Automatic guided vehicle (AGV) for loading and unloading luggage and luggage carrying method

Abstract

The invention provides an AGV trolley for loading and unloading luggage and a luggage carrying method. The AGV trolley comprises a movable trolley body, a recognition device, a grabbing device, a control device and a power source device. And an identification device, a grabbing device, a control device and a power supply device are integrated on the mobile vehicle body. The recognition device is arranged at the front end of the grabbing device. And the grabbing device is connected with the mobile vehicle body through a mechanical interface, is connected with the power supply device through a power line and is connected with the control device through a control line. The grabbing device comprises a mechanical arm and a metamorphic mechanical gripper. And the control device is arranged in the mobile vehicle body, is connected with the mobile vehicle body through a flat cable, and controls the mobile vehicle body, the recognition device, the grabbing device and the power supply device through a communication interface. And the power supply device is arranged at the rear end of the mobile vehicle body. According to the invention, flexible operation can be carried out according to the airport working scene, the continuity of the luggage operation process is improved, and the overall operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV trolleys for airport baggage processing, in particular to an AGV trolley for luggage loading and unloading. Background Art

[0002] In the modern air transport system, the outbound baggage handling system is a key link in ensuring the smooth operation of flights and the travel experience of passengers. However, there are currently problems that need to be solved in the way baggage is handled after it arrives at the sorting carousel.

[0003] Currently, most airports rely on manual baggage handling. This is both inefficient and costly, and it struggles to meet the demands of rapidly processing large amounts of baggage during peak flight times, leading to baggage backlogs and delays. Regarding operational quality and safety, manual operations are prone to errors such as misclassification and missed baggage, resulting in high rates of baggage damage. Furthermore, existing automated loading and unloading equipment occupies a large footprint and has numerous components, making it inflexible and unable to comprehensively assess the location, size, shape, posture, and surrounding environment of baggage for handling. Furthermore, charging stations for AGVs pose a fire hazard and require centralized installation, restricting their layout. Charging stations cannot be used while the equipment is charging, hindering continuous operation. Regular inspections for gun wear increase maintenance costs. Consequently, the current outbound baggage handling system faces numerous challenges, necessitating a more efficient, flexible, safe, and low-maintenance technical solution. Summary of the Invention

[0004] The purpose of the present invention is to provide an AGV trolley and a baggage handling method for baggage loading and unloading, which can flexibly operate according to the airport work scene, improve the continuity of the baggage operation process, and enhance the overall operation efficiency.

[0005] In order to achieve the above object, the present invention provides an AGV trolley for luggage loading and unloading, comprising:

[0006] A mobile body, the mobile body is used to move along a preset path, and the mobile body is integrated with an identification device, a gripping device, a control device, and a power supply device;

[0007] An identification device, which is provided at the front end of the gripping device and identifies the luggage and the surrounding environment, and obtains and feeds back parameter information;

[0008] A gripping device, connected to the mobile vehicle body via a mechanical interface, connected to a power supply device via a power cord, and connected to a control device via a control cord. The gripping device includes a robotic arm and a metamorphic robotic gripper. The robotic arm includes a rotary joint, a telescopic link, a base, and a connector. The metamorphic robotic gripper includes a finger drive assembly, multi-jointed fingers, a finger connector, and a pressure sensor. The gripping device is used to grip and carry luggage.

[0009] A control device, the control device is built into the mobile body, the control device is connected to the mobile body via a cable, and the control device controls the mobile body, the identification device, the grasping device, and the power supply device via a communication interface;

[0010] A power supply device is arranged at the rear end of the mobile body, the power supply device is connected to the mobile body through a cable, and the power supply device provides power.

[0011] In one embodiment, one end of the robotic arm is integrated on the mobile vehicle body, and one end of the robotic arm is connected to the metamorphic robotic arm, wherein the robotic arm includes:

[0012] A rotary joint, comprising a motor, a reducer and an encoder, wherein the encoder is arranged inside the rotary joint and is used to monitor the rotation angle in real time and feed back to the control device;

[0013] A telescopic link comprising a driver, a multi-section rod, a guide rail, a slider, and a position sensor. The driver drives the multi-section rod to achieve vertical telescopic movement. The guide rail and the slider are disposed within the telescopic link. The multi-section rods of the telescopic link are slidably connected to each other via the guide rail and the slider. The position sensor is used to monitor the telescopic length and provide feedback to the control system.

[0014] The base is made of metal, with a mounting interface for the mobile body provided at the bottom and a wiring channel provided inside for accommodating power lines and control lines;

[0015] A connecting piece is used to connect the robotic arm and the metamorphic robotic gripper. A quick disassembly and installation interface, a power transmission interface and a signal transmission interface are provided inside the connecting piece. The quick disassembly and installation interface is connected to the metamorphic robotic gripper, the power transmission interface is connected to the power supply device, and the signal transmission interface is connected to the control device.

[0016] In one embodiment, the metamorphic manipulator gripper comprises a finger drive assembly, a multi-jointed finger, a finger connector, and a pressure sensor. The metamorphic manipulator gripper adaptively adjusts its gripping configuration to accommodate luggage of different shapes, wherein:

[0017] The finger drive assembly is the core power source, using a motor or cylinder to provide power for the opening and closing of the fingers;

[0018] The multi-jointed finger comprises a plurality of movable knuckles, which are connected by joint bearings to achieve flexible bending and extension;

[0019] The finger connector connects the multi-jointed fingers and the finger drive assembly to ensure that the multi-jointed fingers move in coordination to firmly grasp the luggage;

[0020] The pressure sensor is installed on the multi-joint finger and is used to monitor the grasping pressure in real time and feed the grasping pressure back to the control device;

[0021] The metamorphic robotic gripper can automatically adjust the finger shape and gripping method according to the shape and size of the luggage to achieve stable gripping.

[0022] In one embodiment, the power supply device includes a charging component, a cable reel component, and a towing cable. One end of the cable reel component is connected to the charging component through the towing cable, and the other end of the cable reel component is connected to the mobile vehicle body. The charging component is a charging gun, and the cable reel component is an automatically retractable cable reel to achieve automatic extension and retraction of the cable.

[0023] In one embodiment, the control device includes a scheduling module, an identification module, a control module, a grasping module, and a power supply module.

[0024] The scheduling module controls the moving vehicle body, receives loading and unloading instructions and plans the moving path of the AGV;

[0025] The recognition module controls the recognition device, and the recognition module recognizes the parameter information of the luggage, establishes three-dimensional coordinates, and locates the spatial coordinates of the target luggage;

[0026] The control module determines whether the grabbing conditions are met, and issues a grabbing instruction if the grabbing conditions are met;

[0027] The grabbing module controls the grabbing device, receives grabbing instructions, controls the movement of the robotic arm, drives the metamorphic robotic arm to perform adaptive grabbing of the target luggage, and feeds back the grabbing results to the control module;

[0028] The power module controls the power supply device, monitors the battery power in real time during transportation, and triggers dynamic wireless charging.

[0029] In one embodiment, the parameter information includes position information, size and shape information, posture information, and environment information;

[0030] The gripping device feeds back gripping device information.

[0031] A luggage handling method for an AGV trolley for luggage loading and unloading, applied to the AGV trolley for luggage loading and unloading as described above, comprising:

[0032] S1, receive loading and unloading instructions and plan the AGV vehicle movement path;

[0033] S2. Identify the baggage's parameter information, establish three-dimensional coordinates, and locate the spatial coordinates of the target baggage;

[0034] S3, judging whether the parameter information meets the crawling conditions, and issuing a crawling instruction if it meets the crawling conditions;

[0035] S4, control the movement of the robotic arm and drive the metamorphic robotic arm to perform adaptive grabbing of the target luggage;

[0036] S5. Real-time monitoring of battery power during transport and triggering of dynamic wireless charging;

[0037] S6. When the loading and unloading operation is completed, the control module checks and provides feedback on the number of luggage that should enter the port and the number of luggage unloaded.

[0038] In one embodiment, the crawling conditions in S3 include:

[0039] S31. Determine whether the baggage is within the working range of the robotic arm based on the location information. If it is outside the range, it is directly determined that the grabbing conditions are not met and no grabbing instruction is issued. If it is within the range, the determination continues;

[0040] S32. Determine whether the baggage fits within the grasping range of the metamorphic robot arm based on its size and shape information. If it exceeds the range, the baggage is directly deemed to not meet the grasping conditions and no grasping instruction is issued. If it fits within the range, the determination continues.

[0041] S33. Determine whether the luggage meets the system's preset posture requirements based on the posture information. If not, directly determine that the luggage does not meet the grabbing conditions and do not issue a grabbing instruction. If it meets the system's preset posture requirements, continue determining.

[0042] S34. Determine whether there are any obstacles in the surrounding environment and the distance between the obstacle and the luggage based on the environmental information. If there is an obstacle and the distance between the obstacle and the luggage is less than a safety threshold, the system directly determines that the grabbing conditions are not met and does not issue a grabbing instruction. If there is no obstacle or the distance between the obstacle and the luggage is greater than or equal to the safety threshold, the system continues to determine the situation.

[0043] S35. Determine the state of the grasping device through the grasping device information. If the state of the grasping device does not meet the preset state conditions, directly determine that it does not meet the grasping conditions and do not issue a grasping instruction. If the state of the grasping device meets the preset state conditions, issue a grasping instruction.

[0044] In one embodiment, the S4 step includes:

[0045] S41: Receiving instructions and initializing: The control module receives and parses the grabbing instruction, determines the location of the target baggage, initializes the motor of the robotic arm, and places the robotic arm in the preset initial open position, ready to perform the grabbing task;

[0046] S42: Joint movement and position adjustment: The rotary joint is activated and its angle is adjusted so that the robotic arm rotates toward the target luggage. The rotation speed is controlled within a preset safety range. The telescopic link initiates the telescopic movement, adjusting the telescopic length of the robotic arm according to the height of the target luggage. The position sensor monitors the position in real time and feeds back the position data to the control module.

[0047] S43: The metamorphic manipulator completes the grasping action. Based on the size and shape information, the metamorphic manipulator adjusts the opening and closing angles and shapes of its multi-jointed fingers to the appropriate grasping position. Subsequently, the fingers begin to close, gradually increasing the grasping force. The pressure sensor monitors the grasping force in real time and feeds the data back to the control module for dynamic adjustment. The fingers complete closing, and the metamorphic manipulator firmly grasps the luggage.

[0048] S44, grasping detection and confirmation: The pressure sensor continuously monitors the grasping force to determine whether a stable grasping state has been reached. If the grasping is unstable, the control module will issue an adjustment instruction, and the fingers of the morphing robot will adjust the grasping force. After the system confirms that the grasping is stable, the robot arm is ready to carry the luggage;

[0049] S45: The robotic arm completes the luggage handling action. The telescopic link of the robotic arm contracts to lift the luggage from its current position. Then, the revolute joint rotates to adjust the direction of the robotic arm so that the metamorphic robotic arm is aligned with the target location. The telescopic link of the robotic arm extends again to accurately place the luggage at the target location.

[0050] S46. The metamorphic robot gripper completes the release of the luggage and resets. The metamorphic robot gripper receives the release command and begins to open its fingers, releasing the luggage. The robotic arm lifts it up to ensure that the luggage has been placed in the target position. The rotary joint of the robotic arm returns to its initial position, completing a complete grasping and handling cycle.

[0051] In one embodiment, the S5 includes:

[0052] S51: If the power level is between 20% and 80%, the AGV will be charged dynamically during operation.

[0053] S52. If the battery level is less than 20%, the AGV automatically inserts the charging component into the charging socket and simultaneously locks the charging component by electromagnetic attraction. When the AGV moves, the cable reel automatically releases the cable. When the AGV stops moving, the cable reel automatically locks the cable position. When the battery is fully charged, the cable reel automatically unlocks while the AGV moves, retracting the cable and charging component.

[0054] S53: If the power level is higher than 80%, the charging device of the AGV is stored inside the AGV.

[0055] The present invention has the following beneficial effects: The present invention relates to an AGV trolley and a baggage handling method for luggage loading and unloading. In terms of operational flexibility and efficiency, the AGV trolley with a robotic arm does not need to rely on fixed tracks or brackets compared to a fixed robotic arm sorting device, and the operation process is smoother, effectively improving the overall operational efficiency. The present invention can be flexibly adjusted according to the working scenario, and the configuration and degree of freedom of the metamorphic robotic arm gripper can be adjusted through parameter information to ensure the accuracy and stability of the gripping. In addition, the metamorphic robotic arm gripper can quickly switch between different gripping modes to cope with luggage gripping tasks at different positions and angles, significantly improving the adaptability of the equipment to diverse scenarios. The present invention improves the charging mode, allowing a dynamic charging mode, allowing the AGV trolley to charge during operation without the need for special trips to and from charging stations, thereby improving equipment utilization and reducing investment costs. In addition, the AGV trolley can reduce mechanical losses and avoid overcharging through wireless charging, supports shallow charging and shallow discharge modes, reduces maintenance costs, avoids the risks of poor contact, short circuit fire, etc. that may be caused by traditional wired charging, and enhances the safety of the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 This is a structural diagram of an AGV trolley for luggage loading and unloading according to an embodiment of the present invention;

[0057] Figure 2 This is a structural diagram of a metamorphic manipulator gripper of an AGV for luggage loading and unloading according to an embodiment of the present invention;

[0058] Figure 3 This is a module diagram of a control device for an AGV vehicle for luggage loading and unloading according to an embodiment of the present invention;

[0059] Figure 4 This is a flow chart of a baggage handling method using an AGV for baggage loading and unloading according to an embodiment of the present invention;

[0060] Figure 5 A schematic diagram of charging an AGV for luggage loading and unloading according to an embodiment of the present invention;

[0061] Figure 6 The figure is a schematic diagram of a working scene of an AGV vehicle for luggage loading and unloading according to an embodiment of the present invention.

[0062] Reference numerals

[0063] 1. Mobile body; 2. Identification device; 3. Grasping device; 31. Multi-joint finger; 32. Finger connector; 33. Pressure sensor; 4. Control device; 41. Scheduling module; 42. Identification module; 43. Control module; 44. Grasping module; 45. Power module; 5. Power supply device. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not intended to limit the invention.

[0065] like Figure 1 As shown, an AGV for luggage loading and unloading includes a mobile body 1, an identification device 2, a gripping device 3, a control device 4, and a power supply 5. The mobile body 1 is used to move along a preset path, and the identification device 2, gripping device 3, control device 4, and power supply 5 are integrated into the mobile body 1.

[0066] The identification device 2 is provided at the front end of the gripping device 3. The identification device 2 identifies the luggage and the surrounding environment, obtains and feeds back parameter information. In this embodiment, the identification device 2 is preferably connected to the control device 4 via a data cable, and transmits the collected parameter information to the control device 4 in real time.

[0067] The grasping device 3 is connected to the mobile body 1 through a mechanical interface, connected to the power supply device 5 through a power line, and connected to the control device 4 through a control line. The grasping device 3 includes a robotic arm and a metamorphic robotic gripper. The robotic arm includes a rotating joint, a telescopic link, a base and a connector. The metamorphic robotic gripper includes a finger drive assembly, a multi-joint finger 31, a finger connector 32 and a pressure sensor 33. The grasping device 3 is used to grasp and carry luggage.

[0068] The control device 4 is built into the mobile body 1, and the control device 4 is connected to the mobile body 1 through a cable. The control device 4 controls the mobile body 1, the identification device 2, the gripping device 3 and the power supply device 5 through a communication interface. In this embodiment, preferably, the mobile body 1 is provided with an internal chamber or a specific control box, and the control device 4 is built into the internal chamber or the specific control box, and is connected to the driving motor of the mobile body 1 through a cable to control the start, stop, speed and direction of the vehicle and other movement states. Furthermore, the control device 4 exchanges data and transmits control instructions with the identification device 2, the gripping device 3 and the power supply device 5 through an internal circuit board or a communication interface. Furthermore, the control device 4 receives parameter information from the identification device 2 through wired or wireless communication. Furthermore, the control device 4 is also connected to the power supply device 5 through a communication interface to monitor the power supply status in real time and trigger the dynamic charging function when needed.

[0069] The power supply device 5 is arranged at the rear end of the mobile body 1, and the power supply device 5 is connected to the mobile body 1 through a cable, and the power supply device 5 provides power. In this embodiment, the power supply device 5 can also be arranged at the bottom end of the mobile body 1.

[0070] In this embodiment, one end of the robotic arm is integrated on the mobile body 1, and one end of the robotic arm is connected to the metamorphic robotic arm, wherein the robotic arm includes a rotary joint, a telescopic connecting rod, a base, and a connecting piece.

[0071] The rotary joint includes a motor, a speed reducer, and an encoder. The encoder is located within the joint and monitors the rotation angle in real time, providing feedback to the control device 4. In this preferred embodiment, the joint can achieve precise rotational motion within the horizontal plane. The encoder monitors the joint's rotation angle in real time and provides feedback to the control device 4, thereby controlling the rotation angle. This allows the robotic arm to flexibly adjust its position, effectively avoid obstacles, and quickly align with the target baggage, improving gripping efficiency and accuracy. Furthermore, the motor provides power, while the speed reducer controls the rotation speed.

[0072] The telescopic link includes a driver, a multi-section rod, a guide rail, a slider, and a position sensor, wherein the driver drives the multi-section rod to achieve telescopic movement in the vertical direction, the guide rail and the slider are arranged inside the telescopic link, and the multi-section rods of the telescopic link are slidably connected by the guide rail and the slider, and the position sensor is used to monitor the telescopic length and feed back to the control system. In this embodiment, the multi-section rod is preferably driven by a motor or a cylinder to achieve telescopic movement in the vertical direction. The internal guide rail and slider ensure the linearity and stability of the telescopic movement. The telescopic link makes the robotic arm highly adaptable in the vertical direction and can cope with luggage stacking at different heights. It can extend to grab high-rise luggage, and can retract to avoid affecting the surrounding environment, thereby improving the space utilization and flexibility of the robotic arm.

[0073] The base is made of metal, with a mounting interface for the mobile body 1 at its bottom and internal wiring channels for accommodating power and control cables. In this embodiment, the base is preferably constructed of high-strength metal, offering excellent rigidity and vibration resistance. Internal wiring channels accommodate the power and control cables. The base provides a stable support platform for the robotic arm, ensuring stability during grasping and handling, while effectively reducing vibration and shaking, ensuring reliable operation of the robotic arm.

[0074] The connector is used to connect the robotic arm and the metamorphic robotic gripper. A quick disassembly and installation interface, a power transmission interface, and a signal transmission interface are provided inside the connector. The quick disassembly and installation interface is connected to the metamorphic robotic gripper, the power transmission interface is connected to the power supply device 5, and the signal transmission interface is connected to the control device 4. In this embodiment, the robotic arm is preferably able to determine the end effector according to different luggage grabbing requirements, and replace the end effector through the quick disassembly and installation interface. Furthermore, the end effector can be a metamorphic robotic gripper, and the power transmission interface is connected to the power supply device 5 for power transmission. The signal transmission interface is connected to the control device 4 for transmitting control signals and feedback signals. This connector makes the replacement of the metamorphic robotic gripper convenient, reduces equipment downtime, and improves work efficiency.

[0075] In this embodiment, Figure 2 As shown, the metamorphic manipulator gripper includes a finger drive assembly, a multi-jointed finger 31, a finger connector 32 and a pressure sensor 33. The metamorphic manipulator gripper can adaptively adjust the gripping configuration to accommodate luggage of different shapes, wherein:

[0076] The finger drive assembly is the core power source, using a motor or cylinder to provide power for the opening and closing of the fingers. The multi-jointed finger 31 includes multiple movable knuckles connected by joint bearings, enabling flexible bending and extension. The finger connector 32 connects the multi-jointed finger 31 to the finger drive assembly, ensuring coordinated movement of the multi-jointed finger 31 to securely grasp the luggage. A pressure sensor 33 is mounted on the multi-jointed finger 31 to monitor the gripping pressure in real time and feedback this pressure to the control device 4. The metamorphic robotic gripper can automatically adjust the finger shape and gripping method based on the shape and size of the luggage, achieving stable gripping. In this embodiment, the pressure sensor 33 is preferably mounted on the fingertips of the multi-jointed finger 31 to monitor the gripping pressure in real time. The pressure sensor 33 converts the collected pressure signal into an electrical signal and transmits it to the control device 4 via a data line. Based on the received pressure signal, the control device 4 determines whether the grip is stable and promptly adjusts the gripping force of the fingers to prevent damage to the luggage due to excessive pressure or drop due to insufficient pressure.

[0077] In this embodiment, the power supply device 5 includes a charging component, a cable reel component, and a towing cable. One end of the cable reel component is connected to the charging component through the towing cable, and the other end of the cable reel component is connected to the mobile body 1. The charging component is a charging gun, and the cable reel component is an automatically retractable cable reel to realize automatic extension and retraction of the cable.

[0078] In one embodiment, Figure 3 As shown, the control device 4 includes a scheduling module 41, an identification module 42, a control module 43, a grasping module 44, and a power supply module 45.

[0079] The scheduling module 41 controls the mobile vehicle 1. The scheduling module 41 receives loading and unloading instructions and plans the movement path of the AGV;

[0080] The recognition module 42 controls the recognition device 2, and the recognition module 42 recognizes the parameter information of the luggage, establishes three-dimensional coordinates, and locates the spatial coordinates of the target luggage;

[0081] The control module 43 determines whether the grabbing conditions are met, and issues a grabbing instruction if the grabbing conditions are met;

[0082] The grabbing module 44 controls the grabbing device 3, receives grabbing instructions, controls the movement of the robotic arm, drives the metamorphic robotic arm to perform adaptive grabbing of the target baggage, and feeds back the grabbing results to the control module 43;

[0083] The power module 45 controls the power supply device 5, monitors the battery power in real time during transportation, and triggers dynamic wireless charging.

[0084] In one embodiment, the parameter information includes position information, size and shape information, posture information, and environment information. The gripping device 3 feeds back gripping device 3 information.

[0085] like Figure 4 As shown, a baggage handling method for an AGV trolley for baggage loading and unloading is applied to the AGV trolley for baggage loading and unloading as described above, comprising:

[0086] S1, receive loading and unloading instructions and plan the AGV vehicle movement path;

[0087] S2. Identify the baggage's parameter information, establish three-dimensional coordinates, and locate the spatial coordinates of the target baggage;

[0088] S3, judging whether the parameter information meets the crawling conditions, and issuing a crawling instruction if it meets the crawling conditions;

[0089] S4, control the movement of the robotic arm and drive the metamorphic robotic arm to perform adaptive grabbing of the target luggage;

[0090] S5. Real-time monitoring of battery power during transport and triggering of dynamic wireless charging;

[0091] S6. When the loading and unloading operation is completed, the control module 43 checks and feeds back the number of luggage to be brought into the port and the number of luggage unloaded from the vehicle.

[0092] In one embodiment, the crawling conditions in S3 include:

[0093] S31. Determine whether the luggage is within the working range of the robotic arm based on the location information. If it is beyond the range, it is directly determined that it does not meet the grasping conditions and no grasping instruction is issued. If it is within the range, continue to determine.

[0094] S32. Determine whether the luggage fits within the grasping range of the metamorphic manipulator based on its size and shape information. If it exceeds the range, the luggage is directly determined to be ineligible for grasping and no grasping instruction is issued. If it fits within the range, the determination continues. In this embodiment, the size and shape information preferably includes the luggage's three-dimensional dimensions and shape characteristics. Luggage that is too large or has an unusual shape, exceeding the manipulator's grasping capacity, is determined to be ineligible for grasping. For example, if the luggage's length, width, or height exceeds the manipulator's maximum grasping size limit, or if its shape is extremely irregular and difficult to grasp reliably using existing grasping methods, no grasping instruction is issued. Furthermore, the control module 43 compares the luggage's size and shape information with the grasping range of the metamorphic manipulator. Based on a preset size and shape adaptability database (which contains a range of luggage sizes and shapes that the manipulator can reliably grasp), it determines whether the current luggage fits within the graspable range.

[0095] S33. Determine whether the luggage meets the system's preset posture requirements based on the posture information. If not, the system determines that the luggage does not meet the grasping conditions and does not issue a grasping instruction. If it meets the system's preset posture requirements, the system continues the assessment. In this embodiment, the posture information preferably includes the luggage's tilt angle, sideways position, or inverted position. Certain postures may not be conducive to stable grasping, and the system will evaluate them based on a preset model. If the luggage's posture is outside the acceptable grasping posture range (e.g., excessive tilt may result in instability after grasping), the luggage does not meet the grasping conditions.

[0096] S34. The system uses environmental information to determine whether there are obstacles in the surrounding environment and the distance between the obstacle and the luggage. If an obstacle is present and the distance between the obstacle and the luggage is less than a safety threshold, the system determines that the grasping conditions are not met and does not issue a grasping instruction. If there is no obstacle or the distance between the obstacle and the luggage is greater than or equal to the safety threshold, the system continues to determine the conditions. In this embodiment, the environmental parameter information preferably includes information about surrounding obstacles and the supporting surface. Furthermore, the recognition module 42 scans and constructs an environmental point cloud model to determine the location and distance of the obstacle.

[0097] S35. The state of the grasping device 3 is determined by the grasping device 3 information. If the state of the grasping device 3 does not meet the preset state conditions, it is directly determined that the grasping conditions are not met and no grasping instruction is issued. If the state of the grasping device 3 meets the preset state conditions, a grasping instruction is issued. In the present embodiment, the state of the grasping device 3 includes the state of the robotic arm and the grasping state of the metamorphic manipulator. The state of the robotic arm includes the joint angle, motor torque, and running speed of the robotic arm. If the robotic arm has a fault warning, such as abnormal states such as joint jamming and motor overload, no grasping instruction is issued even if other conditions are met. The grasping state of the metamorphic manipulator includes whether the multi-joint finger 31 is intact, whether the finger drive assembly is normal, whether the pressure sensor 33 is working, whether the connector is well connected, etc. If there is a problem with the metamorphic manipulator grasping itself and it cannot perform the grasping action normally, it is determined that the grasping conditions are not met.

[0098] When all of the above conditions are met, the control module 43, after comprehensive evaluation, determines that the grasping conditions are met and immediately issues a grasping instruction, activating the robotic arm and metamorphic manipulator to execute the grasping action. Throughout the entire judgment process, various conditions are interconnected and work together to ensure that grasping instructions are issued only when it is safe, stable, and possible to successfully grasp. This improves the efficiency and reliability of baggage handling and reduces the risk of equipment failure and baggage damage.

[0099] In one embodiment, step S4 includes,

[0100] S41, receiving instructions and initialization. The control module 43 receives and parses the grabbing instruction, clarifies the location information of the target luggage, initializes the motor of the robotic arm, and places the metamorphic robotic arm in the preset initial open position, ready to perform the grabbing task. In this embodiment, the time for receiving instructions and initialization is preferably 0-1 seconds. The control module 43 receives and parses the grabbing instruction within 1 second after receiving the grabbing instruction, clarifies the location of the target luggage and the required actions of the grabbing device 3. The motors of each joint of the robotic arm are initialized at this stage to ensure that they are in standby mode and operating normally. The fingers of the metamorphic robotic arm are in the preset initial open position, ready to perform the grabbing task.

[0101] S42: Joint Movement and Position Adjustment: The rotary joint activates and adjusts its angle, causing the robotic arm to rotate toward the target luggage location. The rotation speed is controlled within a preset safety range. The telescopic link activates its telescopic motion, adjusting the telescopic length of the robotic arm based on the height of the target luggage. The position sensor monitors and feeds back position data in real time to the control module 43. In this preferred embodiment, the duration of joint movement and position adjustment is 1-5 seconds. Based on the target luggage location, the rotary joint activates and adjusts its angle within 4 seconds, causing the entire robotic arm to rotate toward the target luggage location. The rotation speed is controlled within a preset safety range to ensure smooth movement. Simultaneously, the telescopic link activates its telescopic motion within 3-5 seconds, adjusting the telescopic length of the robotic arm based on the height of the target luggage. The position sensor monitors and feeds back position data in real time to the control module 43.

[0102] S43: The metamorphic manipulator completes the grabbing action. Based on the size and shape information, the metamorphic manipulator adjusts the opening and closing angles and shape of the multi-jointed fingers 31 to the appropriate grabbing position. The fingers then begin to close, gradually increasing the gripping force. The pressure sensor 33 monitors the gripping force in real time and feeds the data back to the control module 43 for dynamic adjustment. The fingers complete closing, and the metamorphic manipulator secures the luggage. In this embodiment, the metamorphic manipulator preferably completes the grabbing action in 6-10 seconds.

[0103] S44: Grasp detection and confirmation: The pressure sensor 33 continuously monitors the gripping force to determine whether a stable grip has been achieved. If the grip is unstable, the control module 43 issues an adjustment command, causing the gripping fingers of the morphing robot to adjust their gripping force. Once the system confirms that the grip is stable, the robot arm prepares to handle the luggage. In this embodiment, the grip detection and confirmation time is preferably 10-12 seconds.

[0104] S45: The robotic arm completes the luggage handling action. The telescopic link of the robotic arm retracts, lifting the luggage from its current position. Subsequently, the rotary joint rotates, adjusting the direction of the robotic arm so that the metamorphic robotic arm is aligned with the target location. The telescopic link of the robotic arm extends again, accurately placing the luggage at the target location. In this embodiment, the time it takes for the robotic arm to complete the luggage handling action is preferably 10-12 seconds.

[0105] S46: The metamorphic gripper completes the luggage release and reset. Upon receiving the release command, the metamorphic gripper begins to open its fingers, releasing the luggage. The robotic arm lifts the luggage, ensuring it is placed at the target location. The robotic arm's rotary joint returns to its initial position, completing a complete gripping and handling cycle. In this embodiment, the metamorphic gripper preferably completes the luggage release and reset in 16-18 seconds.

[0106] In one embodiment, S5 includes,

[0107] S51: If the power level is between 20% and 80%, the AGV will be charged dynamically during operation.

[0108] S52, such as Figure 5 As shown, if the power level is lower than 20%, the AGV automatically inserts the charging component b into the charging socket a, and at the same time uses electromagnetic suction technology to absorb the charging component b to lock the charging component b; when the AGV moves, the cable reel automatically releases the cable; when the AGV stops moving, the cable reel automatically locks the cable position; when fully charged, the AGV moves while the cable reel automatically unlocks and retracts the cable and charging component b;

[0109] S53: If the power level is higher than 80%, the charging device of the AGV is stored inside the AGV.

[0110] In this embodiment, preferably, S6 includes when the loading and unloading operation is completed, the control module 43 checks the corresponding number of luggage arriving at the port and the number of luggage unloaded from the vehicle, and reports the abnormality if any abnormality is found.

[0111] Furthermore, control module 43 compares the actual number of bags handled by gripping device 3 with the number of checked bags registered at the check-in counter. If the data doesn't match, it's considered an anomaly. Control module 43 activates the audible and visual alarm, emitting an abnormal sound and flashing light signal to alert on-site staff. Furthermore, control module 43 sends an abnormality information packet to the external monitoring system. This packet contains key data such as the AGV's identification code, current location, and the number of bags handled and unhandled. This allows the monitoring center to quickly identify the specific abnormality and immediately dispatch staff to the site for verification.

[0112] This embodiment is preferred, as Figure 6 As shown in the figure, the workflow of the AGV d entering the port is as follows: (1) AGV d receives the unloading instruction from the baggage handling system and moves to the side of the baggage trailer c. (2) AGV d stops, and the recognition device 2 establishes three-dimensional coordinates to determine whether the conditions for automatic baggage grabbing are met. (3) The robotic arm cooperates with the luggage metamorphic robot to move to the initial position, and the recognition device 2 obtains data such as the height, placement angle, and center position coordinates of the luggage on the luggage trailer c, and transmits the data to the control device 4. (4) The robotic arm rotates the metamorphic robot to the angle corresponding to the luggage based on information such as the luggage position, and to the appropriate grabbing height, and the metamorphic robot grabs the luggage. (5) After the metamorphic robot grabs the luggage, the robotic arm moves the luggage metamorphic robot to the position above the sorting carousel e to place the luggage. (6) After the luggage is placed, a cycle of luggage unloading process is completed. (7) When unloading is completed, the AGV trolley d and the baggage handling system check the number of luggage arriving at the port and the number of luggage unloaded, and an alarm will be issued if there is any abnormality.

[0113] The departure workflow of AGV d is as follows: (1) AGV d receives the loading instruction from the baggage handling system and moves to the side of sorting carousel e. (2) AGV d stops, and the recognition device 2 establishes three-dimensional coordinates to determine whether the conditions for automatic baggage grabbing are met. (3) The robotic arm cooperates with the luggage metamorphic robot to move to the position of sorting carousel e. The recognition device 2 obtains data such as the height, placement angle, and center position coordinates of the luggage on the sorting carousel e, and transmits the data to the control device 4. (4) Based on information such as the luggage position, the robotic arm rotates the metamorphic robot to the angle corresponding to the luggage, to the appropriate grabbing height, and then the metamorphic robot grabs the luggage. (5) After the metamorphic robot grabs the luggage, the robotic arm moves the luggage metamorphic robot to the preset position of the luggage trailer c to stack the luggage. (6) After the luggage is stacked, a cycle of luggage handling is completed. (7) When AGV d recognizes that a baggage trolley c is full, it moves to the next baggage trolley c and stops after the baggage handling system issues a stop command. (8) When the flight check-in is completed, AGV d checks the number of bags at check-in with the number of bags loaded on the trolley with the baggage handling system, and issues an alarm if there is any abnormality.

[0114] The present invention has the following beneficial effects: The present invention relates to an AGV trolley and a baggage handling method for luggage loading and unloading. In terms of operational flexibility and efficiency, the AGV trolley with a robotic arm does not need to rely on fixed tracks or brackets compared to a fixed robotic arm sorting device, and the operation process is smoother, effectively improving the overall operational efficiency. The present invention can be flexibly adjusted according to the working scenario, and the configuration and degree of freedom of the metamorphic robotic arm gripper can be adjusted through parameter information to ensure the accuracy and stability of the gripping. In addition, the metamorphic robotic arm gripper can quickly switch between different gripping modes to cope with luggage gripping tasks at different positions and angles, significantly improving the adaptability of the equipment to diverse scenarios. The present invention improves the charging mode, allowing a dynamic charging mode, allowing the AGV trolley to charge during operation without the need for special trips to and from charging stations, thereby improving equipment utilization and reducing investment costs. In addition, the AGV trolley can reduce mechanical losses and avoid overcharging through wireless charging, supports shallow charging and shallow discharge modes, reduces maintenance costs, avoids the risks of poor contact, short circuit fire, etc. that may be caused by traditional wired charging, and enhances the safety of the working environment.

[0115] It should be noted that, unless otherwise clearly specified and limited, the words "install", "connect", "connect" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or a connection between two components. Those skilled in the art can understand their specific meanings in this application according to the specific circumstances.

[0116] The above embodiments are merely further explanations of the present invention and are not intended to limit the present invention in any other manner. The present invention may also have various other embodiments. Those skilled in the art may make various corresponding modifications and variations based on the present invention without departing from the spirit and substance of the present invention, and such corresponding modifications and variations shall fall within the scope of protection of the present invention.

Claims

1. An AGV trolley for luggage loading and unloading, characterized in that: include: A mobile body, the mobile body is used to move along a preset path, and the mobile body is integrated with an identification device, a gripping device, a control device, and a power supply device; An identification device, which is provided at the front end of the gripping device and identifies the luggage and the surrounding environment, and obtains and feeds back parameter information; A gripping device, connected to the mobile vehicle body via a mechanical interface, connected to a power supply device via a power cord, and connected to a control device via a control cord. The gripping device includes a robotic arm and a metamorphic robotic gripper. The robotic arm includes a rotary joint, a telescopic link, a base, and a connector. The metamorphic robotic gripper includes a finger drive assembly, multi-jointed fingers, a finger connector, and a pressure sensor. The gripping device is used to grip and carry luggage. A control device, the control device is built into the mobile body, the control device is connected to the mobile body through a cable, the control device controls the mobile body, the identification device, the grasping device and the power supply device through a communication interface, and the control device includes: A scheduling module controls the moving vehicle, receives loading and unloading instructions, and plans the movement path of the AGV; an identification module, the identification module controlling the identification device, identifying parameter information of the luggage, establishing three-dimensional coordinates, and locating the spatial coordinates of the target luggage; A control module, wherein the control module determines whether the grabbing conditions are met and issues a grabbing instruction if the grabbing conditions are met; A grabbing module controls the grabbing device, receives grabbing instructions, controls the movement of the robotic arm, drives the metamorphic robotic arm to adaptively grab the target baggage, and feeds back the grabbing results to the control module; A power module controls the power supply device, monitors the battery charge in real time during transport, and triggers dynamic wireless charging; A power supply device is arranged at the rear end of the mobile body, the power supply device is connected to the mobile body through a cable, and the power supply device provides power for dynamic charging.

2. The AGV trolley for luggage loading and unloading according to claim 1, characterized in that: One end of the robotic arm is integrated on the mobile vehicle body, and one end of the robotic arm is connected to the metamorphic robotic arm, wherein the robotic arm includes: A rotary joint, comprising a motor, a reducer and an encoder, wherein the encoder is arranged inside the rotary joint and is used to monitor the rotation angle in real time and feed back to the control device; A telescopic link comprising a driver, a multi-section rod, a guide rail, a slider, and a position sensor. The driver drives the multi-section rod to achieve vertical telescopic movement. The guide rail and the slider are disposed within the telescopic link. The multi-section rods of the telescopic link are slidably connected to each other via the guide rail and the slider. The position sensor is used to monitor the telescopic length and provide feedback to the control system. The base is made of metal, with a mounting interface for the mobile body provided at the bottom and a wiring channel provided inside for accommodating power lines and control lines; A connecting piece is used to connect the robotic arm and the metamorphic robotic gripper. A quick disassembly and installation interface, a power transmission interface and a signal transmission interface are provided inside the connecting piece. The quick disassembly and installation interface is connected to the metamorphic robotic gripper, the power transmission interface is connected to the power supply device, and the signal transmission interface is connected to the control device.

3. The AGV trolley for luggage loading and unloading according to claim 1, characterized in that: The metamorphic manipulator gripper comprises a finger drive assembly, a multi-jointed finger, a finger connector and a pressure sensor. The metamorphic manipulator gripper adaptively adjusts its gripping configuration to accommodate luggage of different shapes, wherein: The finger drive assembly is the core power source, using a motor or cylinder to provide power for the opening and closing of the fingers; The multi-jointed finger comprises a plurality of movable knuckles, which are connected by joint bearings to achieve flexible bending and extension; The finger connector connects the multi-jointed fingers and the finger drive assembly to ensure that the multi-jointed fingers move in coordination to firmly grasp the luggage; The pressure sensor is installed on the multi-joint finger and is used to monitor the grasping pressure in real time and feed the grasping pressure back to the control device; The metamorphic robotic gripper can automatically adjust the finger shape and gripping method according to the shape and size of the luggage to achieve stable gripping.

4. The AGV trolley for luggage loading and unloading according to claim 1, characterized in that: The power supply device includes a charging component, a cable reel component, and a towing cable. One end of the cable reel component is connected to the charging component through the towing cable, and the other end of the cable reel component is connected to the mobile vehicle body. The charging component is a charging gun, and the cable reel component is an automatically retractable cable reel to achieve automatic extension and retraction of the cable.

5. The AGV trolley for luggage loading and unloading according to claim 1, characterized in that: The parameter information includes position information, size and shape information, posture information, and environment information; The gripping device feeds back gripping device information.

6. A luggage handling method for an AGV for luggage loading and unloading, applied to the AGV for luggage loading and unloading as claimed in any one of claims 1 to 5, characterized in that: include, S1, receive loading and unloading instructions and plan the AGV vehicle movement path; S2. Identify the baggage's parameter information, establish three-dimensional coordinates, and locate the spatial coordinates of the target baggage; S3, judging whether the parameter information meets the crawling conditions, and issuing a crawling instruction if it meets the crawling conditions; S4, control the movement of the robotic arm and drive the metamorphic robotic arm to perform adaptive grabbing of the target luggage; S5. Real-time monitoring of battery power during transport and triggering of dynamic wireless charging; S6. When the loading and unloading operation is completed, the control module checks and provides feedback on the number of luggage that should enter the port and the number of luggage unloaded.

7. The luggage handling method of the AGV for luggage loading and unloading according to claim 6, characterized in that: The crawling conditions in S3 include: S31. Determine whether the baggage is within the working range of the robotic arm based on the location information. If it is outside the range, it is directly determined that the grabbing conditions are not met and no grabbing instruction is issued. If it is within the range, the determination continues; S32. Determine whether the baggage fits within the grasping range of the metamorphic robot arm based on its size and shape information. If it exceeds the range, the baggage is directly deemed to not meet the grasping conditions and no grasping instruction is issued. If it fits within the range, the determination continues. S33. Determine whether the luggage meets the system's preset posture requirements based on the posture information. If not, directly determine that the luggage does not meet the grabbing conditions and do not issue a grabbing instruction. If it meets the system's preset posture requirements, continue determining. S34. Determine whether there are any obstacles in the surrounding environment and the distance between the obstacle and the luggage based on the environmental information. If there is an obstacle and the distance between the obstacle and the luggage is less than a safety threshold, the system directly determines that the grabbing conditions are not met and does not issue a grabbing instruction. If there is no obstacle or the distance between the obstacle and the luggage is greater than or equal to the safety threshold, the system continues to determine the situation. S35. Determine the state of the grasping device through the grasping device information. If the state of the grasping device does not meet the preset state conditions, directly determine that it does not meet the grasping conditions and do not issue a grasping instruction. If the state of the grasping device meets the preset state conditions, issue a grasping instruction.

8. The luggage handling method of the AGV for luggage loading and unloading according to claim 6, characterized in that: The S4 step includes: S41: Receiving instructions and initializing: The control module receives and parses the grabbing instruction, determines the location of the target baggage, initializes the motor of the robotic arm, and places the robotic arm in the preset initial open position, ready to perform the grabbing task; S42: Joint movement and position adjustment: The rotary joint is activated and its angle is adjusted so that the robotic arm rotates toward the target luggage. The rotation speed is controlled within a preset safety range. The telescopic link initiates the telescopic movement, adjusting the telescopic length of the robotic arm according to the height of the target luggage. The position sensor monitors the position in real time and feeds back the position data to the control module. S43: The metamorphic manipulator completes the grasping action. Based on the size and shape information, the metamorphic manipulator adjusts the opening and closing angles and shapes of its multi-jointed fingers to the appropriate grasping position. Subsequently, the fingers begin to close, gradually increasing the grasping force. The pressure sensor monitors the grasping force in real time and feeds the data back to the control module for dynamic adjustment. The fingers complete closing, and the metamorphic manipulator firmly grasps the luggage. S44, grasping detection and confirmation: The pressure sensor continuously monitors the grasping force to determine whether a stable grasping state has been reached. If the grasping is unstable, the control module will issue an adjustment instruction, and the fingers of the morphing robot will adjust the grasping force. After the system confirms that the grasping is stable, the robot arm is ready to carry the luggage; S45: The robotic arm completes the luggage handling action. The telescopic link of the robotic arm contracts to lift the luggage from its current position. Then, the revolute joint rotates to adjust the direction of the robotic arm so that the metamorphic robotic arm is aligned with the target location. The telescopic link of the robotic arm extends again to accurately place the luggage at the target location. S46. The metamorphic robot gripper completes the release of the luggage and resets. The metamorphic robot gripper receives the release command and begins to open its fingers, releasing the luggage. The robotic arm lifts it up to ensure that the luggage has been placed in the target position. The rotary joint of the robotic arm returns to its initial position, completing a complete grasping and handling cycle.

9. The luggage handling method of the AGV for luggage loading and unloading according to claim 6, characterized in that: Said S5 comprises, S51: If the power level is between 20% and 80%, the AGV will be charged dynamically during operation. S52. If the battery level is lower than 20%, the AGV automatically inserts the charging component into the charging socket and simultaneously locks the charging component by electromagnetic attraction. When the AGV moves, the cable reel automatically releases the cable. When the AGV stops moving, the cable reel automatically locks the cable position; when fully charged, the AGV moves while the cable reel automatically unlocks, retracting the cable and charging component; S53: If the power level is higher than 80%, the charging device of the AGV is stored inside the AGV.

Images