AGV for luggage handling and luggage handling method

Abstract

The application provides an AGV trolley for luggage loading and unloading and a luggage carrying method, and comprises a moving trolley body, an identification device, a grabbing device, a control device and a power supply device. The identification device, the grabbing device, the control device and the power supply device are integrated on the moving trolley body. The identification device is arranged at the front end of the grabbing device. The grabbing device is connected with the moving trolley body through a mechanical interface, connected with the power supply device through a power supply line and connected with the control device through a control line. The grabbing device comprises a mechanical arm and a metamorphic mechanical hand. The control device is built in the moving trolley body, connected with the moving trolley body through a wire and controls the moving trolley body, the identification device, the grabbing device and the power supply device through a communication interface. The power supply device is arranged at the rear end of the moving trolley body. The application can flexibly operate according to the airport working scene, improve the coherence of the luggage operation process and improve the overall operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of airport baggage handling AGV cart technology, specifically to AGV carts used for baggage loading and unloading. Background Technology

[0002] In the modern air transport system, the departure baggage handling system is a key link to ensure the smooth operation of flights and the travel experience of passengers. However, there are still problems to be solved in the current handling of baggage after it arrives at the sorting carousel.

[0003] Currently, most airports rely on manual baggage handling. In terms of efficiency and cost, manual handling is not only inefficient, failing to meet the rapid processing demands of large volumes of baggage during peak flight periods, but also prone to baggage backlogs and delays. Regarding operational quality and safety, manual operation is susceptible to errors such as missorting and omissions, resulting in a high rate of baggage damage. Furthermore, existing automated loading and unloading equipment occupies a large area, has numerous components, is inflexible in use, and cannot comprehensively assess the location, size, shape, posture, and surrounding environment of baggage for proper handling. Additionally, the charging stations for AGVs pose fire hazards, requiring centralized installation, limiting layout, and the equipment is unusable during charging, affecting continuous operation. Regular inspection of the charging nozzles also increases maintenance costs. Therefore, the current departing baggage handling system suffers from numerous problems, urgently requiring a more efficient, flexible, safe, and low-maintenance technological solution to improve the situation. Summary of the Invention

[0004] The purpose of this invention is to provide an AGV (Automated Guided Vehicle) for baggage loading and unloading and a baggage handling method, which can operate flexibly according to the airport work scenario, improve the continuity of baggage handling process, and enhance overall work efficiency.

[0005] To achieve the above objectives, the present invention provides an AGV (Automated Guided Vehicle) for baggage loading and unloading, comprising,

[0006] A mobile vehicle body, which is used to move along a preset path, and integrates a recognition device, a grasping device, a control device and a power supply device on the mobile vehicle body;

[0007] An identification device is disposed at the front end of the grasping device. The identification device identifies the luggage and the surrounding environment, and obtains and feeds back parameter information.

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

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

[0010] A power supply device is located at the rear end of the mobile vehicle body and is connected to the mobile vehicle body via a cable, providing power.

[0011] In one embodiment, one end of the robotic arm is integrated into the mobile vehicle body, and the other end of the robotic arm is connected to the variable-cell robotic gripper. The robotic arm includes...

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

[0013] A telescopic link includes a driver, multiple rod sections, a guide rail, a slider, and a position sensor. The driver drives the multiple rod sections to achieve vertical telescopic movement. The guide rail and slider are disposed inside the telescopic link, and the multiple rod sections of the telescopic link are slidably connected through the guide rail and 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 and has an interface for mounting to the mobile vehicle body at its bottom. It also has a wiring channel inside to accommodate power cables and control cables.

[0015] A connector is provided for connecting the robotic arm and the variable-cell robotic gripper. The connector is provided with a quick-release and installation interface, a power transmission interface and a signal transmission interface. The quick-release and installation interface is connected to the variable-cell 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 variable-cell robotic gripper includes a finger actuation assembly, multi-jointed fingers, finger connectors, and pressure sensors. The variable-cell robotic gripper adaptively adjusts its gripping configuration to accommodate luggage of different shapes.

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

[0018] The multi-joint finger includes multiple movable knuckles, which are connected by joint bearings to achieve flexible bending and extension;

[0019] The finger connector connects the multi-joint finger to the finger drive assembly, ensuring that the multi-joint finger moves in coordination to firmly grip the luggage;

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

[0021] The variable-cell robotic gripper can automatically adjust the shape of its fingers and the 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 via 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, and the scheduling module receives loading and unloading instructions and plans the moving path of the AGV vehicle.

[0025] The identification module controls the identification device, identifies 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 grasping conditions are met; if the grasping conditions are met, it issues a grasping command.

[0027] The grasping module controls the grasping device, receives grasping instructions, controls the movement of the robotic arm, drives the variable-cell robotic hand to perform adaptive grasping of target luggage, and feeds back the grasping results to the control module.

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

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

[0030] The grasping device provides feedback on its information.

[0031] A method for handling luggage using an AGV (Automated Guided Vehicle) trolley for loading and unloading luggage, applied to the AGV trolley for loading and unloading luggage as described above, includes,

[0032] S1. Receive loading and unloading instructions and plan the AGV vehicle's movement path;

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

[0034] S3. Determine whether the parameter information meets the capture conditions. If it does, issue a capture command.

[0035] S4. Control the movement of the robotic arm and drive the variable-cell robotic hand to perform adaptive grasping of the target luggage;

[0036] S5. Monitor battery level in real time during transport and trigger dynamic wireless charging;

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

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

[0039] S31. Determine whether the luggage is within the working range of the robotic arm based on the location information. If it is outside the range, determine that it does not meet the grasping conditions and do not issue a grasping command. If it is within the range, continue to determine.

[0040] S32. Determine whether the luggage is within the grasping range of the variable-cell robotic arm based on its size and shape information. If it is outside the range, determine that it does not meet the grasping conditions and do not issue a grasping command. If it is within the range, continue to determine.

[0041] S33. Determine whether the luggage meets the system's preset posture requirements based on the posture information. If it does not meet the system's preset posture requirements, it is directly determined that it does not meet the grasping conditions and no grasping command is issued. If it meets the system's preset posture requirements, continue to make judgments.

[0042] S34. Determine whether there are obstacles in the surrounding environment and the distance between the obstacles and the luggage based on environmental information. If there are obstacles and the distance between the obstacles and the luggage is less than the safety threshold, it is directly determined that the grasping conditions are not met and no grasping command is issued. If there are no obstacles or the distance between the obstacles and the luggage is greater than or equal to the safety threshold, the judgment continues.

[0043] S35. Determine the status of the gripping device by the gripping device information. If the status of the gripping device does not meet the preset status conditions, it is directly determined that the gripping conditions are not met and no gripping command is issued. If the status of the gripping device meets the preset status conditions, a gripping command is issued.

[0044] In one embodiment, step S4 includes,

[0045] S41. Receiving instructions and initialization: The control module receives and parses the grasping instruction, clarifies the location information of the target luggage, initializes the motor of the robotic arm, and the variable-cell robotic hand is in the preset initial opening position, ready to perform the grasping task.

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

[0047] S43. The variable-cell robotic arm completes the grasping action. Based on the size and shape information, the variable-cell robotic arm adjusts the opening and closing angle and shape of the multi-joint fingers to the appropriate grasping position. Then, 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 close and the variable-cell robotic arm firmly grasps the luggage.

[0048] S44. Grasping detection and confirmation: The pressure sensor continuously monitors the gripping force to determine whether a stable gripping state has been reached. If the gripping is unstable, the control module will issue an adjustment command, and the fingers of the variable-cell robotic arm will adjust the gripping force. After the system confirms that the gripping is stable, the robotic arm is ready to carry the luggage.

[0049] S45. The robotic arm completes the luggage handling action. The telescopic link of the robotic arm retracts inward to lift the luggage from the current position. Then, the rotary joint rotates to adjust the direction of the robotic arm so that the variable-sized robotic hand grips the target position for handling. The telescopic link of the robotic arm extends again to accurately place the luggage in the target position.

[0050] S46. The variable-cell robotic arm completes the release and reset of the luggage. Upon receiving the release command, the variable-cell robotic arm begins to open its fingers to release the luggage. The robotic arm lifts the luggage, ensuring that it has been placed in the target position. The rotating joint of the robotic arm returns to its initial position, completing a complete grasping and handling cycle.

[0051] In one embodiment, S5 includes,

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

[0053] S52. If the battery level is below 20%, the AGV will automatically insert the charging component into the charging socket and simultaneously use electromagnetic attraction technology to lock the charging component. When the AGV moves, the cable reel will automatically release the cable. When the AGV stops moving, the cable reel will automatically lock the cable position. When fully charged, the AGV will move while the cable reel automatically unlocks, retracting the cable and charging component.

[0054] S53. If the battery level is above 80%, the charging device of the AGV is stored inside the AGV.

[0055] This invention offers the following advantages: It relates to an AGV (Automated Guided Vehicle) cart for baggage loading and unloading, and a baggage handling method. In terms of operational flexibility and efficiency, the AGV cart with a robotic arm, compared to a fixed robotic arm sorting device, does not rely on fixed tracks or supports, resulting in a smoother workflow and effectively improving overall operational efficiency. This invention can be flexibly adjusted according to the work scenario, modifying the configuration and degrees of freedom of the variable-cell robotic gripper through parameter information to ensure the accuracy and stability of the gripping action. Furthermore, the variable-cell robotic gripper can quickly switch between different gripping modes to handle baggage gripping tasks at different positions and angles, significantly improving the equipment's adaptability to diverse scenarios. This invention improves the charging mode, allowing dynamic charging, enabling the AGV cart to charge during operation without needing to travel to charging stations, thus improving equipment utilization and reducing investment costs. In addition, wireless charging reduces mechanical wear and overcharging, supports shallow charging and discharging modes, reduces maintenance costs, and avoids risks such as poor contact, short circuits, and fires that may occur with traditional wired charging, enhancing the safety of the working environment. Attached Figure Description

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

[0057] Figure 2 This is a structural diagram of the variable-cell robotic gripper of an AGV trolley for baggage loading and unloading according to an embodiment of the present invention;

[0058] Figure 3 This is a block diagram of a control device for an AGV (Automated Guided Vehicle) trolley used for baggage loading and unloading, according to an embodiment of the present invention.

[0059] Figure 4 This is a flowchart of a baggage handling method using an AGV (Automated Guided Vehicle) for baggage loading and unloading, according to an embodiment of the present invention.

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

[0061] Figure 6 This is a schematic diagram of the working scenario of an AGV (Automated Guided Vehicle) for baggage loading and unloading according to an embodiment of the present invention.

[0062] Figure Labels

[0063] 1. Mobile vehicle 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 Implementation

[0064] To make the objectives, technical solutions, and advantages of this invention clearer, the 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 for illustrative purposes only and are not intended to limit the invention.

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

[0066] The identification device 2 is located at the front end of the grasping device 3. The identification device 2 identifies the luggage and the surrounding environment, obtains and feeds back parameter information. In this preferred embodiment, the identification device 2 is 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 gripping device 3 is connected to the mobile vehicle body 1 via a mechanical interface, to the power supply device 5 via a power cord, and to the control device 4 via a control line. The gripping device 3 includes a robotic arm and a variable-cell robotic hand gripper. The robotic arm includes a rotary joint, a telescopic link, a base, and a connector. The variable-cell robotic hand gripper includes a finger drive assembly, multi-joint fingers 31, finger connectors 32, and a pressure sensor 33. The gripping device 3 is used to grip and transport luggage.

[0068] The control device 4 is built into the mobile vehicle body 1 and connected to it via a ribbon cable. The control device 4 controls the mobile vehicle body 1, the identification device 2, the grasping device 3, and the power supply device 5 through a communication interface. Preferably, in this embodiment, the mobile vehicle body 1 has an internal chamber or a specific control box, and the control device 4 is built into this chamber or box and connected to the drive motor of the mobile vehicle body 1 via a ribbon cable, controlling the vehicle's start, stop, speed, and direction. Furthermore, the control device 4 interacts with the identification device 2, the grasping device 3, and the power supply device 5 through its internal circuit board or communication interface, transmitting data and control commands. Furthermore, the control device 4 receives parameter information from the identification device 2 via wired or wireless communication. Furthermore, the control device 4 is also connected to the power supply device 5 via a communication interface to monitor the power status in real time and trigger a dynamic charging function when needed.

[0069] The power supply device 5 is located at the rear end of the mobile vehicle body 1 and is connected to the mobile vehicle body 1 via a cable, providing power. Preferably, in this embodiment, the power supply device 5 can also be located at the bottom end of the mobile vehicle body 1.

[0070] In this embodiment, one end of the robotic arm is integrated onto the mobile vehicle body 1, and the other end of the robotic arm is connected to the variable-cell robotic gripper. The robotic arm includes a rotary joint, a telescopic link, a base, and a connector.

[0071] The rotary joint includes a motor, a reducer, and an encoder. The encoder is located inside the rotary joint and is used to monitor the rotation angle in real time and provide feedback to the control device 4. Preferably, in this embodiment, the rotary joint can achieve precise rotational movement in the horizontal plane. The internal encoder monitors the rotation angle of the joint 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, quickly align with the target luggage, and improve grasping efficiency and accuracy. Furthermore, the motor provides power, and the reducer controls the rotation speed.

[0072] The telescopic linkage includes a driver, multiple rod sections, guide rails, sliders, and position sensors. The driver drives the multiple rod sections to achieve vertical telescopic movement. The guide rails and sliders are located inside the telescopic linkage, and the multiple rod sections are slidably connected via the guide rails and sliders. The position sensors monitor the telescopic length and provide feedback to the control system. Preferably, in this embodiment, the multiple rod sections are driven by a motor or cylinder to achieve vertical telescopic movement. The internal guide rails and sliders ensure the linearity and stability of the telescopic movement. The telescopic linkage gives the robotic arm high adaptability in the vertical direction, enabling it to handle luggage stacks of varying heights. It can extend to grab luggage from higher levels and retract to avoid impacting the surrounding environment, improving the robotic arm's space utilization and flexibility.

[0073] The base is made of metal, and its bottom has a mounting interface for the mobile vehicle body 1. It also contains internal wiring channels to accommodate power and control cables. Preferably, in this embodiment, the base is made of high-strength metal, possessing good rigidity and vibration resistance. The internal wiring channels accommodate the power and control cables. The base provides a stable support platform for the robotic arm, ensuring stability during the grasping and handling process, while effectively reducing vibration and swaying, thus guaranteeing reliable operation of the robotic arm.

[0074] The connector connects the robotic arm to the variable-cell robotic gripper. The connector includes a quick-release and installation interface, a power transmission interface, and a signal transmission interface. The quick-release and installation interface connects to the variable-cell robotic gripper, the power transmission interface connects to the power supply unit 5, and the signal transmission interface connects to the control unit 4. Preferably, in this embodiment, the robotic arm can determine the end effector based on different baggage handling requirements and replace the end effector via the quick-release and installation interface. Furthermore, the end effector can be a variable-cell robotic gripper. The power transmission interface connects to the power supply unit 5 for power transmission. The signal transmission interface connects to the control unit 4 for transmitting control signals and feedback signals. This connector facilitates the replacement of the variable-cell robotic gripper, reduces equipment downtime, and improves work efficiency.

[0075] In this embodiment, as Figure 2 As shown, the variable-cell robotic gripper includes a finger drive assembly, multi-joint fingers 31, finger connectors 32, and pressure sensors 33. The variable-cell robotic gripper adaptively adjusts its gripping configuration to adapt to luggage of different shapes.

[0076] The finger-driven assembly serves as the core power source, employing a motor or cylinder to power the opening and closing of the fingers. The multi-joint finger 31 includes multiple movable knuckles connected by joint bearings, enabling flexible bending and extension. A finger connector 32 connects the multi-joint finger 31 to the finger-driven assembly, ensuring coordinated movement of the multi-joint finger 31 to firmly grasp luggage. A pressure sensor 33 is mounted on the multi-joint finger 31 to monitor the grasping pressure in real time and feed it back to the control device 4. The variable-cell robotic gripper can automatically adjust the finger shape and grasping method according to the shape and size of the luggage, achieving stable grasping. Preferably, in this embodiment, the pressure sensor 33 is mounted on the fingertip of the multi-joint finger 31 for real-time monitoring of the grasping pressure. The pressure sensor 33 converts the collected pressure signal into an electrical signal and transmits it to the control device 4 via a data cable. Based on the received pressure signal, the control device 4 determines whether the grasping is stable and adjusts the gripping force of the fingers accordingly to avoid damaging the luggage due to excessive pressure or causing it to fall due to insufficient pressure.

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

[0078] In one embodiment, such as 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, receives loading and unloading instructions, and plans the movement path of the AGV vehicle.

[0080] The identification module 42 controls the identification device 2, identifies 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 grasping conditions are met; if the grasping conditions are met, it issues a grasping command.

[0082] The grasping module 44 controls the grasping device 3, receives grasping instructions, controls the movement of the robotic arm, drives the variable-cell robotic hand to perform adaptive grasping of the target luggage, and feeds back the grasping results to the control module 43.

[0083] The power module 45 controls the power supply device 5, monitors the battery level 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 environmental information. The grasping device 3 provides feedback on its own information.

[0085] like Figure 4 As shown, a baggage handling method for an AGV (Automated Guided Vehicle) cart used for baggage loading and unloading, applied to the AGV cart used for baggage loading and unloading as described above, includes,

[0086] S1. Receive loading and unloading instructions and plan the AGV vehicle's movement path;

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

[0088] S3. Determine whether the parameter information meets the capture conditions. If it does, issue a capture command.

[0089] S4. Control the movement of the robotic arm and drive the variable-cell robotic hand to perform adaptive grasping of the target luggage;

[0090] S5. Monitor battery level in real time during transport and trigger dynamic wireless charging;

[0091] S6. When the loading and unloading operation is completed, the control module 43 checks and provides feedback on the number of baggage that should enter the port and the number of baggage that should be unloaded.

[0092] In one embodiment, the fetching 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 outside the range, it is directly determined that the grasping conditions are not met and no grasping command is issued. If it is within the range, continue to determine.

[0094] S32. The size and shape information is used to determine whether the luggage falls within the grasping range of the cellular robotic arm. If it exceeds the range, it is directly determined that the grasping conditions are not met, and no grasping command is issued. If it is within the range, the judgment continues. In this embodiment, the size and shape information includes the three-dimensional dimensions and shape characteristics of the luggage. Luggage that is too large or has an odd shape, exceeding the grasping capability of the robotic arm, is determined to not meet the grasping conditions. For example, if the length, width, or height of the luggage exceeds the maximum grasping size limit of the robotic arm, or if the shape is extremely irregular and difficult to grasp stably using existing grasping methods, no grasping command is issued. Further, the control module 43 compares the size and shape information of the luggage with the grasping capability range of the cellular robotic arm. Based on a preset size and shape adaptability database (which contains various luggage sizes and shape ranges that the robotic arm can stably grasp), it determines whether the current luggage belongs to the graspable category.

[0095] S33. Determine whether the luggage meets the system's preset posture requirements based on the posture information. If it does not meet the system's preset posture requirements, it is directly determined that the grasping conditions are not met, and no grasping command is issued. If it meets the system's preset posture requirements, the determination continues. In this embodiment, the posture information includes the luggage's tilt angle, sideways placement, and upside-down placement. Some postures may not be conducive to stable grasping. The system will evaluate based on a preset model. If the luggage's posture is not within the acceptable grasping posture range (such as excessive tilting which may lead to instability after grasping), it does not meet the conditions.

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

[0097] S35. The state of the gripping device 3 is determined by the information of the gripping device 3. If the state of the gripping device 3 does not meet the preset state conditions, it is directly determined that the gripping conditions are not met and no gripping command is issued. If the state of the gripping device 3 meets the preset state conditions, a gripping command is issued. In this embodiment, the state of the gripping device 3 includes the state of the robotic arm and the state of the variable-cell robotic hand gripper. The state of the robotic arm includes the joint angles, motor torque, and running speed of the robotic arm. If the robotic arm has a fault warning, such as joint jamming or motor overload, no gripping command is issued even if other conditions are met. The state of the variable-cell robotic hand gripper includes whether the multi-joint fingers 31 are intact, whether the finger drive components are normal, whether the pressure sensor 33 is working, and whether the connectors are properly connected. If the variable-cell robotic hand gripper itself has a problem and cannot perform the gripping action normally, it is determined that the gripping conditions are not met.

[0098] When all the above conditions are met, the control module 43, after comprehensive evaluation, determines that the grasping conditions are met and then issues a grasping command, activating the robotic arm and the variable-cell robotic hand to perform the grasping action. Throughout the judgment process, the various conditions are interrelated and work together to ensure that a grasping command is only issued when it is safe, stable, and a successful grasp can be achieved. 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 grasping instruction, clarifies the location information of the target luggage, initializes the motors of the robotic arm, and positions the variable-cell robotic hand in a preset initial open position, ready to perform the grasping task. Preferably, in this embodiment, the time for receiving instructions and initialization is 0-1 seconds. Within 1 second of receiving the grasping instruction, the control module 43 receives and parses the grasping instruction, clarifying the location of the target luggage and the required actions of the grasping device 3. During this stage, the motors of each joint of the robotic arm complete initialization, ensuring they are in standby mode and operating normally. The fingers of the variable-cell robotic hand are in the preset initial open position, ready to perform the grasping task.

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

[0102] S43. The variable-cell robotic arm completes the grasping action. Based on the size and shape information, the variable-cell robotic arm adjusts the opening and closing angles and shapes of the multi-joint fingers 31 to a suitable grasping position. Subsequently, the fingers begin to close, gradually increasing the grasping force. The pressure sensor 33 monitors the grasping force in real time and feeds the data back to the control module 43 for dynamic adjustment. Once the fingers are fully closed, the variable-cell robotic arm firmly grasps the luggage. In this preferred embodiment, the time for the variable-cell robotic arm to complete the grasping action is 6-10 seconds.

[0103] S44. Grasping detection and confirmation: Pressure sensor 33 continuously monitors the gripping force to determine whether a stable gripping state has been reached. If the gripping is unstable, control module 43 will issue an adjustment command, and the fingers of the variable-cell robotic arm will adjust the gripping force. After the system confirms that the gripping is stable, the robotic arm is ready to carry the luggage. In this preferred embodiment, the gripping detection and confirmation time is 10-12 seconds.

[0104] S45. The robotic arm completes the baggage handling action. The telescopic link of the robotic arm retracts inward, lifting the baggage from its current position. Subsequently, the rotary joint rotates to adjust the direction of the robotic arm, aligning the variable-sized robotic gripper with the target position. The telescopic link of the robotic arm then extends again, precisely placing the baggage into the target position. In this preferred embodiment, the time for the robotic arm to complete the baggage handling action is 10-12 seconds.

[0105] S46. The variable-cell robotic arm completes the release and reset of the luggage. Upon receiving the release command, the robotic arm begins to open its fingers to release the luggage. The robotic arm lifts the luggage, ensuring it is placed in the target location. The rotary joint of the robotic arm returns to its initial position, completing one complete grasping and handling cycle. In this preferred embodiment, the time for the variable-cell robotic arm to complete the release and reset of the luggage is 16-18 seconds.

[0106] In one embodiment, S5 includes,

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

[0108] S52, such as Figure 5 As shown, if the battery level is below 20%, the AGV will automatically insert the charging component b into the charging socket a and simultaneously use electromagnetic attraction technology to lock the charging component b. When the AGV moves, the cable reel component will automatically release the cable. When the AGV stops moving, the cable reel component will automatically lock the cable position. When fully charged, the AGV will move while the cable reel component automatically unlocks, retracting the cable and the charging component b.

[0109] S53. If the battery level is above 80%, the charging device of the AGV is stored inside the AGV.

[0110] In this preferred embodiment, S6 includes, when the loading and unloading operation is completed, the control module 43 checks the number of baggage entering the port and the number of baggage unloaded, and if an abnormality is detected, it provides feedback on the abnormality.

[0111] Furthermore, the control module 43 compares the number of bags actually handled by the grabbing device 3 with the number of bags checked in at the check-in counter. If the data does not match, it is considered an anomaly. The control module 43 activates the audible and visual alarm, emitting an abnormal sound and flashing light signal to alert on-site staff. Furthermore, the control module 43 sends an anomaly 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 not handled, enabling the monitoring center to quickly grasp the specific information of the anomaly and immediately dispatch staff to the scene for verification.

[0112] In this preferred embodiment, such as Figure 6 As shown, the port entry process of AGV d is as follows: (1) AGV d receives the unloading instruction from the baggage handling system and runs to the side of baggage trailer c. (2) AGV d stops, and the identification device 2 establishes three-dimensional coordinates to determine whether the conditions for automatic baggage grabbing are met. (3) The robotic arm, in conjunction with the baggage cellular robotic hand, runs to the initial position. The identification device 2 obtains data such as the height, placement angle, and center position coordinates of the baggage on the baggage trailer c and transmits the data to the control device 4. (4) The robotic arm rotates the cellular robotic hand to the angle corresponding to the baggage based on the baggage position and other information, and to the appropriate grabbing height, and the cellular robotic hand grabs the baggage. (5) After the cellular robotic hand grabs the baggage, the robotic arm moves the baggage cellular robotic hand to the position above the sorting turntable e for baggage placement. (6) After the baggage placement is completed, a baggage unloading process is completed in one cycle. (7) When unloading is finished, the AGV trolley d and the baggage handling system will check the number of baggage that entered the port and the number of baggage that was unloaded. If there is any abnormality, an alarm will be triggered.

[0113] The departure process of AGV d is as follows: (1) AGV d receives the loading instruction from the baggage handling system and runs to the sorting turntable e. (2) AGV d stops, and the identification device 2 establishes three-dimensional coordinates to determine whether the conditions for automatic baggage grabbing are met. (3) The robotic arm, in conjunction with the baggage cellular robotic gripper, runs to the position of the sorting turntable e. The identification device 2 obtains data such as the height, placement angle, and center position coordinates of the baggage on the sorting turntable e and transmits the data to the control device 4. (4) The robotic arm rotates the cellular robotic gripper to the angle corresponding to the baggage according to the baggage position and other information, and to the appropriate grabbing height, and the cellular robotic gripper grabs the baggage. (5) After the cellular robotic gripper grabs the baggage, the robotic arm moves the baggage cellular robotic gripper to the preset position of the baggage trolley c and stacks the baggage. (6) After the baggage is stacked, a baggage handling cycle is completed. (7) When the AGV d recognizes that a baggage trolley c is full, it moves to the next baggage trolley c until the baggage handling system gives a stop instruction and then stops. (8) When the flight check-in is over, the AGV d checks the number of baggage at check-in with the number of baggage loaded into the AGV and the baggage handling system. If there is any abnormality, an alarm is triggered.

[0114] This invention offers the following advantages: It relates to an AGV (Automated Guided Vehicle) cart for baggage loading and unloading, and a baggage handling method. In terms of operational flexibility and efficiency, the AGV cart with a robotic arm, compared to a fixed robotic arm sorting device, does not rely on fixed tracks or supports, resulting in a smoother workflow and effectively improving overall operational efficiency. This invention can be flexibly adjusted according to the work scenario, modifying the configuration and degrees of freedom of the variable-cell robotic gripper through parameter information to ensure the accuracy and stability of the gripping action. Furthermore, the variable-cell robotic gripper can quickly switch between different gripping modes to handle baggage gripping tasks at different positions and angles, significantly improving the equipment's adaptability to diverse scenarios. This invention improves the charging mode, allowing dynamic charging, enabling the AGV cart to charge during operation without needing to travel to charging stations, thus improving equipment utilization and reducing investment costs. In addition, wireless charging reduces mechanical wear and overcharging, supports shallow charging and discharging modes, reduces maintenance costs, and avoids risks such as poor contact, short circuits, and fires that may occur with traditional wired charging, enhancing the safety of the working environment.

[0115] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and similar terms used in the description of this application should be interpreted broadly. For example, a 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 or an indirect connection through an intermediate medium; it can also refer to the internal connection of two components. Those skilled in the art can understand its specific meaning in this application according to the specific circumstances.

[0116] The embodiments described above are merely further illustrations of the present invention and are not intended to limit the present invention in any other way. The present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding modifications and changes based on the present invention, but all such modifications and changes should fall within the protection scope of the present invention.

Claims

1. An AGV cart for luggage handling, characterized by, The utility model relates to a kind of AGV (Automatic Guided Vehicle) and its control method, including: Mobile vehicle body for performing preset path movement, integrated identification device, grabbing device, control device and power supply device on the mobile vehicle body; Identification device is arranged at the front end of the grabbing device, the identification device identifies luggage and surrounding environment, obtains and feeds back parameter information, the parameter information includes position information, size and shape information, posture information, environment information; Grabbing device is connected with mobile vehicle body through mechanical interface, is connected with power supply device through power line, is connected with control device through control line, the grabbing device is used to grab, move luggage, the grabbing device feeds back grabbing device information, the grabbing device includes mechanical arm and metamorphic gripper, wherein, The mechanical arm includes rotary joint, telescopic connecting rod, base and connecting piece; The metamorphic gripper includes finger driving assembly, multi-joint finger, finger connecting piece and pressure sensor, the metamorphic gripper self-adaptingly adjusts the grabbing configuration to adapt to luggage of different shapes, wherein, the finger driving assembly is core power source, uses motor or air cylinder, provides power for the opening and closing of finger;The multi-joint finger includes a plurality of movable knuckles, the knuckles are connected through joint bearing, realize flexible bending and stretching;The finger connecting piece connects the multi-joint finger with the finger driving assembly, ensures that multi-joint finger moves cooperatively to firmly hold luggage;The pressure sensor is installed on multi-joint finger, is used for monitoring grabbing pressure in real time, and grabbing pressure is fed back to control device;The metamorphic gripper can automatically adjust finger shape and grabbing mode according to the shape and size of luggage, realize stable grabbing; Control device is built into the mobile vehicle body, the control device is connected with mobile vehicle body through wire, the control device controls mobile vehicle body, identification device, grabbing device and power supply device through communication interface, the control device includes, Scheduling module controls mobile vehicle body, the scheduling module receives loading and unloading instructions and plans the moving path of AGV car; Identification module controls identification device, the identification module identifies the parameter information of luggage, establishes three-dimensional coordinates, and locates the spatial coordinates of target luggage; Control module judges whether it meets grabbing condition, issues grabbing instruction if it meets grabbing condition, and the grabbing condition includes, S31, whether the luggage is within the working range of mechanical arm is judged through position information, if it is beyond the range, it is directly determined that it does not meet the grabbing condition, and does not issue grabbing instruction, if it is within the range, it continues to judge; S32, whether the luggage meets the grabbing range of metamorphic gripper is judged through size and shape information, if it is beyond the range, it is directly determined that it does not meet the grabbing condition, and does not issue grabbing instruction, if it is within the range, it continues to judge; S33, whether the luggage meets the system preset posture requirement is judged through posture information, if it does not meet the system preset posture requirement, it is directly determined that it does not meet the grabbing condition, and does not issue grabbing instruction, if it meets the system preset posture requirement, it continues to judge; S34, judge whether there is an obstacle in the surrounding environment and the distance between the obstacle and the luggage by environmental information, if there is an obstacle and the distance between the obstacle and the luggage is less than a safety threshold, directly determine that it does not meet the grabbing condition, do 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, continue to judge; S35, judge the state of the grabbing device through the grabbing device information, if the state of the grabbing device does not meet the preset state condition, directly determine that it does not meet the grabbing condition, do not issue a grabbing instruction, if the state of the grabbing device meets the preset state condition, issue a grabbing instruction; The grabbing module controls the grabbing device and receives the grabbing instruction, controls the movement of the mechanical arm, drives the metamorphic mechanical hand to execute adaptive grabbing of the target luggage, and feeds back the grabbing result to the control module; The power module controls the power supply device, monitors the battery power in real time during the carrying process, and triggers dynamic wireless charging; The power supply device is arranged at the rear end of the mobile vehicle body, the power supply device is connected with the mobile vehicle body through a cable, the power supply device provides power supply and performs dynamic charging, the power supply device includes a charging member, a cable reel member and a trailing cable, one end of the cable reel member is connected with the charging member through the trailing cable, the other end of the cable reel member is connected with the mobile vehicle body, the charging member is a charging gun, and the cable reel member is an automatic retracting cable reel, realizing automatic extension and retraction of the cable.

2. The AGV cart for loading and unloading baggage according to claim 1, wherein, One end of the mechanical arm is integrated on the mobile vehicle body, and the other end of the mechanical arm is connected with the metamorphic mechanical hand. The rotating joint includes a motor, a reducer and an encoder, the encoder is arranged in the rotating joint, and is used for monitoring the rotating angle in real time and feeding back to the control device; The telescopic connecting rod includes a driver, a plurality of rod members, a guide rail, a sliding block and a position sensor, the driver drives the plurality of rod members to realize vertical telescopic movement, the guide rail and the sliding block are arranged in the telescopic connecting rod, the plurality of rod members of the telescopic connecting rod are connected through the guide rail and the sliding block, and the position sensor is used for monitoring the telescopic length and feeding back to the control system; The base is made of metal material, the bottom of the base is provided with a mounting interface with the mobile vehicle body, and the inside of the base is provided with a wiring channel for accommodating power lines and control lines; The connecting piece is used for connecting the mechanical arm and the metamorphic mechanical hand, the inside of the connecting piece is provided with a quick dismounting and mounting interface, a power transmission interface and a signal transmission interface, the quick dismounting and mounting interface is connected with the metamorphic mechanical hand, the power transmission interface is connected with the power supply device, and the signal transmission interface is connected with the control device.

3. A baggage handling method for the AGV cart for baggage loading and unloading, applied to the AGV cart for baggage loading and unloading as claimed in any one of claims 1 to 2, characterized in that, S1, receiving the loading and unloading instruction and planning the AGV small car moving path; S2, identifying the parameter information of the luggage, establishing a three-dimensional coordinate, and positioning the spatial coordinate of the target luggage; S3, judging whether the parameter information meets the grabbing condition, if it meets the grabbing condition, issuing a grabbing instruction; S4, controlling the movement of the mechanical arm, driving the metamorphic mechanical hand to execute adaptive grabbing of the target luggage; ​ S5, monitoring the battery power in real time during the carrying process, triggering dynamic wireless charging; S6, when the loading and unloading work is completed, the control module checks and feeds back the number of bags that should enter the port and the number of bags unloaded.

4. The baggage carrying method of the AGV cart for baggage handling according to claim 3, characterized by, The S4 step includes, S41, receiving instructions and initialization, the control module receives and analyzes the grabbing instructions, and the position information of the target bag is determined. The motor of the mechanical arm is initialized, the metamorphic gripper is in the preset initial open position, and the grabbing task is prepared to be executed; S42, joint motion and position adjustment, the rotating joint is started and the angle is adjusted, the mechanical arm is rotated towards the target bag direction, the rotating speed is controlled within the preset safety range, the telescopic connecting rod is started to stretch and retract, the telescopic length of the mechanical arm is adjusted according to the height of the target bag, and the position sensor monitors and feeds back the position data to the control module in real time; S43, the metamorphic gripper completes the grabbing action, the metamorphic gripper adjusts the opening angle and shape of the multi-joint fingers according to the size and shape information to the appropriate grabbing position, then the fingers start to close, gradually increasing the grabbing force, the pressure sensor monitors the grabbing force in real time and feeds back the data to the control module for dynamic adjustment, the fingers complete the closing, and the metamorphic gripper holds the bag; S44, grabbing detection and confirmation, the pressure sensor continuously monitors the grabbing force to determine whether it reaches a stable grabbing state. If the grabbing is unstable, the control module will issue an adjustment instruction, the fingers of the metamorphic gripper will adjust the grabbing force, and the system will confirm that the grabbing is stable, and then the mechanical arm will be ready for bag carrying; S45, the mechanical arm completes the bag carrying action, the telescopic connecting rod of the mechanical arm is retracted to lift the bag from the current position, then the rotating joint rotates to adjust the direction of the mechanical arm, so that the metamorphic gripper is aligned with the carrying target position, and the telescopic connecting rod of the mechanical arm is stretched again to accurately place the bag at the target position; S46, the metamorphic gripper completes the release of the bag and resets, the metamorphic gripper receives the release instruction and starts to open the fingers to release the bag, the mechanical arm is lifted to ensure that the bag has been placed at the target position, and the rotating joint of the mechanical arm returns to the initial position, completing a complete grabbing and carrying cycle.

5. The baggage carrying method of the AGV cart for baggage handling according to claim 3, characterized by, The S5 includes, S51, if the power is 20%-80%, the AGV car performs dynamic charging during the running process; S52, if the power is less than 20%, the AGV car automatically inserts the charging member into the charging socket, and simultaneously absorbs the charging member through electromagnetic suction technology to realize the locking of the charging member; when the AGV car moves, the cable reel member automatically releases the cable; When the AGV car stops moving, the cable reel member automatically locks the position of the cable; when the battery is fully charged, the AGV car moves, the cable reel member is automatically unlocked, and the cable and the charging member are retracted; S53, if the power is higher than 80%, the charging device of the AGV car is stored in the AGV car.

Images