WO2023179760A1

WO2023179760A1 - Transport control methods, system and apparatuses, electronic device, transport vehicle and medium

Info

Publication number: WO2023179760A1
Application number: PCT/CN2023/083646
Authority: WO
Inventors: 吴威宏; 刘晓龙; 坦帕塞特坎皮安
Original assignee: 德利国际有限公司; 深圳中集天达空港设备有限公司
Priority date: 2022-03-25
Filing date: 2023-03-24
Publication date: 2023-09-28
Also published as: WO2023179760A9; CN114648434A

Abstract

Provided in the embodiments of the present disclosure are transport control methods, system and apparatuses, an electronic device, a transport vehicle and a medium, a transport control method comprising: in response to a luggage dispatching task sent by a centralized control center, determining a luggage output device outputting luggage; selecting amongst a plurality of luggage handling devices a target luggage handling device for receiving the luggage; generating a luggage transport route on the basis of the position of the luggage output device and the position of the target luggage handling device; generating a luggage transport task on the basis of the luggage transport route and the luggage dispatching task; and issuing the luggage transport task to a transport vehicle, so that the transport vehicle transports the luggage from the luggage output device to the target luggage handling device on the basis of the luggage transport route. On the basis of flexibly configuring transport firmware, the technical solution of the embodiments of the present disclosure helps to optimize transport paths of transport vehicles, further improving the luggage transport efficiency of the transport vehicles.

Description

Transportation control methods, systems, devices, electronic equipment, transportation vehicles and media

This disclosure claims priority to the Chinese patent application with application number 202210307469.4 and titled "Transportation Control Methods, Systems, Devices, Electronic Equipment, Transport Vehicles and Media" filed on March 25, 2022. All the Chinese patent applications The contents are incorporated herein by reference in their entirety.

Technical field

The present disclosure relates to the field of centralized control technology, specifically, to a transportation control method for baggage check-in, a transportation control system for baggage check-in, a transportation control device for baggage check-in, and an electronic device , a transport vehicle and a computer-readable storage medium.

Background technique

When passengers choose to travel by plane, they usually carry large luggage. For large luggage, they need to go through the check-in procedures at the check-in counter at the airport. After completing the check-in procedures, they will undergo further security checks and then be transported to the place where the customer wants to board. On the plane.

In related technologies, after checking in, the baggage is transported to the security checkpoint for security inspection through belts or rail conveyor equipment. The baggage that has passed security inspection is continued to be transported to the baggage area of the corresponding flight or other functions by conveyor equipment, sorting equipment, etc. In this area, this method of transporting checked baggage currently has the following shortcomings:

Since it is necessary to design a conveyor route or track that matches the conveying equipment, the early design is complex and the construction time is long. In addition, once the conveyor route or track is completed, it is difficult to modify, so the later expansion flexibility is poor and accurate cannot be achieved. On-demand scheduling and flexible route adjustment lead to the problem of low transportation efficiency.

It should be noted that the information disclosed in the above background section is only used to enhance understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to those of ordinary skill in the art.

Contents of the invention

The purpose of the embodiments of the present disclosure is to provide a transportation control method for baggage check-in, a transportation control system for baggage check-in, a transportation control device for baggage check-in, an electronic device, and a transport vehicle and a computer-readable storage medium that improves, at least to a certain extent, the flexibility and efficiency of airport baggage transportation.

Additional features and advantages of the disclosure will be apparent from the following detailed description, or, in part, may be learned by practice of the disclosure.

According to an aspect of an embodiment of the present disclosure, a transportation control method for baggage check-in is provided, applied to a management and control subsystem, including: in response to a baggage scheduling task sent by a centralized control center, determining a baggage output device for outputting baggage ; and selecting a target baggage handling device to receive the baggage among the plurality of baggage handling devices; generating a baggage transportation route based on the position of the baggage output device and the position of the target baggage handling device; based on the baggage transportation route and the position of the target baggage handling device; The baggage scheduling task generates a baggage transport task; and issues the baggage transport task to the transport vehicle, so that the transport vehicle transports the baggage from the baggage output device to the target baggage processing device based on the baggage transport route.

According to another aspect of the embodiment of the present disclosure, a transportation control method for baggage checking is provided, applied to a centralized control center, including: issuing a baggage dispatching task to the management and control subsystem, so that the management The control subsystem issues the baggage transport task generated based on the baggage scheduling task to the transport vehicle, so that the transport vehicle executes the baggage transport task.

According to yet another aspect of the embodiment of the present disclosure, a transportation control method for baggage check is provided, applied to a transport vehicle. The transportation control method includes: receiving a baggage transportation task issued by the management and control subsystem; extracting the baggage transportation task. The baggage transportation route in the baggage transportation task is described; after the baggage loading is completed, the vehicle travels based on the baggage transportation route.

According to another aspect of the embodiment of the present disclosure, a transportation control system for baggage check-in is provided, including: a centralized control center, a management and control subsystem, and a plurality of transport vehicles, wherein the centralized control center, the management and control subsystem The system and the plurality of transport vehicles are used to respectively perform the steps of the above transport control method.

According to yet another aspect of an embodiment of the present disclosure, a transportation control device for baggage checking is provided, applied to a management and control subsystem, and the management and control subsystem is used to manage and control multiple transport vehicles. The transportation control device The device includes: a determining unit, configured to determine the baggage output device that outputs the baggage in response to the baggage scheduling task sent by the centralized control center; a selection unit, used to select a target baggage handling device that receives the baggage among multiple baggage handling devices; first A generating unit configured to generate a baggage transportation route based on the position of the baggage output device and the target baggage handling device; a second generating unit configured to generate a baggage transportation route based on the baggage transportation route and the baggage scheduling task Task: a first sending unit, configured to issue the baggage transportation task to the transport vehicle, so that the transport vehicle transports the baggage from the baggage output device to the target baggage processing device based on the baggage transport route.

According to another aspect of the embodiment of the present disclosure, a transportation control device for baggage check is provided, applied to a centralized control center, and the centralized control center is used to centrally control at least one management and control subsystem, and the management and control subsystem is The control subsystem is used to manage and control multiple transport vehicles. The transport control device includes: a second sending unit for issuing baggage dispatching tasks to the management and control subsystem, so that the management and control subsystem sends luggage dispatch tasks to the transport vehicles. The vehicle issues a baggage transport task generated based on the baggage scheduling task, so that the transport vehicle executes the baggage transport task.

According to another aspect of the embodiment of the present disclosure, a transportation control device for baggage check is provided, which is applied to a transport vehicle. The transportation control device includes: a receiving unit for receiving luggage issued by the management and control subsystem. A transportation task; an extraction unit, used to extract the luggage transportation route in the luggage transportation task; and an execution unit, used to drive based on the luggage transportation route after completing the luggage loading.

According to yet another aspect of an embodiment of the present disclosure, an electronic device is provided, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-mentioned first step by executing the executable instructions. The transportation control method for checked baggage according to the aspect or the second aspect.

According to yet another aspect of an embodiment of the present disclosure, a transport vehicle is provided, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-mentioned third step by executing the executable instructions. A transportation control method for checked baggage as described in the aspect.

According to yet another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, any one of the above transportation control methods for checked baggage is implemented.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

In the technical solution provided by some embodiments of the present disclosure, by setting up a centralized control center and a management and control subsystem, the centralized control center issues baggage dispatching tasks to the management and control subsystem, and the management and control subsystem receives baggage dispatching tasks. After scheduling the task, the transportation route is generated based on the baggage scheduling task, and the transportation route is sent to the transport vehicle, so that the transport vehicle performs the luggage transportation task based on the transportation route. By using the transport vehicle as the transportation equipment, it is consistent with the belt transportation in related technologies. Compared with the rail transportation solution, on the one hand, there is no need to invest in the construction of conveyor routes or rails and other facilities in the early stage, and it can be directly put into use in existing airports and other venues. On the other hand, since there is no need to set up fixed routes , thus making the configuration of the transport vehicle's driving route and the number of transport vehicles used more flexible, which is conducive to optimizing the transport path and improving transport efficiency.

It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and do not limit the present disclosure.

Description of the drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, without exerting any creative effort, they can also design according to These drawings acquire other drawings.

Figure 1 schematically shows a schematic block diagram of a transportation control system for baggage check-in according to an embodiment of the present disclosure;

Figure 2 schematically shows a schematic block diagram of a transportation control system for baggage check-in according to another embodiment of the present disclosure;

Figure 3 schematically shows a schematic flow chart of a transportation control method for baggage check-in according to an embodiment of the present disclosure;

Figure 4 schematically shows a schematic flow chart of a transportation control method for baggage check-in according to another embodiment of the present disclosure;

Figure 5 schematically shows a schematic flow chart of a transportation control method for baggage check-in according to another embodiment of the present disclosure;

Figure 6 schematically shows a schematic flow chart of a transportation control method for baggage check-in according to yet another embodiment of the present disclosure;

Figure 7 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 8 schematically shows a schematic block diagram of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 9 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 10 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 11 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 12 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 13 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 14 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 15 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 16 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 17 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 18 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 19 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 20 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 21 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 22 schematically shows a schematic diagram of a transport vehicle for baggage check-in performing an obstacle avoidance operation according to an embodiment of the present disclosure;

Figure 23 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 24 schematically shows a structural diagram of a transport vehicle for baggage check-in according to an embodiment of the present disclosure;

Figure 25 schematically shows a control flow chart of a transportation control system for baggage check-in according to yet another embodiment of the present disclosure;

Figure 26 schematically shows a schematic plan layout of a transportation control system for baggage check-in according to an embodiment of the present disclosure;

Figure 27 schematically shows a module diagram of a transportation control system for baggage check-in according to an embodiment of the present disclosure;

Figure 28 schematically shows a functional hierarchy diagram of the management and control subsystem in the transportation control system for baggage check-in according to an embodiment of the present disclosure;

Figure 29 schematically shows a schematic block diagram of a transportation control device for baggage check-in according to an embodiment of the present disclosure;

Figure 30 schematically shows a schematic block diagram of a transportation control device for baggage check-in according to an embodiment of the present disclosure;

Figure 31 schematically shows a schematic block diagram of a transportation control device for baggage check-in according to an embodiment of the present disclosure;

Figure 32 shows a schematic diagram of an electronic device in an embodiment of the present disclosure.

Detailed ways

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concepts of the example embodiments. To those skilled in the art. The described features, structures or characteristics may be combined in any suitable manner in one or more embodiments.

Furthermore, the described features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other instances, well-known methods, apparatus, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the present disclosure.

In related technologies, after passengers go through the check-in procedures, existing airport checked baggage is transported to the checked baggage security inspection area through belts or rail conveyor equipment for security inspection. The baggage that has passed security inspection is continued to be transported to the airport by conveyor equipment, sorting equipment, etc. Corresponding to the baggage area or other functional areas of the flight, however, this type of checked baggage transportation method has complex early design, long construction time, poor flexibility in later expansion, low transportation efficiency, high energy consumption, and system maintenance that has a great impact on normal use. question.

In order to solve this technical problem, embodiments of the present disclosure provide a transportation control method and a transportation control system for baggage check-in.

As shown in Figure 1, a transportation control system for baggage check-in provided according to an embodiment of the present disclosure includes: a centralized control center 102, a management and control subsystem 104 and a plurality of transport vehicles 16, wherein the management and The control subsystem is communicatively connected to the centralized control center, baggage handling equipment and transport vehicles respectively. The centralized control center is used to control at least one management and control subsystem. The management and control subsystem is used to manage and control the transport vehicles to perform baggage transport tasks.

The centralized control center can control one or more management and control subsystems. For example, if there are multiple management and control subsystems, the centralized control center can separately manage and control a group of transport vehicles through each management and control subsystem to achieve each Independent operation of group transport vehicles.

In addition, the transport vehicle 106 may be an AGV vehicle, and the baggage handling equipment includes but is not limited to: security inspection equipment and luggage handling equipment. Lee turntable.

Specifically, the centralized control center is used to issue baggage dispatching tasks to the management and control subsystem, so as to perform overall control and dispatch of multiple transport vehicles through the management and control subsystem.

A management and control subsystem configured to determine a baggage output device 108 to output the baggage in response to the received baggage dispatch task, and select a target baggage handling device 110 to receive the baggage among multiple baggage handling devices, based on the location of the baggage output device , and the location of the target baggage handling equipment to generate a baggage transportation route, generate a baggage transportation task based on the baggage transportation route and baggage scheduling tasks, and issue the baggage transportation task to the transport vehicle.

Specifically, the management and control subsystem allocates transportation tasks to the transport vehicles based on the baggage scheduling task. Based on the assigned transportation tasks and combined with the above-mentioned selection principles for the target end point, after selecting the target end point, the corresponding generated transportation route can be sent. To the transport vehicle, after receiving the transport route, the transport vehicle generates navigation information based on the transport route, drives based on the navigation information, and performs loading and unloading operations of luggage to complete the transportation of luggage within the transport area.

Transport vehicle, used to receive and perform baggage transport tasks.

In this embodiment, by setting up a centralized control center and a management and control subsystem, the centralized control center issues baggage dispatching tasks to the management and control subsystem. After the management and control subsystem receives the baggage dispatching tasks, it Generate a transportation route and send the transportation route to the transportation vehicle, so that the transportation vehicle performs the transportation task of the baggage based on the transportation route. By using the transportation vehicle as the transportation equipment, compared with the belt transportation or rail transportation solutions in related technologies, On the one hand, this solution does not require early investment in the construction of transportation rails and other facilities, and can be directly put into use in existing airports and other venues. On the other hand, since there is no need to set up a fixed route, it makes the driving route of the transport vehicle very difficult. And the configuration of the number of transport vehicles used is more flexible, which is conducive to the optimization of transport routes and improves transport efficiency.

In some embodiments, the management and control subsystem has multiple transport vehicles, and multiple transport vehicles are divided into multiple groups. Each management and control subsystem controls a corresponding group of transport vehicles. The management and control subsystem is specifically used to provide The transport vehicle with control authority sends the baggage transport task.

In this embodiment, by setting up a two-level dispatching mode of the centralized control center and the management and control subsystem, it is beneficial to realize balanced dispatching, improve dispatching efficiency and centralized management of resources in large-scale transport vehicle applications.

In addition, a separation structure can also be provided between two adjacent transport areas to restrict the transport vehicle from traveling within the respective defined transport areas.

Specifically, in transportation areas such as airports, due to factors such as large area areas and many types of baggage handling equipment and baggage output equipment, in order to ensure the reliability and orderliness of transportation, the transportation area can be divided into multiple Each transport area runs at least one group of transport vehicles. Each group of transport vehicles is controlled by a management and control subsystem. Therefore, large and complex airports require multiple management and control subsystems. Multiple management and control subsystems are required. The system issues baggage dispatch tasks respectively from the centralized control center. Based on the management and control operations of the management and control subsystem, a group of transport vehicles controlled by each management and control subsystem can be configured to only operate within a limited transport area. Operation can also be configured to operate in different transportation areas, that is, based on transportation needs, in a transportation area, only one group of transportation vehicles can operate, or there can be multiple groups of transportation vehicles operating.

Taking the airport as an example, the transportation area is divided into at least two transportation areas, including a first transportation area and a second transportation area. The first transportation area is the area before baggage passes security inspection, and the second transportation area is the area after security inspection. The first transportation area and the second transportation area can be divided by physical isolation or by software permission restrictions. Transport vehicles located in the first transportation area can only operate in the first transportation area, and vehicles located in the second transportation area can only operate in the first transportation area. The transport vehicles can only be in the second transport area. By dividing the area, it can prevent the luggage that has not passed the security inspection from being directly transported to the end of the second transport area, thereby reducing the probability of missed inspection and improving the reliability of the security inspection.

In this embodiment, by setting up multiple management and control subsystems and dividing multiple transport vehicles into multiple groups, a group of transport vehicles is controlled by one management and control subsystem, and the multiple groups of management and control subsystems are controlled by Centralized control center control, based on the above layout method, enables multiple groups of transport vehicles to operate independently in multiple transport areas, thereby ensuring the effective application of baggage transport in airports and other areas.

In some application scenarios, the transportation control system can also include a baggage sorting service subsystem and a management and control subsystem. According to the system settings, the baggage sorting service subsystem is used to manage multiple baggage output devices. By sending checked baggage information to the corresponding management and control subsystem, the management and control subsystem sends all the checked baggage information to the centralized control center. The centralized control center generates baggage dispatch tasks based on checked baggage information.

Specifically, the transportation area includes a first transportation area and a second transportation area. In the first transportation area, the baggage output equipment is the track equipment of the check-in counter, and the baggage handling equipment is the security inspection equipment. In the second transportation area, The baggage output equipment is security inspection equipment, and the baggage handling equipment is platform equipment for manual inspection, load-bearing equipment for collecting early-arrived baggage, and load-carrying equipment for collecting on-arrival baggage, etc.

In addition, checked baggage information includes but is not limited to the number of bags to be transported.

In this embodiment, after receiving the checked baggage information, the centralized control center generates a corresponding baggage dispatching task by counting the distribution and quantity of checked baggage. Based on the baggage dispatching task, the management and control subsystem can determine which baggage output device has the baggage. The required transportation, as well as the specific number of luggage to be transported, can be determined based on this information. The target starting point can be determined, and the transportation route can be further determined based on the target starting point and the target end point, and the transportation route can be sent to the transport vehicle to further improve transportation efficiency.

In some embodiments, the centralized control center is specifically used to issue management and control authority information of the corresponding managed transportation area to each management and control subsystem; the transportation vehicle is specifically used to send preset schedules to the management and control subsystem. Coding; management and control subsystem, specifically used to send authorization information to the transport vehicle when the dispatch code is verified based on the control authority information. The authorization information is used to determine the control authority for the transport vehicle so that the transport vehicle can be used in the corresponding transportation. There is driving authority within the area.

Among them, the centralized control center configures the authority information of each transportation area and sends it to the management and control subsystem used to control the transportation vehicles in the transportation area. The management and control subsystem obtains the information to be verified sent by the transportation vehicles. The verification information is specifically a preset dispatch code. The management and control subsystem determines whether the information to be verified matches the authorization information. Therefore, only when it detects that the verification information matches the authorization information, the transport vehicle can operate in the transportation area to which it belongs. Based on The above verification process realizes the authorization of transport vehicles operating in any transport area to ensure that transport vehicles in each transport area only operate in this transport area, thereby achieving controllability of transport vehicle operations.

In addition, as a specific authentication method, by configuring the area identification of the transportation area with the mapping relationship and the dispatched vehicle list in the authority information, the management and control subsystem determines when it finds the dispatch code in the dispatched vehicle list. Scheduling encoding verification passed.

In this embodiment, as a way to flexibly configure the regional authority information of each transportation area, the regional authority information of the first transportation area includes the area identification of the first transportation area and the corresponding dispatching vehicle list. The dispatching vehicle list includes Transport vehicles with serial numbers 1 to 25 are implemented to restrict transport vehicles with serial numbers 1 to 25 from operating in the first transport area. The regional authority information of the second transport area includes the regional identification of the second transport area and the corresponding dispatch vehicle list. The dispatch vehicle The list includes transport vehicles with serial numbers 26 to 50, so as to restrict the transport vehicles with serial numbers 26 to 50 from running in the second transport area. The management and control subsystem corresponding to the first transport area receives the scheduling code sent by the transport vehicle in 1 to 25, then authorization information is sent to the transport vehicle to allow it to drive in the first transport area. When the management and control subsystem corresponding to the second transport area receives the dispatch code sent by the transport vehicle between 26 and 50 , then the authorization information is sent to the transport vehicle to allow it to drive in the second transport area to ensure the reliable operation of the transport vehicle.

In some embodiments, the centralized control center is specifically configured to send a change instruction of management and control permissions to the management and control subsystem; the management and control subsystem is specifically configured to receive a change instruction of permission information sent by the centralized control center, based on the change instruction. Determine the candidate transport vehicle to be changed and the change type, generate the corresponding driving permission change information based on the change type, and issue the driving permission change information to the candidate transport vehicle to be changed; the transport vehicle is specifically used to respond to the management and control subsystem The driving authority change information sent determines the target change area to travel from the current transportation area to the target change area.

The centralized control center obtains the transportation capacity scheduling information, determines the transportation vehicles to be dispatched in at least one transportation area based on the transportation capacity scheduling information, and generates a change instruction for the transportation vehicles to be dispatched. The corresponding change type is suitable for the transportation vehicles to be dispatched across area movement.

Among them, the change types include but are not limited to changes from one transportation area to another transportation area, or from one transportation area to another. The area is changed to the maintenance area.

Specifically, the initiator initiates a change application for cross-regional movement of transport vehicles through the centralized control center. After multi-level approval, the centralized control center generates an instruction with a time window to the control attendant. After the control attendant confirms the instruction, the centralized control The center sends change codes to the management and control subsystem as required. The management and control subsystem assigns the change codes to the transport vehicles to be dispatched, and sends driving permission change information to the transport vehicles. The designated transport vehicles to be dispatched receive the change. After encoding and driving permission change information, the transport vehicle passes through the physical isolation object or physical isolation facility through a specific channel. After completing the crossing, the transport vehicle sends a crossing completion report to the management and control subsystem, and then submits it to the centralized control center for confirmation.

In this embodiment, after obtaining the transportation capacity scheduling information, the centralized control center determines that the transport vehicles to be dispatched in one transportation area are scheduled to another transportation area based on the transportation capacity scheduling information, and generates a change instruction, which is received by the management and control subsystem. The centralized control center sends instructions to change the authority information to schedule uneven distribution of tasks in different transportation areas. For example, when one part of the transportation area has more transportation tasks and another part of the transportation area has fewer tasks, by modifying the authorization of the transportation vehicle With permission, the transport vehicles in one transport area can be scheduled to work in another transport area to improve the utilization of transport vehicles and ensure the balanced operation of transport vehicles.

Specifically, taking the airport as an example, the airport may involve more than 700 transport vehicles. By adopting a two-level dispatching model of a centralized control center and a management and control subsystem, the system balance, dispatching efficiency and centralized management of resources under large-scale applications are solved. The problem.

In some embodiments, the centralized control center is specifically configured to: receive the change success information of the changed transport vehicle fed back by the management and control subsystem, and send a change notification to the designated management end based on the change success information.

In this embodiment, in response to changes in the regional status of the transport vehicle, the centralized control center will generate a change notification and send the change notification to the management team and security team via email and SMS. The notification process will end after sending the successful area swap information. , the authorization process and the exchanged AGV information cannot be deleted and will be retained permanently.

The transport control system for baggage check-in of the present disclosure will be further described below in conjunction with the description of the charging module for charging the transport vehicle.

Charging modules can be divided into multiple groups based on different setting methods or setting areas. In addition, the charging method between the charging module and the transport vehicle can be interface-based wired charging or contact wireless charging. By setting up a combination of multiple charging modules, the charging efficiency of the transport vehicle can be improved to further increase the standby time of the charging vehicle.

The charging module can be used to report working condition information to the management and control subsystem;

The management and control subsystem is specifically used to generate charging instructions based on the status information reported by the transport vehicle and/or the working condition information reported by the charging module to issue charging instructions to the transport vehicle. The charging instructions are used to drive the transport vehicle to the corresponding location. charging module for charging operation.

As shown in FIG. 2 , in some embodiments, the charging module includes a first charging module 112 , a second charging module 114 and a third charging module 116 .

The first charging module is communicatively connected to the management and control subsystem. The first charging module 112 includes a plurality of first charging rails 1122, which are arranged in the transportation area between the plurality of baggage output devices and the plurality of baggage handling devices. Charging transport vehicles while in motion.

Among them, through the communication connection, the first charging module can send the occupancy information of each first charging track to the management and control subsystem.

Specifically, as an application mode, when the transport vehicle travels to the first charging track, the transport vehicle can be charged by the first charging track.

In this embodiment, by arranging the first charging module, the first charging module is specifically arranged in the transport area of the transport vehicle and may include multiple first charging tracks. The starting point of the first charging track is close to the luggage output device and the end point is close to the baggage output device. Close to the baggage handling equipment, the first charging track can be a high-speed online charging track. Further, it can be arranged in a high-traffic operation area of the transportation area. The first charging track can be a planar layout or a spatial layout. By setting the first charging track , realizes online charging of transport vehicles that are traveling normally. The length of this section of charging track is relatively long, which allows the transport vehicles to be charged during operation. It can reduce the setting and number of fixed charging piles and prevent the transport vehicles from being charged during transportation. Take off Not only ensuring the attendance rate and operational reliability of the transport vehicle, it can also extend the standby time of the transport vehicle.

In addition, the arrangement of the first charging module in the form of a track is also conducive to reducing the number of fixed charging piles.

The second charging module 114 includes a plurality of second charging rails 1142, and is arranged with a standby area and/or a queuing area for charging transport vehicles in a queuing waiting state. The standby area and/or queuing area is located at multiple baggage handling devices. The front end of the baggage output device, and/or the front end of the baggage output device, and/or the area where the transport vehicle is waiting for task instructions.

Wherein, compared with the first charging track in the first charging module being used to charge the transport vehicle in the running state, the second charging track in the second charging module is used to charge the transport vehicle in the waiting state, The first charging track is therefore longer than the second charging track.

Through the setting of the first charging track and the second charging track, it can not only improve the utilization rate of the transportation area, realize the charging function in the transportation area, but also improve the luggage transportation efficiency and reduce the installation of charging piles.

The third charging module 116 includes a plurality of charging piles 1162, which are arranged in the non-transportation area and used to charge the transport vehicle in an idle state.

In this embodiment, by arranging a third charging module including a plurality of charging states, charging of the transport vehicle in the idle state is achieved, ensuring the reliability of the transport vehicle in the idle state as a backup transport vehicle.

Specifically, the second charging module is a charging track arranged in the queuing area/standby area. When the transport vehicle runs to the queuing area or standby area, it automatically travels to the second charging track, and the second charging track senses the transportation When the vehicle is in the vehicle, the charging vehicle can be directly started to charge, or the sensed information can be sent to the management and control subsystem, so that the management and control subsystem issues charging instructions.

In some embodiments, a vertical lifting mechanism is also included, which is arranged in at least one transportation area and is communicatively connected with the associated management and control subsystem.

The management and control subsystem is specifically used to send energy-saving mode operation instructions to the vertical lifting mechanism when the vertical lifting mechanism carries both transport vehicles to be raised and to be lowered, or when the vertical lifting mechanism only carries transport vehicles to be raised or lowered. When the normal mode operation command is sent to the vertical lifting mechanism.

Among them, the vertical lifting mechanism is specifically a vertical lift.

In this embodiment, a vertical lifting mechanism is set up to realize the vertical transfer of transport vehicles in a ramp-free application scenario. The management and control subsystem allocates transport vehicles with similar weights but opposite transfer directions to share a vertical lifting mechanism to realize the transfer of transport vehicles. Energy-saving operation of vertical lifting mechanism.

In addition, in scenarios where there are only transport vehicles that need to ascend, or only transport vehicles that need to descend, the management and control subsystem will skip the energy-saving logic based on the up and down traffic flow and task priority.

In some embodiments, the centralized control center is specifically configured to issue maintenance decisions for the transport vehicle to the management and control subsystem on a regular basis; the management and control subsystem is specifically configured to determine corresponding maintenance instructions based on the maintenance decisions, and issue maintenance instructions to the to-be-maintained vehicles. The transport vehicle issues a maintenance instruction; the transport vehicle is specifically used to respond to the received maintenance instruction, switch the driving authority to the maintenance authority, and drive to the maintenance operation area based on the maintenance authority according to the maintenance route carried in the maintenance instruction to execute Maintenance operations.

In this embodiment, the centralized control center specifically obtains the maintenance request, determines the transport vehicle to be maintained in at least one transport area based on the maintenance request, and generates a maintenance decision based on the transport vehicle to be maintained. Specifically, based on the maintenance request The schedule or detected fault initiates a maintenance request, and in turn notifies maintenance personnel, notifies safety personnel, and notifies the centralized control center. The centralized control center generates a maintenance decision with a time window based on the maintenance request and sends it to the management and control sub-system. System, the management and control subsystem generates corresponding driving authority change information to the transport vehicle. The transport vehicle exits the transportation area based on the driving authority change information, passes through the physical isolation object or physical isolation facility through a specific channel and leaves the transportation area. After leaving the transportation area Send the detachment information to the management and control subsystem, and then the management and control subsystem feeds back the results to the centralized control center.

In addition, for the transport vehicle, in order to realize baggage transportation, the transport vehicle is equipped with a sensing device and is preset with map information of multiple transport areas. The sensing device may be a lidar.

In some embodiments, the transport vehicle is further provided with an anti-collision device, wherein the anti-collision device may be provided on the front side wall of the transport vehicle.

In some embodiments, the transport vehicle is provided with a conveying device, and multiple sensors are arranged on the conveying device along the conveying direction. The sensors are used to sense the position of the luggage on the conveying device, where the conveying device may be a conveyor belt.

It should be noted that baffles can be provided on both sides of the conveying direction of the conveying device. When the luggage moves left and right, there is no risk of falling. Of course, multiple sensors 1086 can be provided on both sides of the baffles along the conveying device. Arrange sensors in the conveying direction.

In addition, the transport vehicle can also detect and monitor baggage weight and size based on sensors. This design ensures that the AGV baggage sorting system complies with the safety standards of the air transportation industry, significantly improves the reliability of aviation baggage security, and prevents baggage from falling.

In some embodiments, the transport vehicle includes a weighing device for recording the weight of the luggage on the conveyor device.

In some embodiments, the transport vehicle is equipped with an air pressure sensor. The air pressure sensor is used to sense the ambient air pressure of the transport vehicle to determine the location height based on the ambient air pressure, thereby assisting in determining the floor where the transport vehicle is currently located.

In some embodiments, the management and control subsystem is also used to calibrate the air pressure information fed back by the transport vehicle.

Specifically, by calibrating the air pressure information, the accuracy of judging the floor where the transport vehicle is located can be improved. For example, a barometer is installed at a location with a certain height. This air pressure value will send a signal to the management and control subsystem, and through comparison The air pressure value of the transport vehicle itself is used to determine the floor where the transport vehicle is located. Since the air pressure at the same height also changes according to temperature and weather, the real-time relative value of the air pressure can be obtained through calibration to determine the floor more accurately.

In some embodiments, the transport vehicle is also provided with a battery management module and a fire suppression module.

The transportation control method for baggage check-in in the present disclosure will be described in detail below with the management and control subsystem as the execution subject.

As shown in Figure 3, the transportation control method for baggage check-in according to one embodiment of the present disclosure is applied to the management and control subsystem, including:

Step S302: In response to the baggage dispatching task sent by the centralized control center, determine the baggage output device that outputs the baggage.

Step S304: Select a target baggage handling device to receive the baggage among multiple baggage handling devices.

Step S306: Generate a baggage transportation route based on the position of the baggage output device and the position of the target baggage handling device.

Step S308: Generate a baggage transportation task based on the baggage transportation route and baggage scheduling task.

Wherein, the baggage transportation task is generated based on the baggage scheduling task, which may be as follows: allocating several pieces of baggage to the baggage transportation task.

Step S310: Issue a baggage transport task to the transport vehicle, so that the transport vehicle transports the baggage from the baggage output device to the target baggage processing device based on the baggage transport route.

Specifically, before releasing the luggage transport task to the transport vehicle, you can also select the transport vehicle that actually carries the transport task. As a specific implementation method of selecting the target transport vehicle among multiple transport vehicles, multiple transport vehicles send the luggage to the transport vehicle. The management and control subsystem sends the current location information and status information. The management and control subsystem selects the target transport vehicle among multiple transport vehicles based on the baggage scheduling task, transport vehicle location information and status information to send transportation to the target transport vehicle. Task.

The status information may include task status and power status. The management and control subsystem's selection of the target transport vehicle among multiple transport vehicles includes: determining the first group of transport vehicles that have not performed the task based on the task status, and determining the first group of transport vehicles based on the power status. The second group of transport vehicles that meet the power demand determines the number of luggage to be transported based on the luggage scheduling task, and selects the target transport vehicle from the second group of robots based on the number of luggage to be transported.

Based on the above operations, the management and control subsystem receives the location information and status information of the transport vehicles to determine which of all the transport vehicles under control have not performed tasks and have sufficient power based on the status information, and determines these robots as available transport vehicles. , Further, based on the baggage scheduling task, the number of transport vehicles that need to perform the transport task is determined, and the target transport vehicle is selected based on the location information of the transport vehicles to ensure balanced scheduling of transport vehicles.

In this embodiment, by setting up a management and control subsystem for managing transport vehicles and other related equipment, when the management and control subsystem receives the baggage dispatching task issued by the centralized control center, based on the information in the baggage dispatching task Determine the baggage output device that outputs the baggage, that is, the transportation starting point of the transport vehicle, and determine the transportation end point of the transport vehicle by selecting the target baggage handling device to receive the baggage among multiple baggage handling devices, and plan the driving route based on the transportation starting point and end point to The luggage transportation task is further generated, and the transportation vehicle performs the luggage transportation task based on the transportation route. By using the transportation vehicle as the transportation equipment, compared with the belt transportation or rail transportation solutions in related technologies, on the one hand, this solution does not require upfront investment. The construction of transportation rails and other facilities can be directly put into use in existing airports and other venues. On the other hand, since there is no need to set up fixed routes, it makes the configuration of the driving routes of transport vehicles and the number of transport vehicles used more convenient. Flexible, which in turn helps optimize transportation routes and improve transportation efficiency.

As shown in Figure 4, a transportation control method for baggage check-in according to another embodiment of the present disclosure is applied to the management and control subsystem, including:

Step S402: Receive the checked baggage information reported by the baggage output device.

Step S404: Report the checked baggage information to the centralized control center to receive baggage scheduling tasks assigned by the centralized control center based on the checked baggage information.

Step S406: In response to the baggage scheduling task sent by the centralized control center, a baggage transportation task is generated accordingly.

For the specific implementation process, please refer to the steps shown in Figure 3.

Step S408: Issue a baggage transport task to the transport vehicle, so that the transport vehicle transports the baggage from the baggage output device to the target baggage processing device based on the baggage transport route.

As shown in Figure 5, in some embodiments, in step S304, a specific implementation manner of selecting a target baggage handling device to receive baggage among multiple baggage handling devices includes:

Step S502: Obtain the current load of each baggage handling equipment.

Specifically, as an implementation method of obtaining the current load of the baggage handling equipment, the baggage handling equipment actively sends its own load to the management and control subsystem, so that the management and control subsystem determines the target baggage based on the received load. Handling equipment.

As another implementation method of obtaining the current load of baggage handling equipment, the management and control subsystem records the load of the corresponding target baggage handling equipment after each allocation of baggage transportation tasks for use in the next allocation of baggage transportation tasks. When selecting the next target baggage handling equipment, after all baggage transportation tasks are assigned, the recorded burden data will be deleted until the next round of reclassification of baggage transportation tasks.

Step S504, perform load ranking on multiple baggage handling devices based on load amount.

Step S506: Select a target baggage handling device from multiple baggage handling devices based on the sorting result.

In some embodiments, selecting a target baggage handling device among multiple baggage handling devices based on the sorting result further includes:

When it is determined based on the sorting result that there are at least two candidate devices among the plurality of baggage handling devices, and both of the at least two candidate devices have the minimum load, the candidate device with the shortest transportation route is determined as the target baggage handling device.

In this embodiment, for an implementation of selecting a target baggage handling device of a transport vehicle among multiple baggage handling devices, the burden of each baggage device is obtained. A large burden indicates that the baggage handling device has more The baggage to be processed and the load is small, indicating that the baggage handling equipment has less or no baggage to be processed. Based on this criterion, the baggage handling equipment with the smallest load is determined as the target baggage processing equipment to ensure that the baggage handling equipment with the smallest load is the target baggage processing equipment. Handle a balanced distribution of baggage to improve baggage handling efficiency.

As shown in Figure 6, in some embodiments, in step S304, another specific implementation manner of selecting a target baggage handling device to receive baggage among multiple baggage handling devices includes:

Step S602: Sort multiple baggage handling devices based on the load amount.

Step S604: Determine an alternative route based on the location information of the target transport vehicle, the baggage output device, and multiple baggage handling devices.

Step S606: Select the target baggage processing equipment based on processing load sorting and alternative routes.

In this embodiment, the checked baggage information is detected through the management and control subsystem to determine the processing burden of the baggage handling equipment at multiple terminals, and the burdens are sorted. Those with low processing burden are given priority, and those with high processing burden are given priority. class Low. Further, if multiple alternative target endpoints with the same priority are detected, alternative routes are further calculated based on the location information, the target starting point and the locations of the alternative target endpoints, and the alternative endpoint with the shortest route is selected. The target end point is to ensure the reliability of the transport vehicle for transporting luggage.

As shown in Figure 7, in some embodiments, in step S304, another specific implementation manner of selecting a target baggage handling device to receive baggage among multiple baggage handling devices includes:

Step S702: Sort the processing burdens of multiple baggage handling devices based on the obtained load amount of each baggage handling device.

Step S704: Obtain the distribution information of multiple transport vehicles in the designated area.

Step S706: Select a target end point based on distribution information and processing load sorting.

In this embodiment, the management and control subsystem obtains the distribution information of multiple target transport vehicles in a designated area to take into account the density of regional transport vehicles when selecting the target terminal, thereby further optimizing the transportation route.

In some embodiments, the management and control subsystem is specifically configured to: perform selection of target baggage handling equipment based on at least one of a polling scheduling model, a waterfall model, and a regional monitoring model.

In this embodiment, based on the polling scheduling model, waterfall model and regional monitoring model, the above-mentioned sorting and alternative routes based on processing burden can be realized, combined with occupancy information and distribution information, to select the target baggage processing equipment to obtain the optimal transportation path. Thereby improving the operating efficiency of the luggage transport control system based on the transport vehicle.

In some embodiments, there are multiple management and control subsystems, and multiple transport vehicles are divided into multiple groups. Each management and control subsystem controls a corresponding group of transport vehicles. The issue of luggage transportation tasks to the transport vehicles includes: Send baggage transport tasks to transport vehicles with control authority.

As shown in Figure 8, in some embodiments, before sending the baggage transportation task to the transport vehicle with management and control authority in step S310, it also includes:

Step S802: Receive management and control authority information issued by the control center. The management and control authority information is used to control at least one of multiple transportation areas.

Among them, the management and control authority information can be obtained through the method issued by the centralized control center, or the management and control authority information can be obtained through the administrator's input.

Step S804: Receive the dispatch code reported by the transport vehicle.

Step S806: When the dispatch code is verified based on the control authority information, authorization information is sent to the transport vehicle. The authorization information is used to determine the control authority for the transport vehicle so that the transport vehicle has driving authority in the corresponding transport area.

Among them, the management and control authority information includes the area identifier and the dispatch code list of the transportation area with the mapping relationship. When the dispatch code is queried in the dispatch vehicle list, it is determined that the dispatch code verification is passed.

In this embodiment, by receiving the dispatch code reported by the transport vehicle, the dispatch code is used as the identity verification information to authenticate the transport vehicle. When the verification is passed, the transport vehicle is authorized to drive within the transport area under its control, ensuring that It controls the driving area of the transport vehicle, thereby ensuring the reliability of the transport operation of the transport vehicle, and preventing the occurrence of problems such as luggage loss or missed luggage inspection caused by the transport vehicle traveling outside the authorized transport area. In some embodiments, the plurality of baggage handling devices includes a first set of handling devices and a second set of handling devices, the second set of handling devices includes a plurality of types, the transport area includes a first transport area and a second transport area, the first transport area The end point of the area and the starting point of the second transportation area are overlapping areas. The first group of processing equipment is arranged in the overlapping area, and the second group of processing equipment is arranged in the end area of the second transportation area.

Specifically, the first group of processing equipment includes security inspection equipment. Security inspection equipment includes but is not limited to scanning identification systems and X-ray security inspection systems. The security inspection equipment is connected through communication with the centralized control center. After security inspection of the unloaded luggage, the The inspection results of the safety inspection are fed back to the centralized control center. In addition, the first transportation area may be the area from the counter to the security inspection equipment, and the second transportation area may be the area from the security inspection equipment to the manual inspection area or the early baggage area or to the flight baggage collection area.

The same group of transport vehicles can be distributed in different transport areas. For example, a group of transport vehicles controlled by the same management and control subsystem, in which part of the transport vehicle working area is in the first transport area and the other part is in the second transport area.

It can also be a group of transport vehicles controlled by the same management and control subsystem, all working in the same transport area.

Specifically, the management and control subsystem includes a first management and control subsystem and a second management and control subsystem.

When the management and control subsystem is the first management and control subsystem, selecting a target baggage handling device to receive the baggage among multiple baggage handling devices includes: selecting the target baggage handling device among the first group of processing devices.

When the management and control subsystem is the second management and control subsystem, selecting a target baggage handling device to receive the baggage among multiple baggage handling devices includes: selecting the target baggage handling device among the second group of processing devices.

In this embodiment, by arranging security inspection equipment in the overlapping area of the first transportation area and the second transportation area, the entrance of the security inspection equipment corresponds to the end point of the first transportation area, and the exit of the security inspection equipment corresponds to the starting point of the second transportation area, Through reasonable selection of target security inspection equipment, the processing efficiency of baggage security inspection in areas such as airports is ensured, and checked baggage information is generated based on the baggage that has completed security inspection to further generate baggage scheduling tasks in the second transportation area.

As shown in Figure 9, in some embodiments, selecting a target baggage processing device in the second group of processing devices includes:

Step S902: Receive the security inspection results fed back by the security inspection equipment. The security inspection results are the results of the security inspection of the received luggage by the security inspection equipment.

Step S904: Determine the device type that matches the security inspection result.

Step S906: Select the target baggage processing equipment from the second group of processing equipment with the equipment type.

Among them, the second group of processing equipment includes platform equipment for manual inspection, carrying equipment for collecting early baggage, and carrying equipment for collecting accurate baggage.

In this embodiment, the inspection results of the security inspection are obtained through the management and control subsystem. In the second transportation area, the starting point of the transportation vehicle is the security inspection machine, and the end point is the luggage carousel, or the equipment in the early baggage buffer area, or the passing The equipment in the special area after unpacking inspection prevents the luggage transported by the transport vehicle from being directly transported to the luggage carousel without going through security inspection through zone division. On the one hand, it ensures the orderliness and reliability of luggage transportation; on the other hand, it ensures improve the reliability of safety inspections.

As shown in Figure 10, in some embodiments, the operation control method further includes:

Step S1002: Receive the permission information change instruction sent by the control center.

Step S1004: Determine the candidate transport vehicle to be changed and the change type based on the change instruction.

Step S1006: Generate corresponding driving authority change information based on the change type.

Step S1008: Send driving authority change information to the candidate transport vehicles to be changed.

In this embodiment, the management and control subsystem receives instructions for changing the driving authority of transport vehicles issued by the control center to schedule uneven distribution of tasks in different transport areas. For example, some transport areas have more transport tasks than others. When there are fewer tasks in another part of the transportation area, by modifying the authorization permissions of the transportation vehicles, the transportation vehicles in one transportation area can be scheduled to work in another transportation area to improve the utilization rate of the transportation vehicles and ensure the balance of the transportation vehicles. run.

As shown in Figure 11, in some embodiments, the operation control method further includes:

Step S1102: Receive the maintenance decision issued by the control center.

Step S1104: Determine the corresponding maintenance route and maintenance authority based on the maintenance decision.

Step S1106: Generate maintenance instructions based on the maintenance route and maintenance authority.

Step S1108: Issue a maintenance instruction to the transport vehicle to be maintained. The maintenance instruction is suitable for switching the driving authority of the transport vehicle to maintenance authority, so that the transport vehicle can drive to the maintenance operation area based on the maintenance route.

In this embodiment, the maintenance decision issued by the control center is received, and the maintenance instruction is generated based on the maintenance decision. The maintenance instruction is used to change the driving authority of the transport vehicle, so that the transport vehicle automatically exits the transportation area and travels to the maintenance area based on the maintenance instruction. The maintenance area performs maintenance operations, which in turn helps extend the service life of the transport vehicle and reduces the probability of the transport vehicle breaking down when performing transportation tasks.

Specifically, a maintenance management module can be set up in the centralized control center for daily maintenance of transport vehicles. The maintenance management module formulates a preventive maintenance plan based on the technical parameter table and automatically assigns corresponding tasks to operators and transport vehicles that need maintenance. The transporter will exit the standby transporter list after completing the current task and arrive at the designated location at the specified time. If the task target time conflicts with the currently ongoing task, the transport vehicle sends the new time to the management and control subsystem, and the management and control subsystem notifies the control center and the control center adjusts the plan and notifies the operator of relevant updates.

In some embodiments, the multiple transport vehicles include a faulty transport vehicle and/or a lost transport vehicle, and the transport control method further includes: upon receiving fault information reported by the faulty transport vehicle, or detecting a lost transport vehicle, sending a signal to the backup vehicle. The transport vehicle sends handover information. The handover information includes the fault location of the faulty transport vehicle, or the last detected loss of contact location before the lost transport vehicle lost contact, so that the backup transport vehicle can respond to the handover information and drive to the fault location or loss of contact. Location. as well as

Among them, fault information includes but is not limited to insufficient power, navigation failure, communication failure, etc.

Send a maintenance instruction to the faulty transport vehicle. The maintenance instruction is generated based on the maintenance route and maintenance authority. The maintenance instruction is suitable for switching the driving authority of the transport vehicle to maintenance authority so that the transport vehicle can drive to the maintenance operation area based on the maintenance route.

Among them, the backup transport vehicle is the transport vehicle that has not received the baggage transport task.

In this embodiment, a transport vehicle with power failure or loss, or a navigation failure is recorded as a faulty transport vehicle, and a transport vehicle that loses contact is recorded as a lost transport vehicle. When communication is normal, the faulty transport vehicle will The management and control subsystem sends location information. When the location information cannot be sent due to loss of contact, the lost transport vehicle can also light up the warning light on the transport vehicle to indicate its location. The management and control subsystem deploys backup transport. The vehicle arrives at the location of the failed transport vehicle and/or the lost transport vehicle, manually transfers the luggage, manually releases the brakes and then manually pushes it away from the workplace until it reaches the corresponding emergency area. The warning lights here can be powered independently. All AGVs in the emergency treatment area Execute specific information security procedures as well as incident investigation procedures.

Specifically, the maintenance procedures for transport vehicles include but are not limited to:

Preventive maintenance procedures: The management and control subsystem generates preventive maintenance tasks and reports them to the centralized control center. The management and control subsystem plans the route. The corresponding transport vehicle accepts the instruction and ends the corresponding activity area authorization and enters maintenance. Operation area, and re-authorized access to the corresponding transportation area after completion.

Procedure for temporary general failure of transport vehicles: the management and control subsystem receives the fault information, instructs the backup transport vehicle to hand over the luggage, reports the information update to the centralized control center, instructs the faulty transport vehicle to enter the maintenance operation area and cancel the operation area authorization, enter the maintenance operation area, and repair Then re-authorize access to the corresponding work area.

No power or thermal runaway program: The management and control subsystem receives fault information or detects that the transport vehicle is lost, instructs the backup transport vehicle to hand over the luggage, reports the information update to the centralized control center, releases the authorization of the faulty transport vehicle operating area, and notifies maintenance personnel to handle on-site , the transport vehicle is manually transferred to the emergency treatment area.

As shown in Figure 12, in some embodiments, it also includes:

Step S1202: Obtain status information of the transport vehicle. The status information includes remaining power and/or working status.

Among them, through the status information of the transport vehicle, it can be determined based on the status information whether the transport vehicle needs to be charged, the amount of electricity that needs to be charged, when to charge, and where the charging can be completed, etc.

Step S1204: Generate a charging instruction based on the status information and/or the obtained working condition information of the charging module.

Specifically, the charging module includes but is not limited to charging rails and charging piles. The working condition information of the charging module includes the charging power of the charging module, the status of the charging module being occupied, etc.

Taking the status information as the remaining power as an example, if the remaining power is large, you can drive directly to the charging track and the charging will be completed by the charging track. If the remaining power is small, you can drive to the charging pile and the charging will be completed.

In addition, taking the status information as an example of whether the luggage is in the running state, if the luggage is being transported, it can drive directly to the charging track and complete charging while driving. If it is in an idle state, it can drive to an idle charging track to charge, or it can Drive to the charging station to charge.

Step S1206: Send a charging instruction to the transport vehicle. The charging instruction is used to drive the transport vehicle to the corresponding charging module for charging operation.

In this embodiment, information such as the remaining power and/or working status of the transport vehicle is obtained, and a charging plan is configured for the transport vehicle based on the above information to ensure that the transport vehicle has sufficient power when performing transportation tasks.

In some embodiments, the charging module includes a first charging module, a second charging module and a third charging module, and generating a charging instruction based on the remaining power and/or the detected status of the transport vehicle includes: when the transport is detected The car is in transit When , a first charging instruction is generated based on the remaining power, and the first charging instruction is used to drive the transport vehicle to the first charging module or the second charging module.

When it is detected that the transport vehicle is in an idle state, a second charging instruction is generated based on the remaining power, and the second charging instruction is used to drive the transport vehicle to the second charging module or the third charging module.

The first charging module includes a plurality of first charging rails, which are arranged in a transportation area between a plurality of baggage output devices and a plurality of baggage handling devices, and are used to charge transport vehicles in a driving state, and the second charging module The group includes a plurality of second charging tracks, and is arranged with a standby area and/or a queuing area for charging transport vehicles in a queuing waiting state, the standby area and/or the queuing area being located at the front end of multiple baggage handling equipment, and/or The front end of the baggage output device, and/or the area where the transport vehicle is waiting for task instructions, the third charging module includes a plurality of charging piles, arranged in the non-transportation area, for charging the transport vehicle in an idle state.

As shown in Figure 13, in some embodiments, selecting a target baggage handling device among multiple baggage handling devices based on the sorting result also includes:

Step S1302: Obtain the occupancy of multiple first charging tracks.

Step S1304: Sort the occupancy of multiple first charging tracks.

Step S1306: Perform coordinated selection on the sorting results of occupancy and burden, and determine the target baggage handling equipment based on the coordinated selection results.

In this embodiment, in the transportation area where the first charging rails are provided, by determining which first charging rails have a smaller burden and combining the processing load sorting to determine which baggage handling equipment has a smaller burden, based on the above judgment results, Determine the preferred target baggage handling equipment. If there are more than two alternative target terminals for the same transport vehicle, continue to select the optimal transport route based on the distance of the alternative routes to achieve optimization of the transport route.

For the third charging module, as shown in Figure 14, the management and control subsystem controls the third charging module to charge the idle transport vehicle to be charged, including:

Step S1402: The third charging module sends working condition information to the management and control subsystem, so that the management and control subsystem determines the location of the vacant charging pile based on the working condition information.

Step S1404: The management and control subsystem receives the status information sent by the idle transport vehicle.

Step S1406: The management and control subsystem determines the transport vehicle to be charged based on the received status information.

Step S1408: The management and control subsystem generates a charging route based on the location information of the transport vehicle to be charged and the location of the available charging piles.

Step S1410, the management and control subsystem sends a charging route to the transport vehicle to be charged, so that the transport vehicle to be charged drives to an available charging pile based on the charging route, so that the transport vehicle to be charged is charged by the available charging pile.

In addition, the management and control subsystem can also obtain the remaining power fed back by the transport vehicle to be charged, evaluate whether the transport vehicle to be charged can still complete at least one round of transportation based on the remaining power, and select the third transport vehicle to be charged based on the evaluation results. 2. Charging track or charging pile.

Specifically, when it is detected that the remaining power is less than or equal to the first power threshold, it indicates that the transport vehicle can still complete at least one round of transportation work. At this time, the charging vehicle can enter the queuing area or the standby area and charge on multiple second charging tracks. Select an available charging track.

When it is detected that the remaining power is less than or equal to the second power threshold, indicating that the transport vehicle cannot complete at least one round of transportation work, an available charging pile is selected among multiple charging piles.

Wherein, the first power threshold is greater than the second power threshold.

In this embodiment, a charging subsystem is arranged in at least one of the operating area, the standby/queuing area and the centralized charging area of the transport vehicle, including a plurality of first charging tracks, a plurality of second charging tracks and a plurality of Charging piles, the first charging track is used as a high-speed online charging track, the second charging track is a charging track in the standby/queuing area, multiple charging piles are located in a centralized charging area, and the high-speed online charging track is arranged in a high-traffic flow operation area. The charging rails arranged in plan or space are used to charge online the normally moving transport vehicles. The length of this charging rail is relatively long to charge the transportation in high-speed operation. The charging rail in the standby/queuing area is arranged in the standby area. and queuing-prone areas, by Ping The charging track arranged on the surface or in the space is used for online charging of transportation on call or in queue. The length of this section of charging track is relatively short. Through the combination of the above three active charging methods, the transportation can be charged during operation to reduce the need for fixed The number of charging piles used can avoid or shorten off-duty charging time and improve transportation attendance.

In some embodiments, at least one transportation area is provided with a vertical lifting mechanism, and the transportation control method further includes: when it is detected that the transport vehicle travels to the vertical lifting mechanism, and the vertical lifting mechanism simultaneously carries the transport vehicle to be raised and to be lowered, Send an energy-saving mode operation command to the vertical lifting mechanism so that the vertical lifting mechanism operates based on the energy-saving mode, so that the transport vehicles to be ascended and to be descended complete the rise and fall simultaneously; or when the vertical lifting mechanism only carries the transport vehicles to be ascended or descended , sending a normal mode operation command to the vertical lifting mechanism, so that the vertical lifting mechanism operates based on the normal mode, so that the transport vehicle to be ascended rises, or the transport vehicle to be descended descends.

In this embodiment, a vertical lifting mechanism controlled by the management and control subsystem is provided to realize the vertical transfer of transport vehicles in a ramp-free application scenario. The management and control subsystem is used to deploy transportation with similar weight but opposite transfer directions. The vehicles share a vertical lifting mechanism to achieve energy-saving operation of the vertical lifting mechanism.

As shown in Figure 15, in some embodiments, issuing a luggage transportation task to a transport vehicle also includes:

Step S1502: When receiving obstacle avoidance information fed back by the transport vehicle based on the baggage transportation route, identify the type of obstacle in the obstacle avoidance information.

Among them, the type of obstacles in the obstacle avoidance information can be identified by setting up an image acquisition module on the transport vehicle. The image acquisition module on the transport vehicle collects images of obstacles. Through the recognition of obstacle images, the type of obstacles can be identified. The type of obstacle can also be determined by detecting the traffic map of the transportation area.

Step S1504: Generate avoidance instructions based on the type of obstacle and the traffic map of the managed transportation area.

Step S1506: Issue the avoidance command to the transport vehicle.

In this embodiment, when the management and control subsystem receives the obstacle avoidance information reported by the transport vehicle, it indicates that the transport vehicle has an obstacle avoidance request. By identifying the types of obstacles, different obstacle avoidance strategies are generated to ensure obstacle avoidance. Reliability and security.

As shown in Figure 16, in some embodiments, in step S1504, generating an avoidance instruction based on the type of obstacle and the traffic map of the managed transportation area includes:

Step S1602: When it is detected that the obstacle is a transport vehicle of the same type, it is detected based on the traffic map whether the transport vehicle and the transport vehicle of the same type are in the queuing area of the transportation area.

Step S1604: When it is detected that the transport vehicle and the same type of transport vehicle are in the queuing area, a follow instruction for the same type of transport vehicle is generated to determine the follow instruction as an avoidance instruction.

Step S1606: When it is detected that the transport vehicle and similar transport vehicles are not in the queuing area, or the obstacle is detected to be an unknown object on the traffic map, a steering instruction for avoiding the obstacle is generated to determine the steering instruction as an avoidance instruction.

In this embodiment, if the obstacle is a foreign object or an object not known on the map, just control the transport vehicle to move left or right to avoid the obstacle. If the obstacle is another working transport vehicle, then control the transport vehicle to move left or right to avoid the obstacle. Determine the area where the AGV robot is currently located. If it is in the queuing area, it will follow the movement. If it is in the non-queuing area, it will autonomously avoid obstacles.

Further, from the moment the avoidance command is issued, if a predetermined period of time has elapsed, if no successful obstacle avoidance feedback reported by the transport vehicle is received, or if after a predetermined period of time, obstacle avoidance information reported by the same transport vehicle is received again, it indicates that the transport vehicle The obstacle has not been bypassed. At this time, the transport route is re-planned, such as re-selecting the target baggage handling equipment as the new end point, to ensure the smoothness and safety of the transport vehicle.

In addition, the replanned end point reported by the transport vehicle can also be received.

As shown in Figure 17, a transportation control method for baggage check-in according to yet another embodiment of the present disclosure is applied to a centralized control center and includes:

Step S7102: Issue a baggage dispatching task to the management and control subsystem, so that the management and control subsystem issues a baggage transportation task generated based on the baggage dispatching task to the transport vehicle, so that the transport vehicle performs the luggage transportation task.

In some embodiments, there are multiple management and control subsystems. Before issuing a baggage dispatching task to the management and control subsystem, the method further includes: receiving multiple sets of checked baggage information reported by multiple baggage output devices. The checked baggage information includes: Baggage information and flight information; based on flight information, the distribution information of multiple baggage output devices is counted; based on the distribution information and the coordinated distribution results of baggage information, baggage scheduling tasks for multiple management and control subsystems are generated.

Specifically, the checked baggage information includes baggage information and flight information. Since the flight usually corresponds to the baggage counter, that is, the baggage output device, based on the corresponding relationship, the distribution information of the baggage output device can be obtained. Combined with the specific baggage information, that is Baggage dispatch tasks can be generated accordingly.

In this embodiment, the centralized control center issues baggage dispatching tasks to the management and control subsystem. After the overall balanced and coordinated assessment of baggage transportation is achieved through the centralized control center, the tasks are issued, ensuring that there are multiple baggage dispatching tasks. lines in parallel.

In some embodiments, before issuing the baggage dispatching task to the management and control subsystem, it also includes: issuing management and control permission information of the corresponding managed transportation area to each management and control subsystem, so that the management and control subsystem Authorize the transport vehicle to drive in the corresponding transport area based on the control authority information.

In this embodiment, by the centralized control center issuing the management and control authority information of the corresponding managed transportation area to each management and control subsystem, the grouping of transportation vehicles and the limitation of driving areas are realized, combined with the management and control subsystem The specific control ensures that transport vehicles can travel reliably in their respective restricted areas.

In some embodiments, the method further includes: sending a management and control authority change instruction to the management and control subsystem, so that the management and control subsystem sends driving authority change information to the candidate transport vehicle to be changed based on the change instruction.

In some embodiments, the method further includes: regularly issuing maintenance decisions on the transport vehicle to the management and control subsystem.

Taking the transport vehicle as the execution subject, the transport control method for baggage check-in in the present disclosure will be described in detail below.

As shown in Figure 18, a transportation control method for baggage check-in according to yet another embodiment of the present disclosure is applied to a transport vehicle. The transportation control method includes:

Step S1802: Receive the baggage transportation task issued by the management and control subsystem.

Step S1804: Extract the baggage transportation route in the baggage transportation task.

Step S1806: After completing the luggage loading, travel based on the luggage transportation route.

Among them, detecting whether the baggage loading is completed can be realized through its own weight sensing or by receiving the loaded instruction.

As shown in Figure 19, in some embodiments, before step S1802 receives the baggage transportation task issued by the management and control subsystem, it also includes:

Step S1902: Send the preset scheduling code to the management and control subsystem.

Step S1904: Receive the authorization information fed back by the management and control subsystem when the dispatch code verification is passed. The authorization information is used to grant driving authority in the transportation area managed by the management and control subsystem.

In some embodiments, the method further includes: responding to the driving authority change information sent by the management and control subsystem, determining the target change area; driving from the current transportation area to the target change area, where the target change area is the changed transportation area. , or other areas outside the transportation area.

In some embodiments, the method further includes: in response to the received maintenance instruction, switching the driving authority to the maintenance authority; and based on the maintenance authority, driving to the maintenance operation area according to the maintenance route carried in the maintenance instruction to perform the maintenance operation.

In some embodiments, the transport vehicle is also used to: when detecting that the maintenance time is reached based on the periodic maintenance task, if the baggage dispatching task is being performed, feed back a maintenance time change request to the management and control subsystem; the management and control subsystem also Used for: reporting change requests to the centralized control center.

In this embodiment, for daily maintenance of transport vehicles, the maintenance management subsystem formulates a preventive maintenance plan based on the technical parameter table, and automatically assigns corresponding tasks to operators and transport vehicles that need maintenance. The transport vehicles will complete the current task after Exit the standby AGV list and arrive at the designated location at the designated time. If the daily maintenance time conflicts with the current task in progress, the transport vehicle sends the new time to the management and control subsystem, and the management and control subsystem notifies the centralized control center and the centralized control The center adjusts the plan itself and notifies operators.

As shown in Figure 20, in some embodiments, the transport vehicle is equipped with a sensing device and is preset with map information of multiple transport areas. Driving based on the luggage transport route includes:.

Step S2002: Sensing a first distance to a surrounding reference object based on the sensing device.

Among them, the sensing device can be a laser radar, and the surrounding reference objects can be multiple auxiliary positioning facilities arranged in the transportation area, such as reflective stickers, positioning posts, etc., or they can be infrastructure objects in the area.

Step S2004: Determine its own location information based on the map information and the first distance.

Step S2006: Travel along the luggage transportation route based on the location information.

In this embodiment, through the sensing device on the transport vehicle, the first distance between the transport vehicle and the surrounding reference objects is sensed while driving, combined with the recognition of the map information, to accurately position itself based on the map and auxiliary navigation objects. , only when the transport vehicle cannot successfully avoid obstacles, it needs to query the management and control subsystem. Based on different obstacle situations, the management and control subsystem will give different instructions based on the control center dispatch information, improving the autonomy of the transport vehicle. The ability to respond to system outages and communications disruptions.

As shown in Figure 21, in some embodiments, driving along the baggage transportation route based on location information includes:

Step S2102: When traveling along the baggage transportation route based on the location information, calculate the safety distance for collision avoidance based on the baggage transportation route and the current driving speed.

Step S2104: Detect the second distance to the obstacle based on the sensing device. as well as

The collision avoidance strategy is configured based on the relationship between the second distance and the safety distance L2.

As shown in Figure 22, the sensing device is used to detect obstacles around AGV106 to prevent collisions with obstacles. The detection range is a sector-shaped area with a radius R and an angle of 270°, where L1 is the emergency braking distance, and L2 for a safe distance.

In some embodiments, configuring the collision avoidance strategy based on the relationship between the second distance and the safe distance includes:

Step S2106: Determine the emergency braking distance that matches the current driving speed.

Step S2108: When it is detected that the second distance is greater than the safe distance, continue driving based on the current driving speed.

Step S2110: When it is detected that the second distance is less than or equal to the safety distance and greater than the emergency braking distance, slow down driving is performed.

Step S2112: When it is detected that the second distance is less than or equal to the emergency braking distance, perform a braking operation.

In this embodiment, the transport vehicle detects the second distance to the obstacle in real time through the sensing device. The sensing device is a radar, and calculates a safe distance matching the current vehicle speed based on the path and Lidar technology. If the real-time second distance is greater than the safe distance distance, the transport vehicle runs at normal speed. If the real-time second distance of the transport vehicle is less than or equal to the set safety distance corresponding to the vehicle speed but greater than the set emergency braking distance, the corresponding operating speed is calculated according to the distance change speed and the speed is reduced. During operation, if the real-time second distance is less than or equal to the set emergency braking distance corresponding to the vehicle speed, the vehicle will brake and avoid obstacles to ensure the safety of the transport vehicle during driving.

As shown in Figure 23, in some embodiments, driving along the baggage transportation route based on location information also includes:

Step S2302: Compare the driving route and map information to generate a comparison result.

Step S2304: When it is determined that there is an obstacle on the baggage transportation route based on the sensing result and the comparison result, evaluate whether the obstacle can be circumvented by itself. If "yes", proceed to step S2308; if "no", proceed to step S2310.

The sensing result is generated by sensing by the sensing device.

Among them, to evaluate whether the obstacle can be avoided by itself, the sensing results can be used to determine whether the obstacle is in a stationary state or in a moving state. If it is in a stationary state, a self-avoidance path can be generated based on the relative distance and its own running speed. If it is in a moving state, , then further obtain the moving direction and speed of the obstacle. If the moving speed of the obstacle tends to be constant and the moving direction deviates from the driving route, you can also avoid the obstacle by yourself. If the moving speed of the obstacle fluctuates greatly, , and does not deviate from the driving path, you need to report to the management and control subsystem for help.

Step S2306: When it is evaluated that the obstacle can be circumvented by itself, a self-avoidance path is generated so that the obstacle can be circumvented according to the self-avoidance path.

Step S2308: When it is evaluated that the obstacle cannot be circumvented by itself, obstacle avoidance information is generated.

Step S2310: Report the obstacle avoidance information to the management and control subsystem, and receive avoidance instructions based on the obstacle avoidance information feedback from the management and control subsystem.

Step S2312: Adjust the baggage transportation route based on the avoidance instruction to avoid obstacles.

In this embodiment, when the transport vehicle detects an obstacle, it first detects whether it can avoid the obstacle by itself. When it detects that it can avoid the obstacle by itself, it does not need to report the obstacle avoidance requirement to the management and control subsystem. This method enables the transport vehicle to respond independently in a timely manner, thereby ensuring obstacle avoidance efficiency.

In some embodiments, adjusting the baggage transportation route based on avoidance instructions to avoid obstacles includes:

When the avoidance command is a follow command, follow the obstacle to avoid the obstacle;

When the avoidance command is a steering command, the driving direction is adjusted to avoid the obstacle.

In addition, in some embodiments, driving along the baggage transportation route based on location information also includes: when detecting that the obstacle is a companion transport vehicle, detecting whether it is in the queuing area based on the location information; and when detecting that it is in the queuing area, following the companion Transporter moves.

Specifically, by setting up an image acquisition module on the transport vehicle, by collecting the front image and identifying the obstacle ahead as a companion transport vehicle based on the image recognition model, it further detects whether it is in the queuing area based on its own position information. If the above conditions are met at the same time. If two conditions are met, you can directly follow the companion transport vehicle.

In some embodiments, the transport vehicle is an AGV. When the AGV detects an obstacle, it autonomously determines the type of obstacle based on its location information and map information, and autonomously plans an avoidance route based on the type of obstacle. Run around obstacles.

As shown in Figure 22, Lidar technology is used to detect obstacles around the AGV. The detection range is a sector-shaped area with a radius R and an angle of 270°. The detected information is compared with the preset map of the designated area based on the SLAM algorithm. Yes, identify the current location of the transport vehicle and the information about the obstacles. Based on the recognized obstacle information and the current location of the transport vehicle, autonomously avoid obstacles. Only when the AGV cannot complete obstacle avoidance within the preset time , it will be reported to the management and control subsystem to query the traffic status and obstacle information, and perform obstacle avoidance processing with different strategies according to different situations, or the management and control subsystem will re-plan the transportation route. Most of the time, the AGV can autonomously identify obstacles and avoid them autonomously, allowing the AGV to independently respond to system interruptions and communication interruptions. The transport vehicle has high autonomous control performance, thus effectively simplifying the management and control subsystem and centralized control center. calculation to improve the adaptive capability of the entire system under faults.

In some embodiments, the transport vehicle is also used to detect whether the transport vehicle is in the queuing area based on the location information when an obstacle is detected to be a companion transport vehicle, so that when it is in the queuing area, it moves with the companion transport vehicle.

In this embodiment, if the obstacle is a foreign object, an object that is not marked on the map, or an infrastructure object in a designated area, the transport vehicle can move left or right to avoid the obstacle. If the transport vehicle is in the queuing area, it will then determine the area where the transport vehicle is currently located. If it is in the queuing area, it will follow the movement. If it is in the non-queuing area, it will automatically avoid the obstacles. If it still cannot avoid the obstacles after the preset period of time, , then report to the management and control subsystem, requesting the management and control subsystem to re-plan the route, that is, re-plan the target baggage handling equipment, that is, exclude the current target baggage handling equipment, and select the optimal target baggage handling equipment from other destinations.

In addition, if the planned target baggage handling equipment has a heavy burden, the transport vehicle can also proactively report to re-plan the destination.

As shown in Figure 24, in some embodiments, the transport vehicle is also provided with an anti-collision device 1082, wherein the anti-collision device 1082 is provided on the front side wall of the transport vehicle 108.

As shown in Figure 25, the anti-collision operations performed by the transport vehicle include:

Step S2502: When the transport vehicle detects a collision based on the anti-collision device, it performs an emergency stop and switches off the power device.

The anti-collision device may specifically be an anti-collision strip with sensing capabilities.

Step S2504: The transport vehicle generates collision information based on the collision action and reports the collision information to the management and control subsystem.

Step S2506: The management and control subsystem generates obstacle avoidance information based on the collision information, and sends the obstacle avoidance information to the designated transport vehicle.

Among them, the designated transport vehicle refers to the transport vehicle with a third distance from the transport vehicle in collision. The third distance is less than the effective avoidance distance. The effective avoidance distance is the distance that the transport vehicle can avoid independently.

In this embodiment, an anti-collision device is installed at the front end of the transport vehicle, so that under special working conditions such as autonomous obstacle avoidance failure, the emergency stop brake is triggered in a hardware manner. When an actual collision occurs, the anti-collision device is triggered and the emergency brake is executed. Stop the brake and turn off the power unit. The transport vehicle sends collision information to the management and control subsystem. The management and control subsystem sends obstacle avoidance information to the nearby designated AGV and feeds it back to the centralized control center so that the designated AGV can avoid the AGV in time. Emergency parking of transport vehicles and updating of regional load status, especially when in queuing areas (e.g. charging track area, security check area). The hardware needs to be reset manually (via the reset button) when parking. The management and control subsystem will capture the status information before and after the AGV collides, generate a record and report it to the centralized control center to facilitate subsequent investigations.

Specifically, the transport vehicle has autonomous control. In addition to detecting the distance to obstacles, the transport vehicle can also recognize the map and accurately position itself based on the map and auxiliary navigation objects. Only when the transport vehicle cannot successfully avoid obstacles on its own , it is necessary to query the management and control subsystem. Based on different obstacle situations, the management and control subsystem will give different instructions based on the dispatch information of the centralized control center. AGV has the ability to independently respond to system interruptions and communication interruptions. As shown in Figure 24, in some embodiments, the transport vehicle is provided with a transport device, and multiple sensors are arranged on the transport device along the transport direction. The sensors are used to sense the position of the luggage on the transport device and travel based on the luggage transport route. It also includes: when detecting that the baggage position deviates from the pre-placement position, determining the deviation direction; and starting the conveying device to perform a deviation correction operation based on the deviation direction.

The conveying device may specifically be a conveyor belt.

In this embodiment, by arranging sensors in the front, middle and rear respectively along the conveying direction of the conveying device, for smaller-volume luggage, normally only the middle sensor can sense the luggage when loading. When the friction coefficient is small due to reasons such as When the luggage shifts and slides to the edge, causing the risk of falling, one of the sensors in the front or the sensor in the rear will produce a signal change, that is, the luggage will be sensed. At this time, the deviation direction will be determined based on the position of the sensor with the signal change. The correction operation is realized through the front and rear adjustment of the conveying device. When only the middle sensor senses the baggage, it is determined that the correction is completed.

For working conditions where oversized baggage blocks three sensors at the same time, when a single edge sensor loses a package, the controller of the transport vehicle determines the adjustment direction based on the position of the sensor that lost the package and adjusts the package to the position where the three sensors are blocked again. .

In some embodiments, the transport vehicle includes a weighing device for recording the weight of the luggage on the transport device; the transport vehicle is further configured to generate a safety alarm after detecting a weight change.

In some embodiments, the transport vehicle is also provided with a battery management module and a fire suppression module. The transport control method further includes: monitoring the working conditions of the power battery based on the battery management module, and determining based on the working conditions that when the power battery has a risk of thermal runaway, activate Fire suppression module; and driving based on the baggage transport route, specifically including: triggering the conveyor device to discard the transported baggage.

In this embodiment, the transport vehicle is equipped with a battery management module BMS. The BMS can activate the baggage protection program and the fire suppression system based on the information collected by the voltage, temperature, and ultraviolet sensors. The fire suppression system can activate the baggage protection program and the fire suppression system based on the voltage, temperature, ultraviolet, etc. monitored by the BMS. Signals and other signals determine whether the battery is on the verge of thermal runaway or in a state of thermal runaway, thereby activating the fire suppression module to suppress impending thermal runaway or ongoing runaway. The BMS predicts that the AGV will abandon the package automatically when the battery is in thermal runaway state and drive as soon as possible. Enter the emergency treatment area.

In addition, BMS can also be used to realize kinetic energy recovery, which can recharge the battery during braking, deceleration or downhill to extend the operating time and improve energy utilization.

In some embodiments, traveling based on the baggage transportation route further includes: when a fault is detected, reporting fault information to the management and control subsystem.

In some embodiments, it also includes: receiving handover information issued by the management and control subsystem when in the idle state. The handover information includes the fault location of the faulty transport vehicle, or the last detected location of the lost transport vehicle before it lost contact. Lost contact location; extracts the fault location or lost contact location in the handover information; and drives to the fault location or lost contact location.

As shown in Figure 26, the transportation area includes the first transportation area and the second transportation area. Through the centralized control center and management and a control subsystem to control the transport vehicle to drive in the first transport area and the second transport area. The baggage output equipment set in the first transport area is the baggage check-in counter 2602, and the baggage processing equipment set in the first transport area is an X-ray security inspection machine. 2604. The baggage output equipment set in the second transport area is an X-ray security inspection machine 2604. The baggage handling equipment set in the second transport area includes a baggage carousel 2606, an early baggage buffer area device 2608 and a manual inspection device 2610. A vertical lifting mechanism 2612 is also provided in the first transportation area or the second transportation area for lifting the transportation vehicle.

In addition, the non-transportation area includes a maintenance area, and the maintenance area includes an emergency treatment area 2614 and a maintenance area 2616.

Specifically, the charging module includes a first charging module 2618 located in the transportation area, a second charging module 2620 and a third charging module 2622 located in the queuing area.

As shown in Figure 27, in some embodiments, the transportation control system includes: a centralized control center 102 and two management and control subsystems 104.

Among them, the centralized control center 102 is used to generate baggage dispatch tasks based on checked baggage information, and issue them to the management and control subsystem 104a and the management and control subsystem 104b.

Each management and control subsystem 104a is used to manage multiple transport vehicles 106a and implement information interaction by accessing a wireless network. Each management and control subsystem 104b is used to manage multiple transport vehicles 106b and achieve information interaction by accessing a wireless network. Realize information exchange

The centralized control center 102 also controls the baggage output equipment and baggage handling equipment through the PLC device 126. The baggage handling equipment includes the X-ray machine 110A and the scanner 110B.

The baggage sorting service subsystem 116 is used to manage baggage output equipment, communicates with the centralized control center 104, and is used to send checked baggage information to the centralized control center. The checked baggage information includes baggage information and flight information.

The transportation control system also includes: flight information subsystem 118, which is communicatively connected with the baggage sorting service subsystem 116 and is used to send flight information to the baggage sorting service subsystem; baggage information subsystem 120, which is connected with the baggage sorting service subsystem 116 Communication connection, used to send baggage information to the baggage sorting service subsystem.

As shown in Figure 27, the baggage handling equipment includes X-ray security inspection equipment 110A and scanner 110B. The baggage handling equipment can be directly connected to the centralized control center 102 through PLC equipment.

In addition, as shown in Figure 27, a monitoring service subsystem 122 and a system maintenance information management subsystem 124 can be further set up to communicate with the centralized control center 102 respectively.

In a specific application scenario of the present disclosure, multiple transport vehicles are used to transport passengers' checked baggage, for example, from the check-in counter of the baggage output device to the baggage handling equipment, that is, the security inspection equipment, and then from the security inspection equipment to the corresponding flight Baggage carousel or early baggage and manual operation station. Each transport vehicle includes an integrally welded frame, a conveying mechanism located on the frame, a traveling drive mechanism located under the frame and used to drive the frame to move, and a weighing Device, object sensing sensor, air pressure sensor, battery and battery management system that provide power source for AGV movement, control subsystem that communicates with the management and control subsystem, and sensing equipment used to detect and identify the surrounding environment.

Referring to Figure 27, the centralized control center 102 manages one or more management and control subsystems 104. The management and control subsystem is a centralized system used to control and manage multiple transport vehicles and functional sites (such as charging modules and parking stations, etc.) in a transport area or non-transport area. The transport vehicles and charging modules communicate through wireless The network communicates with the management and control subsystem to transmit transporter/functional station status information (e.g., position, load status, speed, air pressure, battery level, and current waypoint) and to receive the transporter/functional station mission plan, and then The management and control subsystem collects the status of all transport vehicles and functional sites to calculate and generate transport vehicle tasks and information feedback to the centralized control center. The management and control subsystem generates task schedules for each transport vehicle and functional station. The management and control subsystem also generates transport vehicle traffic management to avoid and prevent traffic conflicts among multiple transport vehicles.

As shown in Figure 28, the management and control subsystem can be divided into multiple levels, including task input, task management, task integration, task implementation, and task execution.

The task input layer receives information issued by the control center and uses web interfaces or enterprise platforms such as baggage sorting service systems, monitoring service systems, system maintenance information management systems, and airport platforms to realize manual or automatic generation of baggage dispatch tasks. This level can also be displayed centrally through the web interface or monitoring service system or system maintenance information management system. Transporter status and mission information.

The task integration layer can be understood as consisting of multiple functional sub-subsystems, as shown in Figure 19. The multiple functional sub-subsystems include fleet management and control, infrastructure management, functional unit management and security inspection functional subsystems, as well as for AGV adapters, IoT device adapters and functional device adapters that control transport vehicles and functional sites respectively.

The task execution layer is used to issue task instructions to the transport vehicle or charging subsystem.

The task management layer receives task input from the task input layer and the functional subsystem status from the task integration layer to calculate and plan resource allocation (including task dispatch rules, traffic flow management and time window control), from the task management layer to the task The integration layer assigns the most appropriate tasks to the corresponding functional subsystems, and the functional subsystems schedule each transport vehicle or functional site to implement task dispatch planning, traffic flow monitoring, and time window control.

The task implementation layer is based on multiple functional sub-subsystems, realizing system adaptation between the task integration layer and transport vehicles, functional sites and terminal equipment, and realizing collaboration with transport vehicles, Internet of Things equipment and functional equipment, etc. Internet of Things equipment includes Internet of Things terminals, etc., and functional equipment includes charging modules, lifting equipment, etc., which are used to send baggage dispatch tasks, charging control and other instructions generated by the task management core layer to the corresponding transport vehicles, charging modules, etc., and also Used to receive status information sent by transport vehicles, functional stations and terminal equipment.

Among them, the terminal device can be a device that specifically controls a single transport vehicle, or a device used to view the operating status of the transport vehicle.

Specifically, the workflow of the transportation control system for baggage check-in specifically includes:

After passengers check in baggage at the counter, the checked baggage information is uploaded to the airline server or airport platform. Then through the flight information system, the checked baggage information is synchronized to the baggage sorting service system, and the centralized control center calculates and coordinates various management and controls. Subsystem receives baggage information and flight information sent by the baggage sorting service subsystem, and generates baggage scheduling tasks. The management and control subsystem generates baggage transportation tasks based on the baggage scheduling tasks, assigns and issues them to the corresponding transport vehicles, and accepts the tasks. The transport vehicle moves to the location of the baggage output equipment such as the counter to obtain the passenger luggage. At this time, the passenger information, transport vehicle information and flight information are bound. After the transport vehicle obtains the luggage, it will be transported to the destination according to the optimal path planned by the management and control subsystem. Security inspection is carried out at the security inspection machine. The security inspection machine confirms and scans the luggage information. The luggage information that has passed the security inspection is sent to the security inspection control unit by the Carousels, early baggage storage areas, etc. Baggage that has not passed the security check is transported to the unpacking inspection area by transport vehicles. Baggage that passes the unpacking inspection is then transported by the transport vehicle to the corresponding baggage carousel, early baggage storage area, and unpacked. Baggage that fails the inspection is transported to the buffer area by a transport vehicle.

The working status and task status of the transport vehicle will also be fed back to the centralized control center and displayed centrally on the enterprise platform.

The transportation control device 2900 according to this embodiment of the invention is described below with reference to FIG. 29 . The transportation control device 2900 shown in FIG. 29 is only an example and should not bring any limitations to the functions and scope of use of the embodiments of the present invention.

The transportation control device 2900 is embodied in the form of a hardware module. The components of the transportation control device 2900 may include, but are not limited to: a determination unit 2902, configured to determine the baggage output device that outputs the baggage in response to the baggage scheduling task sent by the centralized control center; a selection unit 2904, used to select among multiple baggage handling devices Select the target baggage handling device that receives the baggage; the first generation unit 2906 is used to generate a baggage transportation route based on the location of the baggage output device and the location of the target baggage handling device; the second generation unit 2908 is used to generate the baggage transportation route based on the baggage transportation route and the baggage The scheduling task generates a baggage transport task; the first sending unit 2930 is used to issue a baggage transport task to the transport vehicle, so that the transport vehicle transports the baggage from the baggage output device to the target baggage processing device based on the baggage transport route.

The transportation control device 3000 according to this embodiment of the present invention will be described below with reference to FIG. 30 . The transportation control device 3000 shown in FIG. 30 is only an example and should not impose any restrictions on the functions and scope of use of the embodiments of the present invention.

The transportation control device 3000 is embodied in the form of a hardware module. The components of the transportation control device 3000 may include, but are not limited to: a second sending unit 3002, configured to issue a baggage dispatching task to the management and control subsystem, so that the management and control subsystem issues the baggage dispatching task generated based on the baggage dispatching task to the transport vehicle. Baggage transport tasks to carry out baggage by transporter truck transportation tasks.

The transportation control device 3100 according to this embodiment of the present invention is described below with reference to FIG. 31 . The transportation control device 3100 shown in FIG. 31 is only an example and should not bring any limitations to the functions and scope of use of the embodiments of the present invention.

The transportation control device 3100 is embodied in the form of a hardware module. The components of the transportation control device 3100 may include, but are not limited to: a receiving unit 3102, used to receive baggage transportation tasks issued by the management and control subsystem; an extraction unit 3104, used to extract the baggage transportation route in the baggage transportation task; an execution unit 3106 , used to drive based on the baggage transportation route after completing baggage loading.

An electronic device 3200 according to this embodiment of the invention is described below with reference to FIG. 32 . The electronic device 3200 shown in FIG. 32 is only an example and should not bring any limitations to the functions and scope of use of the embodiments of the present invention.

As shown in Figure 32, electronic device 3200 is embodied in the form of a general computing device. The components of the electronic device 3200 may include, but are not limited to: the above-mentioned at least one processing unit 3210, the above-mentioned at least one storage unit 3220, and a bus 3230 connecting different system components (including the storage unit 3220 and the processing unit 3210).

The storage unit stores program code, and the program code can be executed by the processing unit 3210, so that the processing unit 3210 performs the steps according to various exemplary embodiments of the present invention described in the "Exemplary Method" section of this specification. For example, the processing unit 3210 may perform steps S302 to S310 as shown in FIG. 2 , as well as other steps defined in the secure autonomous import policy learning method of the present disclosure.

The storage unit 3220 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 32201 and/or a cache storage unit 32202, and may further include a read-only storage unit (ROM) 32203.

Storage unit 3220 may also include a program/utility 32204 having a set of (at least one) program modules 32205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, Each of these examples, or some combination, may include the implementation of a network environment.

Bus 3230 may be a local area representing one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or using any of a variety of bus structures. bus.

Electronic device 3200 may also communicate with one or more external devices 3260 (e.g., keyboard, pointing device, Bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device, and/or with The electronic device 3200 can communicate with any device that communicates with one or more other computing devices (eg, router, modem, etc.). This communication may occur through an input/output (I/O) interface 3250. Furthermore, the electronic device 3200 may also communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet) through a network adapter 3250. As shown, network adapter 3250 communicates with other modules of electronic device 3200 via bus 3230. It will be understood that, although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and Data backup storage system, etc.

Through the above description of the embodiments, those skilled in the art can easily understand that the example embodiments described here can be implemented by software, or can be implemented by software combined with necessary hardware. Therefore, the technical solution according to the embodiment of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, U disk, mobile hard disk, etc.) or on the network , including several instructions to cause a computing device (which may be a personal computer, a server, a terminal device, a network device, etc.) to execute a method according to an embodiment of the present disclosure.

In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the method described above in this specification is stored. In some possible implementations, various aspects of the present invention can also be implemented in the form of a program product, which includes program code. When the program product is run on a terminal device, the program code is used to cause the terminal device to execute the above described instructions. Various exemplary implementations in accordance with the present invention described in the "Exemplary Methods" section Implementation steps.

The program product for implementing the above method according to an embodiment of the present invention can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus or device.

A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave carrying readable program code therein. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A readable signal medium may also be any readable medium other than a readable storage medium that can send, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical cable, RF, etc., or any suitable combination of the foregoing.

Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., as well as conventional procedural Programming language—such as "C" or a similar programming language. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on. In situations involving remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device, such as provided by an Internet service. (business comes via Internet connection).

It should be noted that although several modules or units of equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to embodiments of the present disclosure, the features and functions of two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of one module or unit described above may be further divided into being embodied by multiple modules or units.

Furthermore, although various steps of the methods of the present disclosure are depicted in the drawings in a specific order, this does not require or imply that the steps must be performed in that specific order, or that all of the illustrated steps must be performed to achieve the desired results. result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step for execution, and/or one step may be decomposed into multiple steps for execution, etc.

Through the above description of the embodiments, those skilled in the art can easily understand that the example embodiments described here can be implemented by software, or can be implemented by software combined with necessary hardware. Therefore, the technical solution according to the embodiment of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, U disk, mobile hard disk, etc.) or on the network , including several instructions to cause a computing device (which may be a personal computer, a server, a mobile terminal, a network device, etc.) to execute a method according to an embodiment of the present disclosure. Other embodiments of the disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the disclosure that follow the general principles of the disclosure and include common common sense or customary technical means in the technical field that are not disclosed in the disclosure. . It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims

A transportation control method for baggage check-in, applied to a management and control subsystem, the management and control subsystem is used to manage and control multiple transport vehicles, the transportation control method includes:

In response to the baggage dispatch task sent by the centralized control center, determine the baggage output device that outputs the baggage; and

Select the target baggage handling equipment to receive the baggage among multiple baggage handling equipment;

Generate a baggage transportation route based on the position of the baggage output device and the position of the target baggage handling device;

Generate a baggage transportation task based on the baggage transportation route and the baggage scheduling task;

The baggage transport task is issued to the transport vehicle, so that the transport vehicle transports the baggage from the baggage output device to the target baggage processing device based on the baggage transport route.
The transportation control method according to claim 1, wherein the selecting a target baggage handling device to receive the baggage among a plurality of baggage handling devices includes:

Get the current load of each baggage handling equipment;

Ranking the plurality of baggage handling devices in load order based on the load amount;

The target baggage handling device is selected among the plurality of baggage handling devices based on the sorting result.
The transportation control method according to claim 2, wherein the selecting the target baggage handling device among the plurality of baggage handling devices based on the sorting result further includes:

When it is determined based on the sorting result that there are at least two candidate devices among the plurality of baggage handling devices, and both of the at least two candidate devices have the smallest load, the candidate with the shortest transportation route will be selected. The equipment is determined to be the target baggage handling equipment.
The transportation control method according to claim 2, wherein the management and control subsystem has multiple transport vehicles, the multiple transport vehicles are divided into multiple groups, and each management and control subsystem controls a corresponding group. As for the transport vehicle, the issuing of the baggage transport task to the transport vehicle includes:

Send the baggage transport task to the transport vehicle with management and control authority.
The transportation control method according to claim 4, wherein before sending the baggage transportation task to the transportation vehicle with management and control authority, the method further includes:

Receive management and control authority information issued by the centralized control center, where the management and control authority information is used to control at least one of multiple transportation areas;

Receive the dispatch code reported by the transport vehicle;

When the dispatch code is verified based on the management and control authority information, authorization information is sent to the transport vehicle, and the authorization information is used to determine the management and control authority for the transport vehicle, so that the transport vehicle can Have driving authority within the corresponding transportation area,

Wherein, the management and control authority information includes a region identifier and a dispatch code list of the transportation area with a mapping relationship. When the dispatch code is queried in the dispatch vehicle list, it is determined that the verification of the dispatch code has passed.
The transportation control method according to claim 5, wherein the plurality of baggage handling equipment includes a first group of processing equipment and a second group of processing equipment, the second group of processing equipment includes a plurality of types, and the transportation area includes The first transportation area and the second transportation area, the end point of the first transportation area and the starting point of the second transportation area are overlapping areas, the first group of processing equipment is arranged in the overlapping area, and the second group The processing equipment is arranged in the terminal area of the second transportation area, and the management and control subsystem includes a first management and control subsystem and a second management and control subsystem,

When the management and control subsystem is the first management and control subsystem, the target baggage handling equipment selected to receive baggage among multiple baggage handling equipment includes:

selecting the target baggage handling equipment from the first group of handling equipment;

When the management and control subsystem is the second management and control subsystem, the target baggage handling equipment selected to receive baggage among multiple baggage handling equipment includes:

The target baggage handling equipment is selected from the second group of handling equipment.
The transportation control method according to claim 6, wherein the first group of processing equipment includes security inspection equipment, and the selecting the target baggage processing equipment in the second group of processing equipment includes:

Receive the security inspection results fed back by the security inspection equipment, where the security inspection results are the results of the security inspection of the received luggage by the security inspection equipment;

Determine the type of equipment that matches the security inspection result;

selecting said target baggage handling equipment among said second group of handling equipment of said equipment type,

Wherein, the second group of processing equipment includes platform equipment for manual inspection, carrying equipment for collecting early arrival baggage, and carrying equipment for collecting accurate arrival baggage.
The transportation control method according to claim 5, further comprising:

Receive the change instruction of the permission information sent by the centralized control center;

Determine the candidate transport vehicle to be changed and the change type based on the change instruction;

Generate corresponding driving authority change information based on the change type;

Send the driving permission change information to the candidate transport vehicle to be changed.
The transportation control method according to claim 5, further comprising:

Receive maintenance decisions issued by the centralized control center;

Determine the corresponding maintenance route and maintenance authority based on the maintenance decision;

Generate maintenance instructions based on the maintenance route and the maintenance authority;

Issue the maintenance instruction to the transport vehicle to be maintained. The maintenance instruction is suitable for switching the driving authority of the transport vehicle to the maintenance authority so that the transport vehicle travels to the maintenance location based on the maintenance route. Operating Area.
The transportation control method according to claim 5, wherein the plurality of transport vehicles include malfunctioning transport vehicles and/or lost transport vehicles, and the transport control method further includes:

When the fault information reported by the faulty transport vehicle is received, or the lost transport vehicle is detected, handover information is sent to the backup transport vehicle, where the handover information includes the fault location of the faulty transport vehicle, or the lost transport vehicle. The last detected lost connection position before the joint transport vehicle lost contact, so that the backup transport vehicle can respond to the handover information and drive to the fault location or the lost contact position, and

Send a maintenance instruction to the faulty transport vehicle, the maintenance instruction is generated based on the maintenance route and maintenance authority, the maintenance instruction is suitable for switching the driving authority of the transport vehicle to the maintenance authority, so that the transport vehicle is based on The maintenance route travels to the maintenance work area,

Wherein, the backup transport vehicle is a transport vehicle that has not received the luggage transport task.
The transportation control method according to claim 2, further comprising:

Obtain status information of the transport vehicle, where the status information includes remaining power and/or working status;

Generate a charging instruction based on the status information and/or the obtained working condition information of the charging module;

The charging instruction is issued to the transport vehicle, and the charging instruction is used to drive the transport vehicle to the corresponding charging module for charging operation.
The transportation control method according to claim 11, wherein the charging module includes a plurality of first charging rails, and the first charging rails are arranged in the transportation area between the baggage output device and the baggage handling device. , selecting the target baggage handling device from the plurality of baggage handling devices based on the sorting result, further comprising:

Obtain the occupancy of the plurality of first charging tracks;

Sorting the occupancy of the plurality of first charging tracks;

A coordinated selection is performed on the sorting results of the occupancy amount and the sorting result of the burden amount, and the target baggage handling equipment is determined based on the coordinated selection result.
The transportation control method according to any one of claims 1 to 12, wherein said issuing the baggage transportation task to the transport vehicle further includes:

When receiving the obstacle avoidance information fed back by the transport vehicle based on the luggage transportation route, identify the type of obstacle in the obstacle avoidance information;

Generate avoidance instructions based on the type of obstacle and the traffic map of the managed transportation area;

Issue the avoidance instruction to the transport vehicle.
The transportation control method according to claim 13, wherein generating an avoidance instruction based on the type of the obstacle and a traffic map of the managed transportation area includes:

When it is detected that the obstacle is a transport vehicle of the same type, detect whether the transport vehicle and the transport vehicle of the same type are in the queuing area of the transport area based on the traffic map;

When it is detected that the transport vehicle and the similar transport vehicle are in the queuing area, generate a follow instruction for the similar transport vehicle to determine the follow instruction as the avoidance instruction;

When it is detected that the transport vehicle and the similar transport vehicle are not in the queuing area, or it is detected that the obstacle is an unknown object on the traffic map, a steering instruction for avoiding the obstacle is generated, The steering instruction is determined as the avoidance instruction.
A transportation control method for baggage check-in, which is applied to a centralized control center. The centralized control center is used to centrally control at least one management and control subsystem. The management and control subsystem is used to manage and control multiple transport vehicles. , the transportation control method includes:

Issue a baggage dispatching task to the management and control subsystem, so that the management and control subsystem issues a baggage transportation task generated based on the baggage dispatching task to the transport vehicle, so that the transport vehicle executes the luggage transportation tasks.
The transportation control method according to claim 15, wherein the management and control subsystem has multiple, and before issuing the baggage dispatching task to the management and control subsystem, it includes:

Receive multiple sets of checked baggage information reported by multiple baggage output devices, where the checked baggage information includes baggage information and flight information;

Based on the flight information, collect statistics on the distribution information of the multiple baggage output devices;

Based on the distribution information and the coordinated allocation results of the baggage information, a plurality of baggage scheduling tasks of the management and control subsystem are generated.
The transportation control method according to claim 16, wherein before issuing the baggage dispatching task to the management and control subsystem, it further includes:

The management and control authority information of the corresponding managed transportation area is issued to each management and control subsystem, so that the management and control subsystem authorizes the transport vehicle to drive in the corresponding transportation area based on the management and control authority information.
The transportation control method according to claim 17, further comprising:

Send a management and control authority change instruction to the management and control subsystem, so that the management and control subsystem sends driving authority change information to the candidate transport vehicle to be changed based on the change instruction.
The transportation control method according to any one of claims 15 to 18, further comprising:

Regularly issue maintenance decisions on the transport vehicle to the management and control subsystem.
A transportation control method for baggage check-in, applied to transport vehicles, the transportation control method includes:

Receive baggage transportation tasks issued by the management and control subsystem;

Extract the baggage transportation route in the baggage transportation task;

After completing the baggage loading, travel based on the baggage transportation route.
The transportation control method according to claim 20, wherein before receiving the baggage transportation task issued by the management and control subsystem, it further includes:

Send the preset scheduling code to the management and control subsystem;

Receive authorization information fed back by the management and control subsystem when the dispatch code verification is passed, and the authorization information is used to grant driving authority in the transportation area managed by the management and control subsystem.
The transportation control method according to claim 21, further comprising:

In response to the driving authority change information sent by the management and control subsystem, determine the target change area;

Travel from the current transportation area to the target change area,

Wherein, the target change area is the changed transportation area, or other areas outside the transportation area.
The transportation control method according to claim 21, further comprising:

In response to the received maintenance instruction, switching the driving authority to the maintenance authority; and

Based on the maintenance authority, drive to the maintenance operation area according to the maintenance route carried in the maintenance instruction to perform maintenance operations.
The transportation control method according to claim 21, wherein the transportation vehicle is equipped with a sensing device and is preset with a plurality of map information of the transportation area, and the driving based on the luggage transportation route includes:

Sensing the first distance from the surrounding reference object based on the sensing device;

Determine its own location information based on the map information and the first distance;

Driving along the baggage transportation route based on the location information.
The transportation control method according to claim 24, wherein said traveling along the baggage transportation route based on the location information includes:

When traveling along the luggage transportation route based on the location information, calculate a safety distance for collision avoidance based on the luggage transportation route and the current driving speed;

Detecting a second distance to the obstacle based on the sensing device; and

An anti-collision strategy is configured based on the relationship between the second distance and the safe distance.
The transportation control method according to claim 25, wherein the configuring the collision avoidance strategy based on the relationship between the second distance and the safety distance includes:

Determine the emergency braking distance matching the current driving speed;

When it is detected that the second distance is greater than the safe distance, continue driving based on the current driving speed;

When it is detected that the second distance is less than or equal to the safety distance and greater than the emergency braking distance, execute deceleration;

When it is detected that the second distance is less than or equal to the emergency braking distance, a braking operation is performed.
The transportation control method according to claim 24, wherein said traveling along the baggage transportation route based on the location information further includes:

Compare the driving route and the map information to generate a comparison result;

When it is determined that there is an obstacle on the baggage transportation route based on the sensing result and the comparison result, evaluate whether the obstacle can be circumvented by itself, and the sensing result is sensed and generated by the sensing device;

When it is evaluated that the obstacle can be circumvented by oneself, a self-avoidance path is generated to circumvent according to the self-avoidance path;

When it is assessed that the obstacle cannot be circumvented on its own, obstacle avoidance information is generated;

Report the obstacle avoidance information to the management and control subsystem, and receive avoidance instructions from the management and control subsystem based on the obstacle avoidance information feedback;

The baggage transportation route is adjusted based on the avoidance instruction to avoid the obstacle.
The transportation control method according to claim 20, wherein the transportation vehicle is provided with a transportation device, and a plurality of sensors are arranged on the transportation device along the transportation direction, and the sensors are used to sense the movement of the transportation device. Baggage location, said traveling based on the baggage transportation route, also includes:

When it is detected that the luggage position deviates from the pre-placement position, determine the deviation direction;

The conveying device is started to perform a deviation correction operation based on the deviation direction.
The transportation control method according to claim 20, wherein the transportation vehicle is further provided with a battery management module and a fire suppression module, and the transportation control method further includes:

Monitor the working conditions of the power battery based on the battery management module, and activate the fire suppression module when it is determined that the power battery is at risk of thermal runaway based on the working conditions; and

The driving based on the baggage transportation route specifically also includes:

The conveyor device is triggered to discard the transported baggage.
The transportation control method according to any one of claims 20 to 29, further comprising:

When in the idle state, receive handover information issued by the management and control subsystem, where the handover information includes the fault location of the faulty transport vehicle, or the last detected lost connection location before the lost transport vehicle lost contact;

Extract the fault location or the lost connection location in the handover information; and

Drive to the fault location or the disconnection location.
A transportation control system for baggage check-in, the transportation control system includes a centralized control center, a management and control subsystem and a plurality of transport vehicles, the centralized control center is used to control at least one of the management and control subsystems, The management and control subsystem is used to control and manage the plurality of transport vehicles, wherein,

The centralized control center is used to execute the transportation control method for baggage check-in as described in any one of claims 15 to 19;

The management and control subsystem is used to execute the transportation control method for baggage check-in as described in any one of claims 1 to 14;

The transport vehicle is used to perform the transport control method for baggage check-in according to any one of claims 20 to 30.
A transportation control device for baggage check-in, applied to a management and control subsystem, the management and control subsystem is used to manage and control multiple transport vehicles, the transportation control device includes:

a determination unit, configured to determine the baggage output device that outputs the baggage in response to the baggage dispatch task sent by the centralized control center;

a selection unit for selecting a target baggage handling device to receive the baggage among multiple baggage handling devices;

A first generating unit configured to generate a baggage transportation route based on the position of the baggage output device and the position of the target baggage handling device;

a second generation unit configured to generate a baggage transportation task based on the baggage transportation route and the baggage scheduling task;

The first sending unit is configured to issue the baggage transport task to the transport vehicle, so that the transport vehicle transports the baggage from the baggage output device to the target baggage processing device based on the baggage transport route.
A transportation control device for baggage check-in, wherein it is applied to a centralized control center. The centralized control center is used to centrally control at least one management and control subsystem. The management and control subsystem is used to manage and control multiple transport vehicles. , the transportation control device includes:

The second sending unit is configured to issue a luggage dispatching task to the management and control subsystem, so that the management and control subsystem issues a luggage transportation task generated based on the luggage dispatching task to the transport vehicle. The transport vehicle performs the luggage transport task.
A transportation control device for baggage check-in, applied to a transport vehicle, the transportation control device includes:

The receiving unit is used to receive baggage transportation tasks issued by the management and control subsystem;

An extraction unit, used to extract the baggage transportation route in the baggage transportation task;

An execution unit is used to travel based on the luggage transportation route after completing the luggage loading.
An electronic device including:

processor; and

A memory for storing executable instructions of the processor; wherein the processor is configured to perform the transportation control for baggage check-in of any one of claims 1 to 14 via execution of the executable instructions. method or the transportation control method for checked baggage described in any one of 15 to 19.
A transport vehicle including:

processor; and

A memory for storing executable instructions of the processor; wherein the processor is configured to perform the transportation control for baggage check-in according to any one of claims 20 to 30 via execution of the executable instructions. method.
A computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the transportation control method for baggage check-in according to any one of claims 1 to 30 is implemented.