An airport unmanned vision detection system and a baggage tractor

Abstract

The present invention provides an airport driverless vision detection system and a baggage tractor, belonging to the technical field of airport baggage tractors. The system includes a vision monitoring module and an active intervention module. The vision monitoring module and the active intervention module are communicatively connected. The vision monitoring module includes a vision monitoring unit and a vision processing unit. The vision monitoring unit is used to acquire image and video information of the baggage, and the vision processing unit is used to identify and generate status information of the baggage according to the image and video information of the baggage. By setting up the vision detection module and the active intervention module, the present invention realizes the real-time monitoring and protection of the baggage on the tractor. Through the vision detection module, the status of the baggage during transportation can be monitored at all times, specifically its shaking status and whether it has fallen. When shaking occurs, the intervention module can cooperate to provide a proper restraint and protection for the baggage in real time, preventing damage to the baggage caused by excessive shaking.

Description

Technical Field

[0001] The present invention belongs to the technical field of airport baggage tractors, and particularly relates to an airport driverless vision detection system and a baggage tractor. Background Art

[0002] An airport baggage tractor is a vehicle specifically used for transporting and towing passengers' baggage at an airport. It is usually designed to have a large load capacity and carrying capacity to meet the demand for a large amount of baggage. Over time, the design and functions of airport baggage tractors have been continuously improved. Modern baggage tractors are usually equipped with advanced control systems, safety devices, and user-friendly designs to ensure efficient, safe, and comfortable baggage transportation services. At the same time, some baggage tractors also adopt automation technologies and driverless technologies, such as autopilot or navigation systems, to improve operation efficiency and reduce human errors.

[0003] For example, in the document with the publication number CN115352371B, based on the existing chassis technology and dynamic performance, through the upgrade and transformation of driverless technology, the free selection and flexible switching between manual and driverless modes are realized, and the driverless at L4.5 level in the airport environment is achieved; the camera for vision detection is installed by using the installation component, and the operation is convenient, and it is easy to install, disassemble, and replace.

[0004] It solves the problem that the existing driverless baggage tractor cannot be well installed and matched with the camera in the vision detection system. However, it is found that in combination with the existing driverless vision detection system, most of the existing solutions start from the driving direction, and often ignore the safety status of the baggage loaded on the baggage tractor during transportation. The baggage often bounces during transportation due to insufficient restraint and is damaged. However, the existing vision detection system cannot detect the safety of the baggage during transportation, which leads to the problem of overlooking the rear while focusing on the front in the driverless baggage tractor vision detection system. Moreover, although the existing driverless baggage tractor realizes unmanned operation during driving, manual ropes are still needed to stabilize the goods after loading, which reduces the work efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide an airport driverless vision detection system and a baggage tractor to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solution: An airport driverless vision detection system for detecting the state of baggage during the transportation of a baggage tractor, including a vision monitoring module and an active intervention module, and the vision monitoring module and the active intervention module are communicatively connected;

[0007] The visual monitoring module includes a visual monitoring unit and a visual processing unit. The visual monitoring unit is used to obtain image and video information of the luggage. The visual processing unit is used to identify and generate luggage status information based on the image and video information of the luggage.

[0008] The active intervention module further secures the luggage according to the luggage status information;

[0009] The active intervention module includes a plurality of restraint protection devices;

[0010] The restraint protection device includes a first mounting seat and a second mounting seat, and also includes a restraint component rolled up between the first mounting seat and the second mounting seat for restraining and protecting the luggage;

[0011] The active intervention module further includes a pressure sensor and a drive device. The pressure sensor is used to monitor the pressure applied by the restraint assembly to the luggage. The drive device is used to drive the first mounting seat and the second mounting seat to transfer positions and drive the first mounting seat to retract and unreel the restraint assembly.

[0012] 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.

[0013] 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 based on 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.

[0014] 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 an alarm message to the vehicle system of the luggage tractor to issue an alarm.

[0015] 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, and the third instruction is transmitted to the active intervention module to enable the restraining protection device of the active intervention module to operate.

[0016] Preferably, both the restraint protection device and the driving device are installed on the vehicle frame. The driving device includes at least two electric slides fixed on the vehicle frame and arranged symmetrically, and further includes a motor fixed on the vehicle 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;

[0017] Preferably, a first winding assembly and an inflation assembly are arranged 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. The two ends of the restraint assembly are respectively wound and fixed by the first winding assembly and the second winding rod;

[0018] Preferably, air bags are installed on both sides of the restraint assembly. The first winding assembly operates to drive the inflation assembly to supply air to the air bags.

[0019] Preferably, the restraint assembly includes the rubber plate and the bag body. The bag body penetrates through the rubber plate. Air bags are embedded on both sides of the bag body. A gas guide hose located inside the bag body is fixed and communicated between the two air bags. The gas guide hose is provided with an exhaust pipe penetrating through the rubber plate. Winding belts are fixedly connected to both ends of the bag body. A pressure sensor is installed below the rubber plate.

[0020] Preferably, the first mounting seat includes a guiding seat and a mounting frame. A sliding seat is fixedly installed at the bottom of the mounting frame. The sliding seat is slidably installed on the electric slide. Protective shells are installed 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 includes a first winding rod rotatably installed in the mounting frame. At least one side of the first winding rod is fixed with a first gear. The gear shaft meshes with the first gear. The guiding seat is provided with a channel. One end of the winding belt is fixedly wound on the first winding rod. The inside of the second mounting seat is a cavity. A second winding rod is rotatably installed at the bottom of the cavity. The other end of the winding belt passes through the cavity and is fixed on the second winding rod;

[0021] Preferably, the inflation assembly includes an air cylinder fixed in the mounting frame. A piston is arranged inside the air cylinder. The air cylinder includes an air outlet pipe. The air outlet pipe is fixed and communicated with the air delivery hose. The air delivery hose passes through the guiding seat and is communicated with one side of the air bag. The inflation assembly further includes a second gear rotatably installed in the mounting frame. A driving rod is fixed on the second gear. A cam in contact with the top of the piston is fixed on the driving rod. An auxiliary shaft is rotatably installed at the channel.

[0022] Preferably, an anti - tipping mechanism and a rain - proof mechanism are detachably installed between multiple of the binding components. The anti - tipping mechanism includes a rubber column and a mounting sleeve. The mounting sleeve is provided with an insertion cavity and a moving groove. The bag body penetrates through the moving groove. The rubber column is inserted between multiple insertion cavities on the same side. The rain - proof mechanism includes a raincloth installed between two adjacent binding components, and also includes multiple hooks fixed on both sides of the rubber plate. The raincloth is hung on the hooks. Baffles are fixed on both sides of the rain - proof mechanism, and a warning light is installed on the raincloth.

[0023] Preferably, a height - lifting mechanism for supporting the binding components is installed on the vehicle frame. The height - lifting mechanism includes an electric lifting rod fixed on the vehicle frame. A support rod is installed on the electric lifting rod. A support groove is provided on one side of the rubber plate, and a connecting rod is fixedly installed on the other side of the rubber plate. The height - lifting mechanism further includes multiple elastic wheels arranged below the rubber plate. The electric lifting rod is connected to the active intervention module.

[0024] A luggage tractor includes the above - mentioned airport unmanned vision detection system, and also includes a vehicle head with a built - in vehicle system. The vehicle frame is traction - connected to the vehicle head.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] 1. By setting up a vision detection module and an active intervention module, the present invention realizes real - time monitoring and protection of the luggage on the tractor. Through the vision detection module, the state of the luggage during transportation can be monitored at all times, specifically its shaking state and whether it has fallen. When shaking occurs, the intervention module can cooperate to provide a moderately tight binding protection for the luggage in real - time, preventing damage to the luggage caused by excessive shaking.

[0027] 2. The vision detection module of the present invention includes a vision detection and a vision processing unit, and the active intervention module includes a binding protection device and a driving device. The two cooperate to realize automatic binding of the luggage when the tractor finishes loading, replacing the traditional manual binding, greatly improving the operation efficiency, and better meeting the needs of the airport luggage tractor in the direction of unmanned driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic structural diagram of the active intervention module of the present invention during use;

[0029] Figure 2 It is a schematic structural diagram of the active intervention module of the present invention when not in use;

[0030] Figure 3 It is a schematic structural diagram of multiple binding devices of the present invention separated from each other;

[0031] Figure 4 It is a front view structural schematic diagram of the protective shell of the present invention;

[0032] Figure 5 It is a side view structural schematic diagram of the protective shell of the present invention;

[0033] Figure 6 It is a structural schematic diagram of the first winding component of the present invention;

[0034] Figure 7 It is a structural schematic diagram of the inflation component of the present invention;

[0035] Figure 8 It is a structural schematic diagram of the restraint component of the present invention;

[0036] Figure 9 It is a structural schematic diagram of the airbag of the present invention;

[0037] Figure 10 It is a structural schematic diagram of the support groove of the present invention;

[0038] Figure 11 It is a structural schematic diagram of the second mounting seat of the present invention;

[0039] Figure 12 It is a monitoring range diagram of the visual monitoring unit of the present invention;

[0040] Figure 13 It is a structural block diagram of the present invention;

[0041] In the figure: 1, vehicle frame; 2, first camera; 3, second camera; 4, third camera; 5, first mounting seat; 6, restraint component; 7, electric slide table; 8, motor; 9, gear shaft; 10, protective shell; 11, sliding seat; 51, guiding seat; 52, mounting frame; 53, channel; 54, first winding component; 55, inflation component; 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, 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, heightening mechanism; 301, electric lifting rod; 302, support rod; 303, support groove; 304, connecting rod; 305, elastic wheel; 500, anti - tipping mechanism; 501, rubber column; 502, additional sleeve; 503, insertion cavity; 504, moving groove; 600, rain - proof mechanism; 601, rain cloth; 602, hook; 603, baffle; 604, warning lamp; 800, pressure sensor. Detailed implementation manners

[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] Please refer to Figures 1-13 , the present invention provides an airport unmanned vision detection system: used to detect the luggage status during the transportation of the luggage tractor, including a vision monitoring module and an active intervention module, and the vision monitoring module and the active intervention module are communicatively connected;

[0044] The vision monitoring module includes a vision monitoring unit and a vision processing unit. The vision monitoring unit is used to obtain the image and video information of the luggage, and the vision processing unit is used to identify and generate the status information of the luggage according to the image and video information of the luggage;

[0045] The active intervention module further fixes the luggage according to the status information of the luggage;

[0046] The active intervention module includes a plurality of restraint protection devices;

[0047] The restraint protection device includes a first mounting seat 5 and a second mounting seat 200, and further includes a restraint assembly 6 wound between the two for restraining and protecting the luggage;

[0048] The active intervention module further includes a pressure sensor 800 and a driving device. The pressure sensor 800 is used to monitor the value of the pressure exerted by the restraint assembly 6 on the luggage, and the driving device is used to drive the first mounting seat 5 and the second mounting seat 200 to perform position transfer, and is also used to drive the first mounting seat 5 to perform winding and unwinding operations on the restraint assembly 6.

[0049] Specifically, the vision monitoring module obtains the initial position information of the luggage through the vision monitoring unit and obtains the shaking amplitude value of the monitored object within any time period through the vision processing unit.

[0050] Specifically, the vision monitoring unit includes a first camera 2, a second camera 3 and a third camera 4. The vision monitoring module obtains the initial position information of the luggage during loading through the first camera 2 and obtains the shaking amplitude value during the transportation of the luggage. The vision monitoring module has a built-in processor. The vision 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 perform operations during loading and transportation respectively.

[0051] For example, when loading goods on the vehicle frame 1, the initially obtained luggage position information is transmitted to the active intervention module by the processor to generate a first instruction, which starts the driving device to move the restraint protection device to the luggage to perform restraint protection. During transportation, the visual monitoring module can also obtain the sway amplitude value of the luggage through the first camera 2. When the sway 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 restraint protection device to further protect. At this time, the restraint protection device does not need to move, but only needs to further strengthen the restraint.

[0052] In this embodiment, taking the luggage loaded in the vehicle frame 1 as an example, the normal sway amplitude threshold reference range is 0 cm - 3 cm. Swaying within this threshold range will not generate a second instruction. It should be noted that in this solution, both the initial position information and the sway amplitude value are obtained using two-dimensional coordinates, and the acquisition of the sway amplitude value is divided into two directions, namely the X and Y directions. If the amplitude in one of the directions is greater than the threshold, a second instruction is still generated. In this embodiment, the first camera is a moving camera with a capture function.

[0053] It should be noted that in this embodiment, the visual monitoring module obtains information on whether the luggage has fallen during transportation through the second camera 3 and the third camera 4, as well as obtains the road environment information during the transportation of the luggage. When the luggage falls or the road environment information is abnormal, it is transmitted to the vehicle-mounted system of the luggage tractor through the visual monitoring module to issue an alarm message, such as Figure 12 , as marked with ranges A, B, and C in the figure, 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 the luggage during loading and transportation.

[0054] It should also be noted that in this embodiment, when the restraint force of the restraint 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 causes the restraint protection device of the active intervention module to operate.

[0055] Specifically, the monitoring of the pressure sensor 800 starts to operate after the restraint protection device moves into place, that is, after the goods are loaded on the vehicle frame 1, the restraint protection device starts to operate according to the generated instruction. After the restraint protection device moves to the luggage, the restraint assembly 6 starts to wind up to stabilize the luggage. At this time, the pressure sensor 800 comes into contact with the luggage to start monitoring the pressure. When the pressure is less than the pressure threshold, the restraint assembly 6 will continue to wind up, and when the pressure is greater than the pressure threshold, it will stop winding up. When the pressure is less than the pressure threshold during transportation, it will wind up again, ensuring that the restraint assembly 6 always exerts a stable restraint protection pressure on the luggage.

[0056] It should also be noted that during operation, at a certain instant time point, if the luggage shakes violently but still remains in contact with the pressure sensor 800, causing the pressure monitored by the pressure sensor 800 to still be relatively large, but at this time the luggage has shaken violently, then the priority of the second instruction is higher than that of the third instruction.

[0057] In this embodiment, the driving device includes at least two electric sliders 7 that are fixed on the vehicle frame 1 and are symmetrically arranged, and also includes a motor 8 fixed on the vehicle frame 1. The first mounting seat 5 and the second mounting seat 200 are respectively arranged on the two electric sliders 7, and a gear shaft 9 is fixed to the output end of the motor 8;

[0058] The first mounting seat 5 is internally provided with a first winding assembly 54 and an inflation assembly 55. The gear shaft 9 drives the first winding assembly 54 to rotate. A second winding rod 202 is rotatably installed in the second mounting seat 200. The two ends of the restraint assembly 6 are respectively wound and fixed by the first winding assembly 54 and the second winding rod 202;

[0059] Both sides of the restraint assembly 6 are internally installed with air bags 64, and the operation of the first winding assembly 54 drives the inflation assembly 55 to supply air to the air bags 64.

[0060] Specifically, as Figures 8-10 shown, the restraint assembly 6 includes a rubber plate 61 and a bag body 62. The bag body 62 penetrates through the rubber plate 61. Both sides of the bag body 62 are embedded with air bags 64. A gas guide hose 65 located inside the bag body 62 is fixedly connected and communicated between the two air bags 64. The gas guide hose 65 is provided with an exhaust pipe 66 that penetrates through the rubber plate 61. Both ends of the bag body 62 are fixedly connected with winding belts 63, and a pressure sensor 800 is installed below the rubber plate 61.

[0061] Specifically, the first mounting seat 5 includes a guiding seat 51 and a mounting frame 52. A sliding seat 11 is fixedly installed at the bottom of the mounting frame 52. The sliding seat 11 is slidably installed on the electric slider 7. The first winding assembly 54 and the inflation assembly 55 are both arranged inside the mounting frame 52.

[0062] Specifically, the first winding assembly 54 includes a first winding rod 541 rotatably installed inside the mounting frame 52. At least one side of the first winding rod 541 is fixed with a first gear 542. The gear shaft 9 meshes with the first gear 542.

[0063] It should be noted that when the first mounting seat 5 moves on the electric slider 7, the first gear 542 will always remain meshed with the gear shaft 9. Specifically, the two are gear meshing. Then the tooth spaces between the adjacent teeth at the meshing position are the mutual movement channels, which enables the first gear 542 to smoothly move on the gear shaft 9 and remain meshed. In actual use, a large amount of lubricating oil is applied to the gear shaft 9 to reduce friction in order to ensure smooth movement.

[0064] Specifically, the inflating assembly 55 includes a cylinder 551 fixed within the mounting frame 52. A piston 552 is provided within the cylinder 551. The cylinder 551 includes an air outlet pipe 553 which is fixedly connected and in communication with an air delivery hose 67. The air delivery hose 67 passes through the guiding seat 51 and is in communication with an airbag 64 on one side. The inflating assembly 55 further includes a second gear 554 rotatably mounted within the mounting frame 52. A driving rod 555 is fixed to the second gear 554, and a cam 556 which contacts the top of the piston 552 is fixed to the driving rod 555. In this embodiment, the number of the first gears 542 and the inflating assemblies 55 are both set to two, ensuring to the greatest extent that the inflation speed of the airbag 64 can match the winding speed of the winding belt 63.

[0065] It should also be noted that, in this embodiment, the guiding seat 51 is provided with a channel 53. One end of the winding belt 63 is fixedly wound around the first winding rod 541. As Figure 11 shown, the interior of the second mounting seat 200 is a cavity 201. A second winding rod 202 is rotatably mounted at the bottom of the cavity 201. The other end of the winding belt 63 passes through the cavity 201 and is fixed to the second winding rod 202, thus completing the installation of the binding assembly 6, enabling the winding belt 63 to be wound or unwound when the gear shaft 9 drives the first winding assembly 54 to rotate.

[0066] During use, for traditional luggage tractors, ropes need to be manually used to fix the luggage. In this solution, after the luggage is transported onto the vehicle frame 1, after obtaining the initial position information of the luggage through the visual monitoring module, the electric slide 7 is activated through the active intervention module to move each binding and protecting device so that it exactly moves to the specified luggage position. At this time, the state of the active intervention module is presented by Figure 2 and Figure 1 When the binding and protecting device moves into place, the motor 8 is started to drive the gear shaft 9 to rotate. When the gear shaft 9 rotates, it meshes with the first gear 542, thereby causing the first winding rod 541 to rotate and wind the winding belt 63, causing the bag body 62 to be tightened and the rubber plate 61 to press on the luggage, so that the luggage is stably bound. At this time, the pressure sensor 800 also presses on the luggage and can sense the binding pressure value. When the binding pressure value exceeds the threshold of the pressure sensor 800, the motor 8 stops operating, indicating that the binding is completed.

[0067] When the winding belt 63 is wound up, the inflation assembly 55 will start working. 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. Thus, during the rotation process, the cam 556 can press down the piston 552, causing the air cylinder 551 to discharge air. A large amount of gas will be discharged from the air outlet pipe 553 into the air delivery hose 67, and then input into the airbag 64 on one side through the air delivery hose 67. Then, the gas is input into the airbag 64 on the other side through 65, causing the two sides of the bag body 62 to expand with gas. This can ensure that while the binding force is large, the luggage will not be damaged.

[0068] It should also be noted that in this embodiment, in order to ensure the smooth entry and exit of the winding belt 63, an auxiliary shaft 100 is rotatably installed at the channel 53. Moreover, for operation safety, protective shells 10 are installed on both sides of the electric sliding table 7.

[0069] In addition, it should be noted that the specific model of the electric sliding table in this embodiment is a single-axis linear motor sliding table produced by Chengdu Panyan Technology, with the specific model being ZM11-D4-G-T3000-C010-0.2. It can be provided with multiple sliding seats, and each sliding seat can be controlled and moved independently. Therefore, in this embodiment, each binding protection device can be independently moved to a specified position.

[0070] It should also be noted that in this embodiment, a height-lifting mechanism 300 for supporting the binding assembly 6 is installed on the vehicle frame 1. The height-lifting mechanism 300 includes an electric lifting rod 301 fixed to the vehicle frame 1. A support rod 302 is installed on the electric lifting rod 301. A support groove 303 is formed on one side of the rubber plate 61. A connecting rod 304 is fixedly installed on the other side of the rubber plate 61. The height-lifting mechanism 300 further includes a plurality of elastic wheels 305 arranged below the rubber plate 61. The electric lifting rod 301 is connected to the active intervention module. By observing Figures 1-3 , Figure 1 This is a state diagram of the active intervention module not working in this embodiment. Figure 2 This is a state diagram of the active intervention module not working in this embodiment. Figure 1 and Figure 2 Both are effect diagrams in the actual state. Figure 3 This is a separated view of multiple binding protection devices in this embodiment. Figure 3 In actual use, it does not exist. It is created for better elaboration of this embodiment. For example, Figure 2 ,at this time, multiple binding protection devices are close to each other, exposing a large area of the carriage part of the vehicle frame 1. This makes it convenient for workers to operate when the luggage gets on the vehicle, and the luggage can be easily placed. And by observing Figure 1 and Figure 2 it can be seen that Figure 2 the height of the binding assembly 6 inFigure 1 The height of the restraint assembly 6 in the middle. At this time, the lifting mechanism 300 plays a supporting role for multiple restraint assemblies 6, enabling the vehicle frame 1 to facilitate workers to load goods. At this time, the support rod 302 is inserted into the connecting rod 304 of a rubber plate 61 that it is close to, 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, connecting multiple rubber plates 61 together. In this way, the support rod 302 can be raised by the electric lifting rod 301 to lift multiple rubber plates 61, thereby raising the entire multiple restraint assemblies 6 to facilitate loading. After the loading is completed, the electric lifting rod 301 will descend, causing the entire multiple restraint assemblies 6 to descend. At this time, the multiple restraint assemblies 6 will move above the luggage. During the movement, in order to reduce resistance, multiple elastic wheels 305 are provided at the bottom of the rubber plate 61. When the rubber plate 61 moves above the luggage, the elastic wheels 305 will rotate to reduce the resistance of the rubber plate 61 during movement. And the elastic wheels 305 are made of elastic materials. When the rubber plate 61 presses down on the luggage, it will deform and will not prevent the pressure sensor 800 from contacting the luggage to sense the pressure.

[0071] As Figure 1 and Figure 3 shown, a tipping prevention mechanism 500 and a rainproof mechanism 600 are detachably installed between multiple restraint assemblies 6.

[0072] Specifically, the tipping prevention mechanism 500 includes a rubber column 501 and a mounting sleeve 502. The mounting 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. After the luggage is loaded, the active intervention module starts to operate. After the restraint device moves into place, the rubber column 501 can be inserted between multiple insertion cavities 503. The insertion of the rubber column 501 is manually inserted by hand. After the rubber column 501 is inserted, multiple restraint devices will be connected relatively, improving the stability effect on the luggage. Moreover, the rubber column 501 will be located between the side of the luggage and the guiding seat 51, forming a support for the side of the luggage to prevent the luggage from tipping over.

[0073] Specifically, the rainproof mechanism 600 includes a raincloth 601 installed between two adjacent restraint assemblies 6, and also includes multiple hooks 602 fixed on both sides of the rubber plate 61. The raincloth 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 raincloth 601.

[0074] During use, when the operation encounters rainy weather, after the luggage is loaded, the worker can install the rainproof mechanism 600 to play a role in blocking rain, preventing the luggage from being eroded by rain. Specifically, during installation, the two sides of the rain cloth 601 are hung on the hooks 602 installed on the opposite rubber plates 61, and the baffle 603 will protrude out of the vehicle frame 1 by a part. This enables the rain to fall on the rain cloth 601 and then flow to the baffle 603 for drainage. Moreover, if it is at night in rainy weather and the effect of observing the shaking amplitude of the luggage by the first camera 2 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 shaking amplitude of the luggage, so as not to affect the normal use of the active intervention module. It should be noted that the warning light 604 is a common small self-powered lighting lamp, and the rain cloth 601 is a common rain cloth.

[0075] In addition, the present invention provides a luggage tractor: including the above-mentioned airport unmanned vision detection system, and further including a vehicle head with a built-in vehicle system. The vehicle frame 1 is traction-connected to the vehicle head. Exemplarily, the vision detection module and the active intervention module can be incorporated into the vehicle system or establish communication with the vehicle system.

[0076] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned vision detection system for an airport, which is used to detect the status of luggage during the transportation by a luggage tractor, and is 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. The visual monitoring unit is used to obtain image and video information of the luggage. The visual processing unit is used to identify and generate luggage status information based on the image and video information of the luggage. The luggage status information includes the initial position information of the luggage obtained by the visual monitoring unit and the shaking amplitude value of the monitored object within any time period obtained by the visual processing unit; The active intervention module further secures the luggage based on the luggage's status information. The visual monitoring module has a built-in processor that generates a first instruction based on the initial position information and a second instruction when the sway amplitude exceeds a preset threshold. Both the first and second instructions are transmitted to the active intervention module, which controls the restraint protection device to operate during loading and transportation. 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 assembly (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 assembly (6).

2. The airport unmanned vision detection system according to claim 1, wherein: 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).

3. The vision inspection system for driverless aircraft at an airport according to claim 2, wherein: 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.

4. The airport unmanned vision detection system according to claim 2, wherein: 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.

5. The airport driverless vision detection system according to claim 1, wherein: 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 vehicle frame (1) and arranged symmetrically, and also comprises a motor (8) fixed on the vehicle frame (1), the first mounting seat (5) and the second mounting seat (200) are respectively arranged on the two electric slides (7), and a gear shaft (9) is fixed to the output end of the motor (8); The first mounting base (5) is provided with a first winding assembly (54) and an inflation assembly (55). The gear shaft (9) drives the first winding assembly (54) to rotate. A second winding rod (202) is rotatably mounted in the second mounting base (200). The two ends of the restraint assembly (6) are respectively wound and fixed by the first winding assembly (54) and the second winding rod (202). Air bags (64) are installed on both sides of the restraint assembly (6). When the first winding assembly (54) operates, it drives the inflation assembly (55) to supply air to the air bags (64).

6. The airport driverless vision detection system according to claim 5, characterized in that: The restraint assembly (6) includes a rubber plate (61) and a bag body (62). The bag body (62) penetrates through the rubber plate (61). Air bags (64) are embedded on both sides of the bag body (62). A gas guide hose (65) located inside the bag body (62) is fixed and communicated between the two air bags (64). The gas guide hose (65) is provided with an exhaust pipe (66) penetrating 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 below the rubber plate (61).

7. The airport unmanned vision detection system according to claim 6, wherein The first mounting base (5) includes a guiding base (51) and a mounting frame (52). A sliding base (11) is fixedly installed at the bottom of the mounting frame (52). The sliding base (11) is slidably mounted on the electric sliding table (7). Protective shells (10) are installed on both sides of the electric sliding table (7). The first winding assembly (54) and the inflation assembly (55) are both arranged inside the mounting frame (52). The first winding assembly (54) includes a first winding rod (541) rotatably mounted inside the mounting frame (52). At least one side of the first winding rod (541) is fixed with a first gear (542). The gear shaft (9) meshes with the first gear (542). The guiding base (51) is provided with a channel (53). One end of the winding belt (63) is fixedly wound on the first winding rod (541). The interior of the second mounting base (200) is a cavity (201). A second winding rod (202) is rotatably mounted at the bottom of the cavity (201). The other end of the winding belt (63) passes through the cavity (201) and is fixed on the second winding rod (202). The inflation assembly (55) includes a cylinder (551) fixed within the mounting frame (52). A piston (552) is provided within the cylinder (551). The cylinder (551) includes an air outlet pipe (553). The air outlet pipe (553) is fixedly connected and in communication with an air delivery hose (67). The air delivery hose (67) passes through the guide seat (51) and is in communication with the airbag (64) on one side. The inflation assembly (55) further includes a second gear (554) rotatably mounted within the mounting frame (52). A drive rod (555) is fixed to the second gear (554). A cam (556) that contacts the top of the piston (552) is fixed to the drive rod (555). An auxiliary shaft (100) is rotatably mounted at the channel (53).

8. The airport unmanned vision detection system according to claim 7, characterized in that, An anti - tipping mechanism (500) and a rain - proof mechanism (600) are detachably installed between multiple restraint assemblies (6). The anti - tipping mechanism (500) includes a rubber column (501) and a mounting sleeve (502). The mounting sleeve (502) is provided with an insertion cavity (503) and a moving slot (504). The bag body (62) passes through the moving slot (504). The rubber column (501) is inserted between multiple insertion cavities (503) on the same side. The rain - proof mechanism (600) includes a raincloth (601) installed between two adjacent restraint assemblies (6), and further includes multiple hooks (602) fixed to both sides of the rubber plate (61). The raincloth (601) is hung on the hooks (602). Baffles (603) are fixed to both sides of the rain - proof mechanism (600). A warning light (604) is installed on the raincloth (601). A height - lifting mechanism (300) for supporting the restraint assembly (6) is installed on the vehicle frame (1). The height - lifting mechanism (300) includes an electric lifting rod (301) fixed to the vehicle frame (1). A support rod (302) is installed on the electric lifting rod (301). A support groove (303) is provided on one side of the rubber plate (61). A connecting rod (304) is fixedly installed on the other side of the rubber plate (61). The height - lifting mechanism (300) further includes multiple elastic wheels (305) arranged below the rubber plate (61). The electric lifting rod (301) is connected to the active intervention module.

9. A luggage tractor, characterized in that, Including the airport unmanned vision detection system according to any one of claims 5 - 8, further including a vehicle head with a built - in vehicle system, and the vehicle frame (1) is traction - connected to the vehicle head.

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