 301 dismounting female terminals, 302 springs, 303 spherical balls, 304 dismounting female terminals, 305 convex cards, 306 substrates and 307 dismounting female terminal mounting holes.

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.

Example 1

Referring to fig. 2 to 10, an airport autonomous mobile robot provided by the present invention includes an upper transfer device, an RFID reader, a signal receiver, and a chassis, wherein the upper transfer device is connected to the chassis through a hinge 209, the RFID reader is used to confirm cargo or baggage information, and the signal receiver is used to receive an external signal;

the upper transfer device comprises a front baffle 205, a rear baffle 206 and a conveying device, the conveying device is installed between the front baffle 205 and the rear baffle 206, photoelectric sensors 207 are arranged on the upper surfaces of the front baffle 205 and the rear baffle 206, a dismounting female terminal installation hole 307 is formed in the bottom surface of the front baffle 205, and a dismounting terminal is fixedly arranged in the dismounting female terminal installation hole 307; the dismounting terminal comprises a dismounting female terminal 301 and a dismounting male terminal 304, the dismounting female terminal 301 comprises a spring 302 and a base 306, one end of the spring 302 is fixedly connected with the base 306, one end of the spring 302, which is far away from the base 306, is provided with a spherical ball 303, the dismounting male terminal 304 comprises a convex card 305, and the dismounting male terminal 304 is connected with the dismounting female terminal 301 through the convex card 305; the chassis comprises a chassis stabilizing frame 106, a bearing frame 102, a decorative plate 202, an RFID reader-writer and a control processor, wherein the bearing frame 102 is fixedly connected to the upper surface of the chassis stabilizing frame 106, a battery 101 is arranged inside the bearing frame 102, the chassis stabilizing frame 106 is connected with a driving wheel 108, and the decorative plate 202 is connected with a dismounting terminal; the drive wheel 108 and the power input of the transmission are both connected to the battery 101.

After the above components are connected according to the connection method of the present invention, the detachable female terminal 301 is mounted on the front baffle 205 of the upper transfer device through the detachable female terminal mounting hole 307, the detachable male terminal 304 is fixedly mounted on the decorative plate 202, when the decorative plate 202 is mounted, the decorative plate 202 is pressed down with force, at this time, the male card 305 of the detachable male terminal 304 enters between the two spherical balls 303 of the detachable female terminal 301, and the spherical balls 303 clamp the male card 305 under the elastic force of the spring 302, thereby completing the quick fixing of the decorative plate 202.

When the driving wheel 108 is powered on, the autonomous mobile robot starts to move, a control processor on the autonomous mobile robot can receive an instruction sent from the outside to control the autonomous mobile robot to move regularly, when loading or unloading is needed, the conveying device starts to work to move luggage or goods to be conveyed on a horizontal plane, if the conveyed luggage or goods is not in the center of a belt, a signal is collected by a photoelectric sensor 207 on an upper transfer device and is transmitted to the control processor, the control processor gives an instruction for operating the conveying device, and when the signal collected by the photoelectric sensor 207 is that the luggage or goods reaches an intermediate position, the control processor gives an instruction for stopping the conveying device, so that the luggage or goods are centered in the movement direction of the conveying device; the RFID reader on the autonomous mobile robot can read the barcode on the transported baggage or cargo and then transmit the digital signal to the control processor.

In addition, when the chassis needs to be maintained, the upper shifting structure can be turned on one side, and the chassis can be maintained quickly. Specifically, one end of a hinge 209 is attached to both symmetrical sides of the bottom of the upper transfer device by a screw, and the other end of the hinge 209 is attached to the upper surface of the chassis of the autonomous mobile robot by a screw. Therefore, when the chassis needs to be maintained, the upper part transferring device can be quickly opened by dismounting the threaded connection on one side, and the chassis is convenient to maintain.

Example 2

Referring to fig. 4-7, further optimization is made based on embodiment 1: the conveying device comprises a power roller 201, an unpowered roller 204 and a belt 210, wherein the power roller 201 and the unpowered roller 204 are connected to the inner side surfaces of a front baffle 205 and a rear baffle 206 through a roller bracket 208 and a supporting plate 203, the belt 210 is sleeved on the cylindrical surfaces of the power roller 201 and the unpowered roller 204, and the power roller 201 is an electric roller with self-power.

The cargo is transferred to the belt 210 from the import conveying line and is carried out by the photoelectric sensor 207 on the upper transfer device, the power roller 201 is driven to drive the belt for position adjustment, after the autonomous mobile robot moves to a specified place, the power roller 201 is driven to rotate again, and the luggage or the cargo is driven by the belt to carry out an unloading action.

Example 3

Referring to fig. 4, further optimization is made on the basis of embodiment 1: the chassis stabilizing frame 106 is further provided with auxiliary traveling wheels 107, the auxiliary traveling wheels 107 are installed at the bottom of the chassis stabilizing frame 106 and located between the driving wheels 108, the auxiliary traveling wheels 107 are added to stabilize the chassis, and the situations that the autonomous mobile robot shakes during the traveling process are avoided.

Example 4

Referring to fig. 2, fig. 6 and fig. 8, further optimization is made on the basis of embodiment 3: the chassis stabilizing frame 106 is provided with air bags 103 on two sides close to the front baffle 205 and the rear baffle 206, the air bags are used for emergency collision prevention, and when the trolley collides with other objects, the air bags can be triggered, so that the power source of the driving wheels is cut off.

EXAMPLE 5

Referring to fig. 8, further optimization is made on the basis of embodiment 1: one end of the bearing frame 102 close to the battery 101 is provided with a laser radar 104, the other end of the bearing frame is provided with a reversing radar 105, and the laser radar 104 and the reversing radar 105 are arranged for the autonomous mobile robot to avoid obstacles in the process of moving.

Example 6

Referring to fig. 1, the present invention provides an airport baggage cargo transferring system and a method for using the same, including using the above autonomous mobile robot for an airport, further including a import conveyor line, a buffer conveyor, a travel path, a queuing area, and an upper task management system;

the leading-in conveying line and the buffer conveyor are both provided with a photoelectric sensor 207 and an RFID reader-writer, and the method comprises the following steps:

s12: putting the luggage or goods into a lead-in conveying line;

s14: the upper layer task management system sends out an instruction for dispatching the autonomous mobile robot, the corresponding autonomous mobile robot moves to a specified position after receiving the signal, and an RFID reader-writer on the autonomous mobile robot confirms the bar code information of the luggage or the goods;

s16: the five sets of photoelectric sensors 207 on the autonomous mobile robot scan the transported baggage or cargo and adjust the position of the baggage or cargo on the upper transfer mechanism.

The running path is annular, a branch path is arranged beside the running path, a loading area is arranged for the branch path, a guiding conveying line is arranged on the running path, a charging area is arranged inside the running path, and the charging area is close to the queuing area.

The system divides a running path into A, B, C, D, E, F six points according to task conditions, a path of a charging area is H, I, J points, and a branch path is L, N, K, O four points.

And dispatching the autonomous mobile robot to transport the luggage along the annular path A-B-C-D-E-F, and sorting the luggage or the goods to the designated buffer conveyor by the autonomous mobile robot according to the bar code information of the luggage or the goods. The automatic sorting system comprises a queuing area, a charging area, an A-B-C-D-E-F, a sorting loop path and a quick return path, wherein the queuing area is used for storing the automatic mobile robot without a sorting task, the path of the charging area is H-J and is used for charging the automatic mobile robot with insufficient electric quantity, the A-B-C-D-E-F is the sorting loop path of the automatic mobile robot, and the rest paths are a sorting branch path and a quick return path. Photoelectric sensors and RFID readers are arranged on the luggage or goods import conveying line, the buffer conveyor and the autonomous mobile robot. Five groups of photoelectric sensors on the autonomous mobile robot are used for adjusting the position of the luggage on the upper shifting mechanism, and the RFID reader-writer is used for confirming the bar code information of the luggage.

The luggage or goods after being sorted at the upstream enter the system from the import conveying line, at the moment, the photoelectric sensor and the RFID reader-writer of the import conveying line receive luggage or goods signals and bar code signals and send scheduling instructions to the upper layer task management system, the upper layer task management system schedules an autonomous mobile robot from a queuing area to reach the tail end A of the import conveying line, the upper part shifting device of the autonomous mobile robot is started, after the loading task of the luggage is completed, the autonomous mobile robot transports the luggage according to the luggage bar code information, if the bar code information of the luggage is sorted to the F loading area, the autonomous mobile robot will sort the baggage along the path of the ABKCMH and, after the cart reaches point K, the trolley starts the transfer device at the upper part to sort the luggage into the buffer conveyor in front of the F area, and the photoelectric sensor and the RFID reader-writer on the buffer conveyor confirm whether the luggage is the luggage or the goods of the flight again.

After the autonomous mobile robot finishes baggage sorting, the optimal path is selected to return to the queuing area, if the baggage is sorted to the F area, the baggage does not need to be transported according to the A-B-K-C-D-E-F, and the baggage only needs to be processed according to the A-B-K-C-H path and returns to the queuing area, so that the baggage processing efficiency can be greatly improved, the configuration number of the autonomous mobile robot is reduced, and the energy consumption is reduced.

Example 7

Referring to fig. 1, based on embodiment 1, similarly, if the baggage barcode information is sorted to the loading area a, the autonomous mobile robot will sort the baggage along the route of a-B-C-D-E-L-H, and when the cart reaches the point L, the cart starts the upper transfer device to sort the baggage into the buffer conveyor in front of the loading area a, and the photoelectric sensor and the RFID reader on the buffer conveyor again confirm whether the baggage is the baggage or the cargo of the flight.

Claims

1. An airport autonomous mobile robot is characterized by comprising an upper transfer device, an RFID reader-writer, a signal receiver and a chassis, wherein the upper transfer device is connected with the chassis through a hinge (209);

the upper transfer device comprises a front baffle (205), a rear baffle (206) and a conveying device, the conveying device is installed between the front baffle (205) and the rear baffle (206), photoelectric sensors (207) are arranged on the upper surfaces of the front baffle (205) and the rear baffle (206), a dismounting female terminal installation hole (307) is formed in the bottom surface of the front baffle (205), and a dismounting terminal is fixedly arranged in the dismounting female terminal installation hole (307);

the disassembly and assembly terminal comprises a disassembly and assembly female terminal (301) and a disassembly and assembly male terminal (304), the disassembly and assembly female terminal (301) comprises a spring (302) and a base body (306), one end of the spring (302) is fixedly connected with the base body (306), the other end of the spring (302) is provided with a spherical ball (303), the disassembly and assembly male terminal (304) comprises a convex card (305), and the disassembly and assembly male terminal (304) is connected with the disassembly and assembly female terminal (301) through the convex card (305);

the power input end of the transmission device is connected with a battery (101).

2. The airport autonomous mobile robot of claim 1, wherein the conveyor comprises a power roller (201), an unpowered roller (204) and a belt (210), the power roller (201) and the unpowered roller (204) are connected to the inner sides of the front baffle (205) and the rear baffle (206) through a roller bracket (208), a support plate (203) is arranged on the upper surface of the roller bracket (208), the belt (210) is sleeved on the cylindrical surfaces of the power roller (201) and the unpowered roller (204), and the power roller (201) is an electric roller with self-power.

3. The airport autonomous mobile robot of claim 2, wherein the chassis further comprises a chassis stabilizing frame (106), a bearing frame (102), a decorative plate (202), an RFID reader-writer and a control processor, the bearing frame (102) is fixedly connected to the upper surface of the chassis stabilizing frame (106), a battery (101) is arranged inside the bearing frame (102), the chassis stabilizing frame (106) is connected with a driving wheel (108), the decorative plate (202) is connected with a dismounting terminal, and a power supply input end of the driving wheel (108) is connected with the battery (101).

4. An airport autonomous mobile robot as claimed in claim 3 wherein the chassis stabilizing frame (106) is further provided with auxiliary road wheels (107) and the auxiliary road wheels (107) are located between the drive wheels (108).

5. An autonomous mobile robot for airports according to claim 4, characterised in that the chassis stabilising frame (106) is provided with airbags (103) on both sides near the front apron (205) and the back apron (206).

6. An airport autonomous mobile robot as claimed in claim 3, characterized in that the carrying frame (102) is provided with a lidar (104) at one end near the battery (101) and a reversing radar (105) at the other end.

7. An airport baggage cargo transfer system comprising an import conveyor line, a buffer conveyor, an upper task management system and an autonomous mobile robot for an airport using any one of claims 1 to 6;

the import conveying line and the buffer conveyor are both provided with a photoelectric sensor (207) and an RFID reader-writer and are used for reading the bar code information of the luggage or the goods;

8. The airport baggage cargo transferring system according to claim 7, further comprising a traveling path and a queuing area, wherein the traveling path is circular, a branch path is provided beside the traveling path corresponding to each buffer conveyor, a loading area is provided beside each branch path, the buffer conveyor transfers the baggage or cargo transferred through the corresponding traveling path to the corresponding loading area, and the queuing area is a waiting position when the autonomous mobile robot does not receive the instruction.

9. An airport baggage cargo transfer system according to claim 8 wherein the travel path communicates with an import conveyor line, the travel path having a charging zone located within the travel path, the charging zone being located immediately adjacent the queuing zone.

10. A method of using the airport baggage handling system of any one of claims 7 to 9,

the method comprises the following steps:

s12: putting the luggage or goods into a lead-in conveying line;

s16: five groups of photoelectric sensors (207) on the autonomous mobile robot scan the transported luggage or goods and adjust the position of the luggage or goods on the upper transfer mechanism;