Automatic airport luggage conveying and intelligent sorting system

Abstract

The invention relates to the technical field of automatic logistics management, in particular to an airport luggage automatic conveying and intelligent sorting system which comprises a control system and a device body. The device body comprises a luggage receiving device, a sorting device, a sorting sliding groove, a luggage separating device, a conveyor, a storage device, an adjusting mechanical arm, two-degree-of-freedom loading and conveying equipment and a luggage grid frame. The luggage separating device comprises a plurality of conveying devices arranged in an array mode. The storage device is used for storing the luggage conveyed by the conveyor and outputting the luggage in sequence according to a luggage planning scheme; and the adjusting manipulator is used for adjusting the posture of the output luggage, and loading the luggage into the luggage grid frames in sequence through the two-degree-of-freedom loading and conveying equipment. According to the scheme, the posture of the luggage can be preliminarily adjusted before the luggage is loaded into the storage device, and the space utilization rate, the luggage processing efficiency and the luggage processing accuracy of the luggage trailer are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated logistics management, and in particular to an automatic luggage conveying and intelligent sorting system for airports. Background Art

[0002] In today's world of increasing globalization and rapid development of transportation, the civil aviation industry plays a vital role as an important hub connecting different parts of the world. With the significant increase in the frequency of people's travel, airports are facing unprecedented challenges, especially in baggage handling. With the continuous increase in the number of passengers, the traditional airport baggage handling system is under tremendous pressure, affecting the overall efficiency of airport operations and the travel experience of passengers.

[0003] The baggage handling process at airports usually involves multiple links, such as receiving, sorting, transporting and loading, which usually require a lot of manpower for manual operations. During peak hours, this labor-intensive processing method is prone to bottlenecks, resulting in slow baggage handling and inefficiency. In addition, manual processing inevitably leads to misclassification, delays and even baggage loss, which seriously affects passengers' travel experience and increases the operational burden of airlines.

[0004] To this end, in the prior art, the degree of automation of luggage transportation is usually improved by using a conveyor belt. However, during the luggage transportation process, the luggage usually presents an irregular posture, which results in the need for manual posture adjustment when loading the luggage into a temporary storage device or a luggage trailer. Otherwise, the problem of low space utilization of the storage device or the luggage trailer will occur. Therefore, the problem of high operational complexity and high manual labor intensity has not been solved. In addition, the luggage loading process usually does not fully consider how to effectively utilize the space of the luggage trailer. Since the remaining invalid space on the luggage trailer after the luggage is loaded is large, the space utilization of the luggage trailer is not high, and more luggage cannot be loaded in each trip, thereby limiting the overall efficiency of luggage handling.

[0005] Therefore, there is an urgent need to provide an airport baggage automatic conveying and intelligent sorting system that can perform preliminary posture adjustments on the baggage before loading it into the storage device, effectively improve the space utilization of the baggage trailer, and improve the efficiency and accuracy of baggage handling. Summary of the invention

[0006] The present invention provides an airport baggage automatic conveying and intelligent sorting system, which can perform preliminary posture adjustment on the baggage before loading it into a storage device, effectively improve the space utilization rate of the baggage trailer, and improve the baggage handling efficiency and accuracy.

[0007] In order to achieve the above objectives, this application provides the following technical solutions:

[0008] An airport baggage automatic conveying and intelligent sorting system comprises an electrically connected control system and a device body; the device body comprises a baggage receiving device, a sorting device, a sorting chute, a baggage separation device and a conveyor, the baggage separation device is arranged between the sorting chute and the conveyor, and the baggage separation device comprises a plurality of conveying devices arranged in an array; the baggage receiving device is used to receive baggage, the received baggage is sorted by the sorting device, and slides into the conveying device on the baggage separation device through the sorting chute, and the conveying device is used to convey the baggage to the conveyor;

[0009] The control system includes a label generation module, a sorting control module, a visual recognition module and a drive control module;

[0010] The label generation module is used to obtain the basic information of each piece of luggage received by the luggage receiving device, and generate a corresponding label according to the basic information of each piece of luggage; the basic information of the luggage is stored on the label;

[0011] The sorting control module is used to identify the label of each baggage and control the sorting device to sort the baggage to the corresponding sorting chute according to the identification result;

[0012] The visual recognition module is used to obtain the offset angle and offset direction of each baggage on the conveying device;

[0013] The driving control module is used to control each conveying device to drive the luggage above to move and transfer it to the conveyor according to the offset angle and offset direction of each luggage.

[0014] Furthermore, the device body also includes a storage device for storing luggage conveyed by a conveyor and an adjustment manipulator for adjusting the posture of luggage; a conveyor belt is provided between the storage device and the adjustment manipulator, and the adjustment manipulator is arranged on both sides of the conveyor belt; the control system also includes a luggage output control module, and the luggage output control module includes a planning scheme generation module, a stored luggage output control module and a stored luggage posture adjustment module;

[0015] The planning scheme generating module is used to identify the size information of each piece of luggage and generate a luggage planning scheme according to the size information of each piece of luggage;

[0016] The stored luggage output control module is used to control the storage device to output the stored luggage in sequence according to the luggage planning scheme;

[0017] The stored luggage posture adjustment module is used to control the adjustment robot to adjust the posture of the luggage output by the storage device according to the luggage planning plan.

[0018] Furthermore, the device body also includes a luggage grid frame; the luggage grid frame includes a plurality of transverse partitions, a plurality of longitudinal partitions and a plurality of baffles, the transverse partitions and the longitudinal partitions are staggered to form a plurality of luggage placement cavities, the baffles are arranged at one end portion of the luggage placement cavity, and the other end of the luggage placement cavity is provided with an opening for taking and placing luggage.

[0019] Further, the planning scheme generating module includes a size recognition module, a baggage orientation planning module, a baggage distribution planning module and a baggage planning integration module;

[0020] The size recognition module is used to recognize the size information of each piece of luggage and obtain the size information of the luggage placement cavity; the size information includes length and width;

[0021] The baggage orientation planning module is used to compare the length of each baggage with the width of the baggage placement cavity and generate a loading direction for each baggage; if the length of the baggage is greater than the width of the baggage placement cavity, the corresponding loading direction is to load the baggage in such a way that the wide side of the baggage is parallel to the baffle of the baggage placement cavity, and the baggage is classified as Class I baggage; if the length of the baggage is less than or equal to the width of the baggage placement cavity, the corresponding loading direction is to load the baggage in such a way that the long side of the baggage is parallel to the baffle of the baggage placement cavity, and the baggage is classified as Class II baggage;

[0022] The baggage distribution planning module is used to analyze the baggage placed in each baggage placement cavity according to the length of each first-class baggage, the width of each second-class baggage and the length of the baggage placement cavity, and generate a baggage distribution plan;

[0023] The baggage planning integration module is used to generate a baggage planning plan according to the baggage distribution plan and the loading direction of each baggage.

[0024] Further, the stored luggage posture adjustment module includes a three-dimensional data acquisition module, a rotation angle calculation module and a rotation scheme generation module;

[0025] The three-dimensional data acquisition module is used to acquire the three-dimensional point cloud data of the luggage; assuming that a horizontal midpoint on the conveyor belt is the center point, defining the direction parallel to the conveyor belt on the horizontal plane as the X-axis, the direction perpendicular to the conveyor belt on the horizontal plane as the Y-axis, and the vertically upward direction on the horizontal plane as the Z-axis, and acquiring the horizontal matrix information M of all point clouds;

[0026] The rotation angle calculation module is used to perform de-averaging and normalization processing on the horizontal matrix information M to generate a matrix M ′ , and calculate the matrix M ′ covariance matrix C; obtaining the eigenvector corresponding to the maximum eigenvalue of the covariance matrix C, and obtaining the angle between the eigenvector and the X-axis, and outputting the angle as the rotation angle θ of the corresponding luggage;

[0027] The rotation scheme generating module is used to generate a rotation scheme corresponding to the luggage according to the loading direction and the rotation angle of the luggage, and control the adjustment manipulator to adjust the posture of the luggage according to the rotation scheme of the luggage.

[0028] Further, the rotation scheme generating module is used for, if the loading direction of the luggage is that the wide side of the luggage is parallel to the baffle, and the rotation angle θ≤90°, then the rotation scheme is a clockwise rotation of θ; if the loading direction of the luggage is that the wide side of the luggage is parallel to the baffle, and 90°<θ≤180°, then the rotation scheme is a counterclockwise rotation of 180°-θ; if the loading direction of the luggage is that the wide side of the luggage is parallel to the baffle, and 180°<θ≤270°, then the rotation scheme is a clockwise rotation of θ-180°; if the loading direction of the luggage is that the wide side of the luggage is parallel to the baffle, and 270°<θ≤360°, then the rotation scheme is a counterclockwise rotation of 360°-θ;

[0029] The rotation scheme generating module is further configured to: if the loading direction of the luggage is such that the long side of the luggage is parallel to the baffle and the rotation angle θ≤90°, then the rotation scheme is a counterclockwise rotation of 90°-θ; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle and 90°<θ≤180°, then the rotation scheme is a clockwise rotation of θ-90°; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle and 180°<θ≤270°, then the rotation scheme is a counterclockwise rotation of 270°-θ; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle and 270°<θ≤360°, then the rotation scheme is a clockwise rotation of θ-270°.

[0030] Furthermore, the device body also includes a dual-degree-of-freedom loading and conveying device for receiving luggage whose posture has been adjusted by the adjustment manipulator; the length and width of the dual-degree-of-freedom loading and conveying device are respectively equal to the length and width of the luggage placement cavity; the luggage is loaded into the luggage placement cavity through the dual-degree-of-freedom loading and conveying device.

[0031] Furthermore, the basic information includes flight information, weight information and size information.

[0032] The principles and advantages of the present invention are:

[0033] The present invention generates corresponding labels for each piece of luggage at the baggage receiving stage by setting a label generation module, so that in any link of the subsequent automated processing of the luggage, the basic information of the corresponding luggage can be obtained by identifying the label, so as to prevent the occurrence of misclassification and the like during the luggage transportation process, thereby ensuring the accuracy and reliability of the luggage transportation process. The received luggage will be sorted by the sorting device, so that the luggage of the same flight will be sorted to the corresponding sorting chute, and further transported to the storage device through the conveyor. However, the luggage that slides into the conveyor through the sorting chute usually has different postures, which is not conducive to direct storage by the storage system. Therefore, in this solution, the operation of each conveying device is controlled separately by identifying the offset angle and offset direction of the luggage. Specifically, if one side of the luggage is tilted forward, the operating speed of the conveying device on the other side can be controlled to be higher than the operating speed of the conveying device on this side, so as to achieve the effect of adjusting the luggage posture. At the same time, the opening and closing of each conveying device can also be controlled to achieve the effect of controlling the luggage to enter the conveyor in sequence, so as to prevent the phenomenon of luggage being piled up in the subsequent links. This solution also allows the luggage placement cavity to carry more luggage by planning the direction and distribution of the luggage. Specifically, shorter luggage is placed horizontally in the luggage placement cavity, thereby reducing the length of the luggage placement cavity occupied by it, thereby improving the space utilization rate of each luggage placement cavity. In summary, this solution can make preliminary posture adjustments to the luggage before loading it into the storage device, and effectively improve the space utilization rate of the luggage trailer, and improve the efficiency and accuracy of luggage handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The present invention is a logic block diagram of a baggage output control module in an embodiment of an airport baggage automatic conveying and intelligent sorting system.

[0035] Figure 2 The diagram is a node diagram of a baggage handling process in an embodiment of an automatic baggage conveying and intelligent sorting system for airports of the present invention.

[0036] Figure 3 The present invention is a schematic diagram of the structure of a baggage separation device in an embodiment of an automatic airport baggage conveying and intelligent sorting system.

[0037] Figure 4 The present invention is a schematic diagram of the structure of a storage device in an embodiment of an automatic airport baggage conveying and intelligent sorting system.

[0038] Figure 5 The present invention is a schematic diagram of the structure of an adjustment manipulator in an embodiment of an automatic airport baggage conveying and intelligent sorting system.

[0039] Figure 6 It is a structural schematic diagram of a dual-degree-of-freedom loading and conveying device in an embodiment of an airport baggage automatic conveying and intelligent sorting system of the present invention.

[0040] Figure 7 The present invention is a schematic structural diagram of a luggage grid rack in an embodiment of an automatic airport luggage conveying and intelligent sorting system. DETAILED DESCRIPTION

[0041] The following is further described in detail through specific implementation methods:

[0042] The symbols in the drawings of the specification include: a sorting chute 1, a conveying device 2, a transverse partition 3, a longitudinal partition 4, a baffle 5, and a conveyor 6.

[0043] In the description of this application, unless otherwise clearly specified and limited, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance; unless otherwise specified or explained, the term "plurality" refers to two or more; the terms "connected" and "fixed" should be understood in a broad sense, for example, "connected" can be a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0044] In the description of this specification, it should be understood that the directional words such as "upper", "lower", "left", and "right" described in the embodiments of the present application are described at the angles shown in the accompanying drawings and should not be understood as limitations on the embodiments of the present application. In addition, in the context, it should also be understood that when it is mentioned that an element is connected to the "upper", "lower", "left", or "right" of another element, it can not only be directly connected to the "upper", "lower", "left", or "right" of another element, but can also be indirectly connected to the "upper", "lower", "left", or "right" of another element through an intermediate element.

[0045] Embodiment 1:

[0046] An airport baggage automatic conveying and intelligent sorting system includes an electrically connected device body and a control system. The device body includes a baggage receiving device, a sorting device, a sorting chute 1, a baggage separation device, a conveyor 6, a storage device, an adjustment manipulator, a double-degree-of-freedom loading and conveying device, and a baggage grid rack arranged on a baggage trailer. In this embodiment, the baggage receiving device is arranged at a check-in counter, such as Figure 3 As shown, the baggage separation device is arranged between the sorting chute 1 and the conveyor 6, and the baggage separation device includes a plurality of conveying devices 2 arranged in an array.

[0047] like Figure 2As shown, after the passenger checks in at the check-in counter, the baggage receiving device receives the passenger's baggage, and the received baggage is transported to the sorting device through the conveyor belt between the baggage receiving device and the sorting device. The sorting device sorts the baggage of each passenger. After the sorting is completed, each baggage slides into the corresponding sorting chute 1 as shown in FIG. Figure 3 The luggage separation device shown in the figure, and the luggage is transported to the conveyor 6 by the conveying device 2 on the luggage separation device, and the conveyor 6 then transports the luggage to the following Figure 4 Specifically, the luggage on the conveyor 6 is sequentially placed in the storage device by the robot. Similarly, when the luggage needs to be taken out from the storage device, the robot also sequentially takes out the luggage and places it on the conveyor belt set between the storage device and the adjustment robot, such as Figure 5 As shown, there are adjustment manipulators for adjusting the posture of luggage on both sides of the conveyor belt. After the posture of each luggage is adjusted by the adjustment manipulator, it is transported to the following places in sequence: Figure 6 The double-degree-of-freedom loading and conveying device shown in the figure is used to place the luggage into the Figure 7 Luggage rack shown.

[0048] Specifically, the length and width of the dual-freedom loading and conveying device are respectively equal to the length and width of the luggage placement cavity, and can be moved horizontally and vertically on the horizontal track and the vertical track respectively through the driving device to align the luggage placement cavities at various positions on the luggage trailer, and the luggage is loaded into the luggage placement cavity through the dual-freedom loading and conveying device. Figure 7 As shown, the luggage grid rack includes a plurality of transverse partitions 3, a plurality of longitudinal partitions 4 and a plurality of baffles 5. The transverse partitions 3 and the longitudinal partitions 4 are staggered to form a plurality of luggage placement cavities. The baffles 5 are arranged at one end portion of the luggage placement cavity, and the other end of the luggage placement cavity is provided with an opening for taking and placing luggage. In other embodiments of the present application, the baffles 5 are detachably connected to the longitudinal partitions 4, and the longitudinal partitions 4 can be lowered as needed, so that the luggage can be taken out from the open end of the luggage placement cavity or from the side of the baffles 5.

[0049] After the hardware facilities are complete, the operation of each device is controlled by a control system. Specifically, the control system includes a label generation module, a sorting control module, a visual recognition module, a drive control module and a baggage output control module.

[0050] The label generation module is used to obtain the basic information of each piece of luggage received by the luggage receiving device, and generate corresponding labels according to the basic information of each piece of luggage; the basic information of the luggage is stored on the label; in this embodiment, the basic information includes flight information, weight information and size information.

[0051] The sorting control module is used to identify the label of each baggage and control the sorting device to sort the baggage to the corresponding sorting chute 1 according to the identification result; specifically, after scanning the label of each baggage, its destination information is obtained according to the identified flight information, and the corresponding sorting chute 1 is analyzed according to the destination information, and then the corresponding baggage is guided to the corresponding sorting chute 1 through the conveyor belt, and the baggage slides into the baggage separation device arranged at the end of the sorting chute 1 through the sorting chute 1.

[0052] The visual recognition module is used to obtain the offset angle and offset direction of each piece of luggage on the conveying device 2; the driving control module is used to control each conveying device 2 to drive the luggage above to move and transmit it to the conveyor 6 according to the offset angle and offset direction of each piece of luggage. Specifically, the original image of the luggage on the conveyor 6 is obtained and binarized, and the binarized original image of the luggage is subjected to sobel edge detection to generate edge recognition results, and then the cvFindContours function in OpenCV is used to find the contour in the edge detection result, and the minimum enclosing rectangle is calculated by the cvMinAreaRect2 function. If any side of the minimum circumscribed rectangle, that is, any side of the luggage, is parallel to the center line of the conveyor 6, the offset angle of the luggage is 0°, and there is no need to adjust the posture of the luggage; if the sides of the minimum circumscribed rectangle, that is, the sides of the luggage, are not parallel to the center line of the conveyor 6, then the intersection angles of the sides of the minimum circumscribed rectangle and the center line of the conveyor 6 are analyzed, and the acute angles of the intersection angles of the sides with the center line of the conveyor 6 are taken as the quasi-offset angles, and the sizes of the quasi-offset angles corresponding to the sides are compared, and the minimum quasi-offset angle is set as the offset angle of the luggage. Let the vertex closest to the conveyor 6 in the minimum circumscribed rectangle be point A, and draw a perpendicular line through point A to the center line of the conveyor 6. The perpendicular line divides the minimum circumscribed rectangle into two left and right areas, and analyzes the areas of the areas on both sides of the perpendicular line. If the area of ​​the area on the left side of the perpendicular line is larger than the area of ​​the area on the right side, the luggage is offset to the left, otherwise it is offset to the right. When the luggage deviates to the left, the leftmost vertex on the horizontal position of the luggage is recorded as point B, and the contact area between the conveying device 2 at point B and the luggage is obtained. If the contact area is less than the preset area, the running speed of the conveying device 2 at point B and the conveying device 2 immediately to the right of the conveying device 2 at point B are adjusted. If the contact area is greater than or equal to the preset area, only the running speed of the conveying device 2 at point B is adjusted. The preset area is one quarter of the area of ​​the minimum circumscribed rectangle corresponding to the luggage. Specifically, a comparison table of the offset angle and the running speed is pre-stored in the drive control module. According to the offset angle obtained by analysis, the corresponding running speed is output and the corresponding conveying device 2 is controlled to adjust its running speed. Other conveying devices 2 run at the original speed. The adjusted running speed is greater than the original speed. When the luggage deviates to the right, the rightmost vertex on the horizontal position of the luggage is recorded as point C. The subsequent control logic is the same as the control logic when the luggage deviates to the left, which will not be repeated here.

[0053] Therefore, the luggage has completed preliminary posture adjustment through the conveying device 2 on the luggage separation device before entering the conveyor 6, and no additional devices need to be added. The corresponding effect can be achieved by adjusting the operating speed of each conveying device 2. In addition, the luggage separation device can also achieve the front and rear separation of the accumulated luggage by adjusting the operating speed of each conveying device 2. Specifically, the operating speed of each area conveying device 2 is adjusted to drive the luggage above to enter the conveyor 6 in sequence, and then the conveyor 6 transports the luggage to the storage device in sequence for temporary storage. That is, through the luggage separation device, the discretization of luggage and the posture adjustment of luggage are achieved at the same time.

[0054] like Figure 1 As shown, the baggage output control module includes a planning scheme generation module, a storage baggage output control module and a storage baggage posture adjustment module. The planning scheme generation module is used to identify the size information of each baggage and generate a baggage planning scheme based on the size information of each baggage. In this embodiment, the size information of the baggage is directly obtained through the identification tag. In other embodiments of the present application, the size information of the baggage can also be temporarily obtained through the visual recognition system; the planning scheme generation module includes a size recognition module, a baggage orientation planning module, a baggage distribution planning module and a baggage planning integration module.

[0055] The size recognition module is used to identify the size information of each piece of luggage and obtain the size information of the luggage placement cavity; the size information includes length and width. The luggage orientation planning module is used to compare the length of each piece of luggage with the width of the luggage placement cavity and generate the loading direction of each piece of luggage respectively; if the length of the luggage is greater than the width of the luggage placement cavity, the corresponding loading direction is to load the luggage in parallel with the baffle 5 of the luggage placement cavity, that is, the wide side of the luggage faces forward for subsequent transportation and loading, and the luggage is classified as Class I luggage; if the length of the luggage is less than or equal to the width of the luggage placement cavity, the corresponding loading direction is to load the luggage in parallel with the baffle 5 of the luggage placement cavity, that is, the long side of the luggage faces forward for subsequent transportation and loading, and the luggage is classified as Class II luggage.

[0056] The baggage distribution planning module is used to analyze the baggage placed in each baggage placement cavity according to the length of each first-class baggage, the width of each second-class baggage and the length of the baggage placement cavity, and generate a baggage distribution plan; in this embodiment, any baggage placement cavity can hold a row of baggage, and each baggage is sequentially placed in the baggage placement cavity according to the loading direction generated by the orientation planning module, and a row of placed baggage cannot exceed the baggage placement cavity to prevent the baggage from falling, thereby improving safety.

[0057] In this embodiment, the BP neural network technology is used to plan the luggage placed in each luggage placement cavity. Specifically, the length of each first-class luggage, the width of each second-class luggage and the length of the luggage placement cavity are used as inputs of the input layer, so the input layer has a total of 3 nodes, and the luggage placed in each luggage placement cavity is used as output, so the output layer has a total of 1 node; for the hidden layer, this embodiment uses the following formula to determine the number of hidden layer nodes: Where l is the number of nodes in the hidden layer, n is the number of nodes in the input layer, m is the number of nodes in the output layer, and a is a number between 1 and 10. In this embodiment, it is 6, so there are 8 nodes in the hidden layer. BP neural network usually uses Sigmoid differentiable function and linear function as the excitation function of the network. In this embodiment, the S-type tangent function tansig is selected as the excitation function of the hidden layer neurons. The prediction model selects the S-type logarithmic function tansig as the excitation function of the output layer neurons. After the model outputs the results, a baggage distribution plan is generated according to the output baggage placed in each baggage placement cavity.

[0058] The baggage planning integration module is used to generate a baggage planning scheme according to the baggage distribution scheme and the loading direction of each baggage. The stored baggage output control module is used to control the storage device to sequentially output the stored baggage according to the baggage planning scheme. Specifically, the total weight of the baggage in each baggage placement cavity is calculated, and the output is sorted from high to low, and the baggage in each baggage placement cavity is output in sequence. After outputting a group of baggage corresponding to the baggage placement cavity, the next group of baggage is output after a preset time interval.

[0059] The stored luggage posture adjustment module is used to control the adjustment manipulator to adjust the posture of the luggage output by the storage device according to the luggage planning scheme. The stored luggage posture adjustment module includes a three-dimensional data acquisition module, a rotation angle calculation module and a rotation scheme generation module.

[0060] The three-dimensional data acquisition module is used to acquire the three-dimensional point cloud data of the luggage; set a horizontal midpoint on the conveyor belt as the center point, define the direction parallel to the conveyor belt on the horizontal plane as the X-axis, the direction perpendicular to the conveyor belt on the horizontal plane as the Y-axis, and the vertically upward direction on the horizontal plane as the Z-axis, and acquire the horizontal matrix information M of all point clouds. The rotation angle calculation module is used to perform de-averaging and normalization processing on the horizontal matrix information M to generate a matrix M ′ , and calculate the matrix M ′ The covariance matrix C of the luggage is obtained; the eigenvector corresponding to the maximum eigenvalue of the covariance matrix C is obtained, and the angle between the eigenvector and the X-axis is obtained, and the angle is output as the rotation angle θ of the corresponding luggage. The rotation scheme generating module is used to generate a rotation scheme of the corresponding luggage according to the loading direction and the rotation angle of the luggage, and control the adjustment manipulator to adjust the posture of the luggage according to the rotation scheme of the luggage.

[0061] Specifically, if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle 5, and the rotation angle θ≤90°, the rotation scheme is to rotate clockwise by θ; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle 5, and 90°<θ≤180°, the rotation scheme is to rotate counterclockwise by 180°-θ; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle 5, and 180°<θ≤270°, the rotation scheme is to rotate clockwise by θ-180°; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle 5, and 270°<θ≤360°, the rotation scheme is to rotate counterclockwise by 360°-θ.

[0062] The rotation scheme generating module is further used for, if the loading direction of the luggage is such that the long side of the luggage is parallel to the baffle 5, and the rotation angle θ≤90°, then the rotation scheme is a counterclockwise rotation of 90°-θ; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle 5, and 90°<θ≤180°, then the rotation scheme is a clockwise rotation of θ-90°; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle 5, and 180°<θ≤270°, then the rotation scheme is a counterclockwise rotation of 270°-θ; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle 5, and 270°<θ≤360°, then the rotation scheme is a clockwise rotation of θ-270°.

[0063] After adjustment, according to the baggage distribution plan, the baggage that should be placed in the same baggage placement cavity is transferred to the dual-degree-of-freedom loading and conveying device. After all the baggage that should be placed in the baggage placement cavity enters the dual-degree-of-freedom loading device, the dual-degree-of-freedom loading device is controlled to move in the horizontal and vertical directions so that it can push the baggage in the dual-degree-of-freedom loading device into the baggage placement cavity manually or by pushing with a push rod, and the baggage is placed in the lower baggage placement cavity first, and then loaded in order from bottom to top. Figure 7 As shown, the luggage rack in this embodiment has 3 layers, each layer has three luggage placement cavities, and the output luggage is preferentially placed in the luggage placement cavity of the bottom layer. After the three luggage placement cavities of the bottom layer are all full, the output luggage is then placed in the luggage placement cavity of the middle layer, and finally in the luggage placement cavity of the top layer. In this way, heavier luggage can be planned under the luggage rack, thereby improving the stability of the luggage rack when transported by a trailer. In this way, automatic transportation of luggage is realized.

[0064] The above are only embodiments of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme is not described in detail here. Ordinary technicians in the relevant field know all the common technical knowledge in the technical field to which the invention belongs before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. An automatic baggage conveying and intelligent sorting system for airports, comprising an electrically connected control system and a device body; the device body comprises a baggage receiving device, a sorting device, a sorting chute, a baggage separation device and a conveyor, characterized in that: The baggage separation device is arranged between the sorting chute and the conveyor, and the baggage separation device includes a plurality of conveying devices arranged in an array; the baggage receiving device is used to receive baggage, and the received baggage is sorted by the sorting device and slides into the conveying device on the baggage separation device through the sorting chute, and the conveying device is used to convey the baggage to the conveyor; The control system includes a label generation module, a sorting control module, a visual recognition module and a drive control module; The label generation module is used to obtain the basic information of each piece of luggage received by the luggage receiving device, and generate a corresponding label according to the basic information of each piece of luggage; the basic information of the luggage is stored on the label; The sorting control module is used to identify the label of each baggage and control the sorting device to sort the baggage to the corresponding sorting chute according to the identification result; The visual recognition module is used to obtain the offset angle and offset direction of each baggage on the conveying device; The driving control module is used to control each conveying device to drive the luggage above to move and transfer it to the conveyor according to the offset angle and offset direction of each luggage.

2. The airport baggage automatic conveying and intelligent sorting system according to claim 1 is characterized by: The device body also includes a storage device for storing luggage conveyed by a conveyor and an adjustment manipulator for adjusting the posture of luggage; a conveyor belt is provided between the storage device and the adjustment manipulator, and the adjustment manipulator is arranged on both sides of the conveyor belt; the control system also includes a luggage output control module, and the luggage output control module includes a planning scheme generation module, a stored luggage output control module and a stored luggage posture adjustment module; The planning scheme generating module is used to identify the size information of each piece of luggage and generate a luggage planning scheme according to the size information of each piece of luggage; The stored luggage output control module is used to control the storage device to output the stored luggage in sequence according to the luggage planning scheme; The stored luggage posture adjustment module is used to control the adjustment robot to adjust the posture of the luggage output by the storage device according to the luggage planning plan.

3. The airport baggage automatic conveying and intelligent sorting system according to claim 2 is characterized by: The device body also includes a luggage grid frame; the luggage grid frame includes a plurality of transverse partitions, a plurality of longitudinal partitions and a plurality of baffles, the transverse partitions and the longitudinal partitions are staggered to form a plurality of luggage placement cavities, the baffles are arranged at one end portion of the luggage placement cavity, and the other end of the luggage placement cavity is provided with an opening for taking and placing luggage.

4. The airport baggage automatic conveying and intelligent sorting system according to claim 3 is characterized by: The planning scheme generation module includes a size recognition module, a baggage orientation planning module, a baggage distribution planning module and a baggage planning integration module; The size recognition module is used to recognize the size information of each piece of luggage and obtain the size information of the luggage placement cavity; the size information includes length and width; The baggage orientation planning module is used to compare the length of each baggage with the width of the baggage placement cavity and generate a loading direction for each baggage; if the length of the baggage is greater than the width of the baggage placement cavity, the corresponding loading direction is to load the baggage in such a way that the wide side of the baggage is parallel to the baffle of the baggage placement cavity, and the baggage is classified as Class I baggage; if the length of the baggage is less than or equal to the width of the baggage placement cavity, the corresponding loading direction is to load the baggage in such a way that the long side of the baggage is parallel to the baffle of the baggage placement cavity, and the baggage is classified as Class II baggage; The baggage distribution planning module is used to analyze the baggage placed in each baggage placement cavity according to the length of each first-class baggage, the width of each second-class baggage and the length of the baggage placement cavity, and generate a baggage distribution plan; The baggage planning integration module is used to generate a baggage planning plan according to the baggage distribution plan and the loading direction of each baggage.

5. The airport baggage automatic conveying and intelligent sorting system according to claim 4 is characterized by: The stored luggage posture adjustment module includes a three-dimensional data acquisition module, a rotation angle calculation module and a rotation scheme generation module; The three-dimensional data acquisition module is used to acquire the three-dimensional point cloud data of the luggage; assuming that a horizontal midpoint on the conveyor belt is the center point, defining the direction parallel to the conveyor belt on the horizontal plane as the X-axis, the direction perpendicular to the conveyor belt on the horizontal plane as the Y-axis, and the vertically upward direction on the horizontal plane as the Z-axis, and acquiring the horizontal matrix information M of all point clouds; The rotation angle calculation module is used to perform de-averaging and normalization processing on the horizontal matrix information M to generate a matrix M ′ , and calculate the matrix M ′ covariance matrix C; obtaining the eigenvector corresponding to the maximum eigenvalue of the covariance matrix C, and obtaining the angle between the eigenvector and the X-axis, and outputting the angle as the rotation angle θ of the corresponding luggage; The rotation scheme generating module is used to generate a rotation scheme corresponding to the luggage according to the loading direction and the rotation angle of the luggage, and control the adjustment manipulator to adjust the posture of the luggage according to the rotation scheme of the luggage.

6. The airport baggage automatic conveying and intelligent sorting system according to claim 5 is characterized by: The rotation scheme generating module is used for, if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle, and the rotation angle θ≤90°, then the rotation scheme is a clockwise rotation of θ; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle, and 90°<θ≤180°, then the rotation scheme is a counterclockwise rotation of 180°-θ; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle, and 180°<θ≤270°, then the rotation scheme is a clockwise rotation of θ-180°; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle, and 270°<θ≤360°, then the rotation scheme is a counterclockwise rotation of 360°-θ; The rotation scheme generating module is further configured to: if the loading direction of the luggage is such that the long side of the luggage is parallel to the baffle and the rotation angle θ≤90°, then the rotation scheme is a counterclockwise rotation of 90°-θ; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle and 90°<θ≤180°, then the rotation scheme is a clockwise rotation of θ-90°; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle and 180°<θ≤270°, then the rotation scheme is a counterclockwise rotation of 270°-θ; if the loading direction of the luggage is such that the wide side of the luggage is parallel to the baffle and 270°<θ≤360°, then the rotation scheme is a clockwise rotation of θ-270°.

7. The airport baggage automatic conveying and intelligent sorting system according to claim 3 is characterized by: The device body also includes a double-degree-of-freedom loading and conveying device for receiving luggage whose posture has been adjusted by the adjustment manipulator; the length and width of the double-degree-of-freedom loading and conveying device are respectively equal to the length and width of the luggage placement cavity; the luggage is loaded into the luggage placement cavity through the double-degree-of-freedom loading and conveying device.

8. The airport baggage automatic conveying and intelligent sorting system according to claim 1 is characterized by: The basic information includes flight information, weight information and size information.

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