Airport unmanned visual inspection system and luggage tractor

Abstract

The invention provides an airport unmanned visual inspection system and a luggage tractor, and belongs to the technical field of airport luggage tractors, the system comprises a visual monitoring module and an active intervention module, the visual monitoring module is in communication connection with the active intervention module, and the active intervention module is in communication connection with the visual monitoring module. The visual monitoring module comprises a visual monitoring unit and a visual processing unit, the visual monitoring unit is used for acquiring image and video information of the luggage, and the visual processing unit is used for identifying and generating state information of the luggage according to the image and video information of the luggage. According to the invention, by arranging the visual detection module and the active intervention module, real-time monitoring and protection of luggage on the tractor are realized, and the state of the luggage during transportation can be monitored at any time through the visual detection module, specifically the shaking state and the falling condition of the luggage; and when the luggage shakes, the intervention module is matched to carry out relaxation constraint protection on the luggage in real time, so that the luggage is prevented from being damaged due to excessive shaking.

Description

Technical Field

[0001] The invention belongs to the technical field of airport luggage tractors, and in particular relates to an airport unmanned visual inspection system and a luggage tractor. Background Art

[0002] An airport baggage tractor is a vehicle specially designed to transport and tow passenger baggage at an airport. It is usually designed to have a large load capacity and carrying capacity to cope with the needs of large amounts of luggage. Over time, the design and function of airport baggage tractors have been continuously improved. Modern baggage tractors are usually equipped with advanced control systems, safety equipment and humanized design to ensure efficient, safe and comfortable baggage transportation services. At the same time, some baggage tractors also use automation technology and unmanned driving technology, such as automatic driving or navigation systems, to improve operational efficiency and reduce human errors.

[0003] For example, the document with publication number CN115352371B, based on the existing chassis technology and dynamic performance, realizes the free selection and flexible switching of manual and unmanned driving modes through unmanned driving upgrades and modifications, and realizes L4.5 unmanned driving in airport environments; it uses the installation component for visual detection cameras for installation, which is easy to operate and easy to install, disassemble and replace.

[0004] It solves the problem that the existing unmanned luggage tractors cannot be well installed with cameras in the matching visual inspection system. However, when combined with the existing unmanned visual inspection system, it is found that the existing solutions are mostly centered around the driving direction, and often ignore the safety of the luggage loaded on the luggage tractor during transportation. The luggage is often bumped and damaged during transportation due to loose restraints, but the existing visual inspection system cannot perform safety inspections on the luggage during transportation, which leads to a problem that the unmanned luggage tractor visual inspection system only looks ahead and not behind. Although the existing unmanned luggage tractors have achieved unmanned operation during driving, they still need to be manually stabilized with ropes after loading, which reduces work efficiency. Summary of the invention

[0005] The object of the present invention is to provide an airport unmanned visual inspection system and a baggage tractor to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: an airport unmanned visual detection system, used to detect the status of luggage in the process of transportation by a luggage tractor, comprising a visual monitoring module and an active intervention module, wherein the visual monitoring module and the active intervention module are in communication connection; The visual monitoring module includes a visual monitoring unit and a visual processing unit, wherein the visual monitoring unit is used to obtain the image and video information of the luggage, and the visual processing unit is used to identify and generate the status information of the luggage according to the image and video information of the luggage; The active intervention module further secures the luggage according to the status information of the luggage; The active intervention module includes a plurality of restraint protection devices; The restraint protection device comprises a first mounting seat and a second mounting seat, and also comprises a restraint assembly rolled up between the first mounting seat and the second mounting seat for restraining and protecting the luggage; The active intervention module also includes a pressure sensor and a driving device, wherein the pressure sensor is used to monitor the value of the pressure applied by the restraining assembly to the luggage, and the driving device is used to drive the first mounting seat and the second mounting seat to transfer positions, and is also used to drive the first mounting seat to retract and unwind the restraining assembly.

[0007] Preferably, the visual monitoring module obtains the initial position information of the luggage through the visual monitoring unit, and obtains the shaking amplitude value of the monitored object within any time period through the visual processing unit.

[0008] Preferably, the visual monitoring unit includes a first camera, a second camera and a third camera. The visual monitoring module obtains the initial position information of the luggage when loading and obtains the shaking amplitude value of the luggage during transportation through the first camera. The visual monitoring module has a built-in processor. The visual monitoring module generates a first instruction according to the initial position information, and generates a second instruction when the shaking amplitude value is greater than a preset threshold. Both the first instruction and the second instruction are transmitted to the active intervention module, and the active intervention module controls the restraint protection device to operate when loading and during transportation respectively.

[0009] Preferably, the visual monitoring module obtains information on whether the luggage has fallen during transportation and road environment information during transportation through the second camera and the third camera. When the luggage has fallen or the road environment information is abnormal, the visual monitoring module transmits the alarm information to the vehicle system of the luggage tractor to issue an alarm.

[0010] Preferably, when the restraining force of the restraining assembly is less than a preset pressure threshold of the pressure sensor, a third instruction is generated, the third instruction is transmitted to the active intervention module, and the restraining protection device of the active intervention module is operated.

[0011] Preferably, the restraint protection device and the driving device are both mounted on the frame, the driving device comprises at least two electric slides fixed on the frame and symmetrically arranged, and also comprises a motor fixed on the frame, the first mounting seat and the second mounting seat are respectively arranged on the two electric slides, and a gear shaft is fixed to the output end of the motor; Preferably, a first winding assembly and an inflatable assembly are provided in the first mounting seat, the gear shaft drives the first winding assembly to rotate, a second winding rod is rotatably installed in the second mounting seat, and the first winding assembly and the second winding rod respectively wind up and fix two ends of the restraining assembly; Preferably, airbags are installed in both sides of the restraining assembly, and the first winding assembly drives the inflation assembly to supply air to the airbags.

[0012] Preferably, the restraint assembly includes the rubber plate and a bag body, the bag body penetrates the rubber plate, the airbags are embedded on both sides of the bag body, an air guide hose located in the bag body is fixed and connected between the two airbags, the air guide hose is provided with an exhaust pipe penetrating the rubber plate, both ends of the bag body are fixedly connected with a winding belt, and the pressure sensor is installed below the rubber plate.

[0013] Preferably, the first mounting seat comprises a guide seat and a mounting frame, a slide seat is fixedly mounted on the bottom of the mounting frame, the slide seat is slidably mounted on the electric slide, protective shells are mounted on both sides of the electric slide, the first winding assembly and the inflation assembly are both arranged in the mounting frame, the first winding assembly comprises a first winding rod rotatably mounted in the mounting frame, a first gear is fixed on at least one side of the first winding rod, the gear shaft is meshed with the first gear, the guide seat is provided with a channel, the winding belt at one end is fixedly wound on the first winding rod, the second mounting seat has a cavity, a second winding rod is rotatably mounted on the bottom of the cavity, and the winding belt at the other end passes through the cavity and is fixed on the second winding rod; Preferably, the inflation component includes an air cylinder fixed in the mounting frame, a piston is provided in the air cylinder, the air cylinder includes an air outlet pipe, the air outlet pipe is fixed and connected to the air supply hose, the air supply hose passes through the guide seat and is connected to the airbag on one side, the inflation component also includes a second gear rotatably mounted in the mounting frame, a drive rod is fixed on the second gear, a cam in contact with the top of the piston is fixed on the drive rod, and an auxiliary shaft is rotatably mounted at the channel.

[0014] Preferably, an anti-fall mechanism and a rainproof mechanism are detachably installed between the plurality of the restraining components, the anti-fall mechanism comprises a rubber column and an additional sleeve, the additional sleeve is provided with an insertion cavity and a movable groove, the bag body passes through the movable groove, the rubber column is inserted between the plurality of insertion cavities on the same side, the rainproof mechanism comprises a rain sheet installed between two adjacent restraining components, and also comprises a plurality of hooks fixed on both sides of the rubber plate, the rain sheet is hung on the hooks, baffles are fixed on both sides of the rainproof mechanism, and a warning light is installed on the rain sheet; Preferably, a lifting mechanism for supporting the restraining assembly is installed on the frame, and the lifting mechanism includes an electric lifting rod fixed on the frame, a support rod is installed on the electric lifting rod, a support groove is opened on one side of the rubber plate, and a connecting rod is fixedly installed on the other side of the rubber plate. The lifting mechanism also includes a plurality of elastic wheels arranged under the rubber plate, and the electric lifting rod is connected to the active intervention module.

[0015] A baggage tractor comprises the above-mentioned airport unmanned visual inspection system and a vehicle head with a built-in vehicle computer system, wherein the vehicle frame is traction-connected to the vehicle head.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes real-time monitoring and protection of luggage on the tractor by setting a visual detection module and an active intervention module. The visual detection module can monitor the status of the luggage during transportation at all times, specifically its shaking status and whether it has fallen. When shaking occurs, the intervention module can be used to provide real-time restraint protection for the luggage in a moderate manner to prevent damage to the luggage due to excessive shaking.

[0017] 2. The visual detection module of the present invention includes a visual detection and visual processing unit, and the active intervention module includes a restraint protection device and a drive device. The two can cooperate to realize automatic restraint of luggage when the tractor completes loading, replacing traditional manual restraint, greatly improving the working efficiency, and more in line with the needs of airport baggage tractors in the direction of unmanned driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the active intervention module of the present invention in use; Figure 2 This is a schematic diagram of the structure when the active intervention module of the present invention is not in use; Figure 3 It is a schematic diagram of the structure in which multiple restraining devices of the present invention are separated from each other; Figure 4 This is a schematic diagram of the main structure of the protective shell of the present invention; Figure 5It is a schematic diagram of the side structure of the protective shell of the present invention; Figure 6 It is a structural schematic diagram of the first winding assembly of the present invention; Figure 7 It is a structural schematic diagram of the inflatable component of the present invention; Figure 8 It is a structural schematic diagram of the restraining assembly of the present invention; Fig. 9 It is a schematic diagram of the structure of the airbag of the present invention; Fig.10 It is a structural schematic diagram of the support groove of the present invention; Fig.11 is a schematic structural diagram of a second mounting base of the present invention; Fig.12 A monitoring range diagram of the visual monitoring unit of the present invention; Fig.13 It is a structural block diagram of the present invention; In the figure: 1, frame; 2, first camera; 3, second camera; 4, third camera; 5, first mounting seat; 6, restraint assembly; 7, electric slide; 8, motor; 9, gear shaft; 10, protective shell; 11, slide; 51, guide seat; 52, mounting frame; 53, channel; 54, first winding assembly; 55, inflation assembly; 541, first winding rod; 542, first gear; 551, air cylinder; 552, piston; 553, air outlet pipe; 554, second gear; 555, driving rod; 556, cam; 61, rubber plate; 62, bag body; 63, winding belt; 64, air pump; 65, air pump; 66, air pump; 67, air pump; 68, air pump; 69, air pump; 70, air pump; 71, air pump; 72, air pump; 73, air pump; 74, air pump; 75, air pump; 76, air pump; 77, air pump; 78, air pump; 79, air pump; 80, air pump; 81, air pump; 82, air pump; 83, air pump; 84, air pump; 85, air pump; 86, air pump; 87, air pump; 88, air pump; 89, air pump; 90, air pump; 91, air pump; 92, air pump; 93, air pump; 94, air pump; 95, air pump; 96, air pump; 97, air pump; 98, air pump; 99, air pump; 100, air pump; 101, air pump; 102, air pump; 103, air pump; 104, air pump; 105, air pump; 106, air pump; 107, air pump; 10 4. Airbag; 65. Air guide hose; 66. Exhaust pipe; 67. Air supply hose; 100. Auxiliary shaft; 200. Second mounting seat; 201. Cavity; 202. Second winding rod; 300. Lifting mechanism; 301. Electric lifting rod; 302. Support rod; 303. Support groove; 304. Connecting rod; 305. Elastic wheel; 500. Anti-fall mechanism; 501. Rubber column; 502. Additional sleeve; 503. Insert cavity; 504. Moving groove; 600. Rainproof mechanism; 601. Rain cloth; 602. Hook; 603. Baffle; 604. Warning light; 800. Pressure sensor. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-13, the present invention provides an airport unmanned visual detection system: used for detecting the status of luggage in the process of transportation by a luggage tractor, comprising a visual monitoring module and an active intervention module, the visual monitoring module and the active intervention module being communicatively connected; The visual monitoring module includes a visual monitoring unit and a visual processing unit. The visual monitoring unit is used to obtain the image and video information of the luggage. The visual processing unit is used to identify and generate the status information of the luggage according to the image and video information of the luggage. The active intervention module further secures the luggage based on the luggage status information; The Active Intervention Module includes multiple restraint protection devices; The restraint protection device comprises a first mounting seat 5 and a second mounting seat 200, and also comprises a restraint assembly 6 rolled up between the first mounting seat 5 and the second mounting seat 200 for restraining and protecting the luggage; The active intervention module also includes a pressure sensor 800 and a driving device. The pressure sensor 800 is used to monitor the value of the pressure applied by the restraint assembly 6 to the luggage. The driving device is used to drive the first mounting seat 5 and the second mounting seat 200 to transfer positions, and is also used to drive the first mounting seat 5 to retract and unwind the restraint assembly 6.

[0021] Specifically, the visual monitoring module obtains the initial position information of the luggage through the visual monitoring unit, and obtains the shaking amplitude value of the monitored object within any time period through the visual processing unit.

[0022] Specifically, the visual monitoring unit includes a first camera 2, a second camera 3 and a third camera 4. The visual monitoring module obtains the initial position information of the luggage when loading and obtains the shaking amplitude value of the luggage during transportation through the first camera 2. The visual monitoring module has a built-in processor. The visual monitoring module generates a first instruction according to the initial position information, and generates a second instruction when the shaking amplitude value is greater than a preset threshold. Both the first instruction and the second instruction are transmitted to the active intervention module, and the active intervention module controls the restraint protection device to operate when loading and during transportation respectively.

[0023] For example, when the frame 1 is loaded with cargo, the acquired initial position information of the luggage is transmitted to the active intervention module by generating a first instruction through the processor, and the driving device is started to move the restraining protection device to the luggage for restraining protection. During transportation, the visual monitoring module can also obtain the shaking amplitude value of the luggage through the first camera 2. When the shaking amplitude value is greater than the threshold, a second instruction is generated and transmitted to the active intervention module, and the driving device is started again to drive the restraining protection device for further protection. At this time, the restraining protection device does not need to be moved, and only needs to be further strengthened.

[0024] In this embodiment, taking the passenger luggage loaded in the frame 1 as an example, the normal shaking amplitude threshold reference interval is 0cm-3cm, and the shaking within the threshold range will not generate the second instruction. It should be noted that in this scheme, the initial position information and the shaking amplitude value are both obtained using two-dimensional coordinates, and the collection of the information shaking amplitude value is divided into two directions, namely X and Y directions. If the amplitude in one direction is greater than the threshold, the second instruction is still generated, and in this embodiment, the first camera is a motion camera with a capture function.

[0025] It should be noted that, in this embodiment, the visual monitoring module obtains information about whether the luggage has fallen during transportation through the second camera 3 and the third camera 4, and obtains road environment information during luggage transportation. When the luggage falls or the road environment information is abnormal, the visual monitoring module transmits the alarm information to the vehicle system of the luggage tractor, such as Fig.12 In the figure, ranges A, B and C are marked, which are the recognition ranges of the first camera 2, the second camera 3 and the third camera 4 respectively, and the three ranges ensure the safety of luggage loading and transportation.

[0026] It should also be noted that, in this embodiment, when the restraining force of the restraining assembly 6 is less than the preset pressure threshold of the pressure sensor 800, a third instruction is generated, the third instruction is transmitted to the active intervention module, and the restraining protection device of the active intervention module is operated.

[0027] Specifically, the monitoring of the pressure sensor 800 starts after the restraining protection device moves into place, that is, after the loading of the vehicle frame 1 is completed, the restraining protection device starts to operate according to the generated instructions, so that after the restraining protection device moves to the luggage, the restraining component 6 starts to reel in to stabilize the luggage. At this time, the pressure sensor 800 contacts the luggage and starts to monitor the pressure. When the pressure is less than the pressure threshold, the restraining component 6 will continue to reel in, and when the pressure is greater than the pressure threshold, the reeling will stop, and when the pressure is less than the pressure threshold during transportation, it will reel in again, ensuring that the restraining component 6 always applies stable restraining protection pressure to the luggage.

[0028] It should also be noted that during operation, when at a certain instant in time, the luggage shakes violently, but it is still in contact with the pressure sensor 800, so that the pressure detected by the pressure sensor 800 is still relatively large, but at this time the luggage has been shaking violently, then at this time the priority of the second instruction is higher than the third instruction.

[0029] In this embodiment, the driving device includes at least two electric slides 7 fixed on the frame 1 and arranged symmetrically, and also includes a motor 8 fixed on the frame 1, the first mounting seat 5 and the second mounting seat 200 are respectively arranged on the two electric slides 7, and the output end of the motor 8 is fixed with a gear shaft 9; The first mounting seat 5 is provided with a first winding assembly 54 and an inflating assembly 55, the gear shaft 9 drives the first winding assembly 54 to rotate, and the second winding rod 202 is rotatably installed in the second mounting seat 200, and the first winding assembly 54 and the second winding rod 202 respectively wind up and fix the two ends of the restraint assembly 6; Airbags 64 are installed in both sides of the restraining component 6 , and the first winding component 54 drives the inflation component 55 to supply air to the airbags 64 .

[0030] Specifically, Figure 8-Figure 10 As shown, the restraint assembly 6 includes a rubber plate 61 and a bag body 62. The bag body 62 passes through the rubber plate 61. Air bags 64 are embedded on both sides of the bag body 62. An air guide hose 65 located in the bag body 62 is fixed and connected between the two air bags 64. The air guide hose 65 is provided with an exhaust pipe 66 passing through the rubber plate 61. Winding belts 63 are fixedly connected to both ends of the bag body 62. A pressure sensor 800 is installed under the rubber plate 61.

[0031] Specifically, the first mounting seat 5 includes a guide seat 51 and a mounting frame 52 . A slide seat 11 is fixedly mounted on the bottom of the mounting frame 52 . The slide seat 11 is slidably mounted on the electric slide 7 . The first winding assembly 54 and the inflation assembly 55 are both arranged in the mounting frame 52 .

[0032] Specifically, the first winding assembly 54 includes a first winding rod 541 rotatably mounted in the mounting frame 52 , a first gear 542 is fixed to at least one side of the first winding rod 541 , and the gear shaft 9 is meshed with the first gear 542 .

[0033] It should be noted that when the first mounting seat 5 moves on the electric slide 7, the first gear 542 will always maintain meshing with the gear shaft 9. Specifically, the two are gear meshing, and the tooth grooves between the teeth close to the meshing point are mutual movement channels, which allows the first gear 542 to move smoothly on the gear shaft 9 and maintain meshing. In specific use, in order to ensure smooth movement, a large amount of lubricating oil will be coated on the gear shaft 9 to reduce friction.

[0034] Specifically, the inflation component 55 includes an air cylinder 551 fixed in the mounting frame 52, a piston 552 is provided in the air cylinder 551, the air cylinder 551 includes an air outlet pipe 553, the air outlet pipe 553 is fixed and connected to the air supply hose 67, the air supply hose 67 passes through the guide seat 51 and is connected to the air bag 64 on one side, the inflation component 55 also includes a second gear 554 rotatably mounted in the mounting frame 52, a driving rod 555 is fixed on the second gear 554, and a cam 556 in contact with the top of the piston 552 is fixed to the driving rod 555. In the present embodiment, the number of the first gear 542 and the inflation component 55 are both set to two, so as to ensure that the inflation speed of the air bag 64 can match the winding speed of the winding belt 63 to the greatest extent.

[0035] It should also be noted that, in this embodiment, the guide seat 51 is provided with a channel 53, and the winding belt 63 at one end is fixedly wound on the first winding rod 541. Fig.11 As shown, the second mounting seat 200 contains a cavity 201, and a second winding rod 202 is rotatably mounted at the bottom of the cavity 201. The winding belt 63 at the other end passes through the cavity 201 and is fixed on the second winding rod 202, thereby completing the installation of the binding assembly 6, so that the winding belt 63 can be wound or unwound when the gear shaft 9 drives the first winding assembly 54 to rotate.

[0036] When in use, the conventional luggage tractor needs to manually fix the luggage with ropes. In this solution, after the luggage is moved to the frame 1, the visual monitoring module obtains the initial position information of the luggage, and then the active intervention module starts the electric slide 7 to move each restraint protection device to the designated luggage position. At this time, the state of the active intervention module is changed to Figure 2 and Figure 1 When the restraining protection device moves into place, the motor 8 is started to drive the gear shaft 9 to rotate. When the gear shaft 9 rotates, it engages the first gear 542, so that the first winding rod 541 rotates to wind up the winding belt 63, so that the bag body 62 is tightened, and the rubber plate 61 is pressed on the luggage, so that the luggage is restrained and stabilized. At this time, the pressure sensor 800 is also pressed on the luggage to feel the restraining pressure value. When the restraining pressure value exceeds the threshold value of the pressure sensor 800, the motor 8 stops working, which means that the restraint is completed.

[0037] When the winding belt 63 is wound, the inflation component 55 starts to work. The rotation of the first gear 542 will engage the rotation of the second gear 554. The rotation of the second gear 554 will drive the driving rod 555 and the cam 556 to rotate, so that the cam 556 can press down the piston 552 during the rotation, so that the air cylinder 551 can release air. A large amount of gas will be discharged from the air outlet pipe 553 into the air supply hose 67, and then input into the airbag 64 on one side through the air supply hose 67, and then input into the airbag 64 on the other side through 65, so that gas expansion occurs on both sides of the bag body 62. In this way, it can ensure that the luggage will not be damaged while having a strong binding force.

[0038] It should also be noted that, in this embodiment, in order to ensure smooth entry and exit of the take-up belt 63, an auxiliary shaft 100 is rotatably installed at the channel 53, and protective shells 10 are installed on both sides of the electric slide 7 for safe operation.

[0039] It should also be noted that the specific model of the electric slide in this embodiment is a single-axis linear motor slide produced by Chengdu Panyan Technology, and the specific model is ZM11-D4-G-T3000-C010-0.2. It can be equipped with multiple slides, and each slide can be controlled and moved independently, so in this embodiment, each restraint protection device can be moved to a specified position independently.

[0040] It should also be noted that, in the present embodiment, a lifting mechanism 300 for supporting the restraint assembly 6 is installed on the frame 1, and the lifting mechanism 300 includes an electric lifting rod 301 fixed on the frame 1, a support rod 302 is installed on the electric lifting rod 301, a support groove 303 is opened on one side of the rubber plate 61, and a connecting rod 304 is fixedly installed on the other side of the rubber plate 61. The lifting mechanism 300 also includes a plurality of elastic wheels 305 arranged under the rubber plate 61, and the electric lifting rod 301 is connected to the active intervention module. By observing Figure 1-Figure 3 , Figure 1 This is a state diagram of the active intervention module in this embodiment when it is not in operation. Figure 2 This is a state diagram of the active intervention module of this embodiment when it is not operating. Figure 1 and Figure 2 These are all real-life renderings. Figure 3 This is a diagram showing the separation of multiple restraint protection devices in this embodiment. Figure 3 It will not exist in actual use, but is created to better illustrate this embodiment. Figure 2 At this time, multiple restraint protection devices are close to each other, exposing a large area of ​​the carriage part of the frame 1, so that when the luggage is loaded on the car, the workers can operate conveniently, the luggage can be easily placed, and the luggage can be observed. Figure 1 and Figure 2 It can be seen that Figure 2 The height of the middle tie assembly 6 is greater than Figure 1The height of the middle tie assembly 6 is increased. At this time, the lifting mechanism 300 plays a supporting role for the multiple tie assemblies 6, so that the frame 1 can be convenient for workers to load goods. At this time, the support rod 302 is inserted into the connecting rod 304 of a rubber plate 61 close to it, and the other rubber plates 61 are connected end to end, so that each support groove 303 is inserted into the corresponding connecting rod 304, so that the multiple rubber plates 61 are connected. In this way, the support rod 302 can be raised by the electric lifting rod 301 to lift the multiple rubber plates 61, so that the multiple tie assemblies 6 are integrated. The body of the luggage is raised to facilitate loading, and when loading is completed, the electric lifting rod 301 will drop again, causing the multiple restraining components 6 to drop as a whole. At this time, the multiple restraining components 6 will move to the top of the luggage. In order to reduce resistance during movement, a plurality of elastic wheels 305 are provided at the bottom of the rubber plate 61. When the rubber plate 61 moves over the luggage, the elastic wheels 305 will rotate to reduce the resistance of the rubber plate 61 to movement, and the elastic wheels 305 are made of elastic material. When the rubber plate 61 presses down on the luggage, they will deform, and will not prevent the pressure sensor 800 from contacting the luggage and sensing pressure.

[0041] like Figure 1 and Figure 3 As shown, an anti-fall mechanism 500 and a rainproof mechanism 600 are detachably installed between the multiple restraining components 6 .

[0042] Specifically, the anti-fall mechanism 500 includes a rubber column 501 and an additional sleeve 502. The additional sleeve 502 is provided with an insertion cavity 503 and a moving groove 504. The bag body 62 passes through the moving groove 504. The rubber column 501 is inserted between multiple insertion cavities 503 on the same side. When the luggage is loaded, the active intervention module starts to work, so that after the restraining device is moved into place, the rubber column 501 can be inserted between the multiple insertion cavities 503. The rubber column 501 is inserted manually. After the rubber column 501 is inserted, multiple restraining devices will be relatively connected, so that the stabilization effect on the luggage is improved. In addition, the rubber column 501 will be located between the side of the luggage and the guide seat 51 to form a support for the side of the luggage to prevent the luggage from falling.

[0043] Specifically, the rainproof mechanism 600 includes a rain sheet 601 installed between two adjacent restraining components 6, and also includes a plurality of hooks 602 fixed on both sides of the rubber plate 61, the rain sheet 601 is hung on the hooks 602, baffles 603 are fixed on both sides of the rainproof mechanism 600, and a warning light 604 is installed on the rain sheet 601. During use, when the operation encounters rainy weather, the workers can install the rainproof mechanism 600 to block the rain after the luggage is loaded, thereby preventing the luggage from being eroded by rain. During the specific installation, the two sides of the tarpaulin 601 can be hung on the hooks 602 installed on the opposite rubber plates 61, and the baffle 603 will extend out of a part of the frame 1, so that the rain falls on the tarpaulin 601 and then flows to the baffle 603 for discharge. Moreover, if it is at night in rainy weather and the effect of the first camera 2 observing the luggage shaking amplitude is not clear, the warning light 604 can be turned on. The first camera 2 can observe the position change of the light source emitted by the warning light 604 to obtain the luggage shaking amplitude, thereby not affecting the normal use of the active intervention module. It should be noted that the warning light 604 is a common small lighting lamp with its own battery, and the tarpaulin 601 is a common tarpaulin.

[0044] In addition, the present invention provides a baggage tractor: including the above-mentioned airport unmanned visual detection system, and also including a front vehicle with a built-in vehicle system, and the frame 1 is towed and connected to the front vehicle. Exemplarily, the visual detection module and the active intervention module can be incorporated into the vehicle system or establish communication with the vehicle system.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An airport unmanned visual inspection system for detecting the status of luggage during transportation by a luggage tractor, characterized in that: It includes a visual monitoring module and an active intervention module, wherein the visual monitoring module and the active intervention module are communicatively connected; The visual monitoring module includes a visual monitoring unit and a visual processing unit, wherein the visual monitoring unit is used to obtain the image and video information of the luggage, and the visual processing unit is used to identify and generate the status information of the luggage according to the image and video information of the luggage; The active intervention module further secures the luggage according to the status information of the luggage; The active intervention module includes a plurality of restraint protection devices; The restraint protection device comprises a first mounting seat (5) and a second mounting seat (200), and also comprises a restraint component (6) rolled up between the first and second mounting seats for restraining and protecting luggage; The active intervention module further comprises a pressure sensor (800) and a driving device, wherein the pressure sensor (800) is used to monitor the value of the pressure applied by the restraining component (6) to the luggage, and the driving device is used to drive the first mounting seat (5) and the second mounting seat (200) to transfer positions, and is also used to drive the first mounting seat (5) to retract and unreel the restraining component (6).

2. The airport unmanned driving visual inspection system according to claim 1, characterized in that: The visual monitoring module obtains the initial position information of the luggage through the visual monitoring unit, and obtains the shaking amplitude value of the monitored object within any time period through the visual processing unit.

3. The airport unmanned driving visual inspection system according to claim 2 is characterized by: The visual monitoring unit comprises a first camera (2), a second camera (3) and a third camera (4); the visual monitoring module obtains initial position information of the luggage when loading, and obtains the shaking amplitude value of the luggage during transportation through the first camera (2); the visual monitoring module has a built-in processor; the visual monitoring module generates a first instruction according to the initial position information; and generates a second instruction when the shaking amplitude value is greater than a preset threshold value; both the first instruction and the second instruction are transmitted to the active intervention module; the active intervention module controls the restraint protection device to operate when loading and during transportation respectively.

4. The airport unmanned driving visual inspection system according to claim 3 is characterized by: The visual monitoring module obtains information on whether the luggage has fallen during transportation and road environment information during transportation of the luggage through the second camera (3) and the third camera (4). When the luggage has fallen or the road environment information is abnormal, the visual monitoring module transmits the information to the vehicle system of the luggage tractor to issue an alarm.

5. The airport unmanned driving visual inspection system according to claim 3 is characterized by: When the restraining force of the restraining component (6) is less than a preset pressure threshold of the pressure sensor (800), a third instruction is generated, the third instruction is transmitted to the active intervention module, and the restraining protection device of the active intervention module is operated.

6. The airport unmanned driving visual inspection system according to claim 1, characterized in that: The restraint protection device and the drive device are both mounted on the vehicle frame (1); The driving device comprises at least two electric slides (7) fixed on the frame (1) and arranged symmetrically, and also comprises a motor (8) fixed on the frame (1), the first mounting seat (5) and the second mounting seat (200) being arranged on the two electric slides (7) respectively, and a gear shaft (9) being fixed to the output end of the motor (8); A first winding assembly (54) and an inflation assembly (55) are provided in the first mounting seat (5); the gear shaft (9) drives the first winding assembly (54) to rotate; a second winding rod (202) is rotatably mounted in the second mounting seat (200); the first winding assembly (54) and the second winding rod (202) respectively wind up and fix two ends of the restraining assembly (6); Airbags (64) are installed in both sides of the restraining component (6), and the first winding component (54) operates to drive the inflation component (55) to supply air to the airbags (64).

7. The airport unmanned driving visual inspection system according to claim 6, characterized in that: The restraining assembly (6) comprises a rubber plate (61) and a bag body (62), wherein the bag body (62) penetrates the rubber plate (61), the airbags (64) are embedded on both sides of the bag body (62), an air guide hose (65) located in the bag body (62) is fixed between and connected to the two airbags (64), the air guide hose (65) is provided with an exhaust pipe (66) penetrating the rubber plate (61), both ends of the bag body (62) are fixedly connected with a reel (63), and the pressure sensor (800) is installed below the rubber plate (61).

8. The airport unmanned driving visual inspection system according to claim 7, characterized in that: The first mounting seat (5) comprises a guide seat (51) and a mounting frame (52); a slide seat (11) is fixedly mounted on the bottom of the mounting frame (52); the slide seat (11) is slidably mounted on the electric slide (7); protective shells (10) are mounted on both sides of the electric slide (7); the first winding component (54) and the inflation component (55) are both arranged in the mounting frame (52); the first winding component (54) comprises a first winding rod (541) rotatably mounted in the mounting frame (52); the first winding component (54) A first gear (542) is fixed to at least one side of the rod (541), the gear shaft (9) is meshed with the first gear (542), the guide seat (51) is provided with a channel (53), one end of the winding belt (63) is fixedly wound on the first winding rod (541), the second mounting seat (200) contains a cavity (201), a second winding rod (202) is rotatably mounted at the bottom of the cavity (201), and the other end of the winding belt (63) passes through the cavity (201) and is fixed on the second winding rod (202); The inflation component (55) comprises an air cylinder (551) fixed in the mounting frame (52), a piston (552) being provided in the air cylinder (551), the air cylinder (551) comprising an air outlet pipe (553), the air outlet pipe (553) being fixed and connected to an air delivery hose (67), the air delivery hose (67) passing through the guide seat (51) and connected to the air bag (64) on one side, the inflation component (55) further comprising a second gear (554) rotatably mounted in the mounting frame (52), a driving rod (555) being fixed on the second gear (554), a cam (556) being fixed on the driving rod (555) and contacting the top of the piston (552), and an auxiliary shaft (100) being rotatably mounted at the channel (53).

9. The airport unmanned driving visual inspection system according to claim 8, characterized in that: An anti-fall mechanism (500) and a rainproof mechanism (600) are detachably installed between the plurality of the restraining components (6), the anti-fall mechanism (500) comprising a rubber column (501) and an additional sleeve (502), the additional sleeve (502) being provided with an insertion cavity (503) and a movable groove (504), the bag body (62) passing through the movable groove (504), the rubber column (501) being inserted between a plurality of insertion cavities (503) on the same side, the rainproof mechanism (600) comprising a rain sheet (601) installed between two adjacent restraining components (6), and also comprising a plurality of hooks (602) fixed on both sides of the rubber plate (61), the rain sheet (601) being hung on the hooks (602), baffles (603) being fixed on both sides of the rainproof mechanism (600), and a warning light (604) being installed on the rain sheet (601); The frame (1) is provided with a lifting mechanism (300) for supporting the restraining assembly (6), the lifting mechanism (300) comprising an electric lifting rod (301) fixed on the frame (1), a support rod (302) being installed on the electric lifting rod (301), a support groove (303) being provided on one side of the rubber plate (61), a connecting rod (304) being fixedly installed on the other side of the rubber plate (61), the lifting mechanism (300) further comprising a plurality of elastic wheels (305) arranged below the rubber plate (61), and the electric lifting rod (301) being connected to the active intervention module.

10. A luggage tractor, characterized in that: The unmanned airport visual inspection system comprises the system described in any one of claims 6 to 9, and further comprises a vehicle head with a built-in vehicle-machine system, wherein the vehicle frame (1) is traction-connected to the vehicle head.

Images