CN117732735A - Luggage sorting system and sorting method - Google Patents

Abstract

Embodiments of the present application provide a baggage sorting system and a sorting method. The baggage sorting system includes: detection equipment, sealing equipment, robots and controllers. The detection equipment is used to detect the status of luggage and transport the detected luggage to the luggage delivery area. The robot is used to transport luggage in different statuses. The sealing equipment is used to receive luggage from the sealing entrance area and seal the luggage. , the controller is used to control the robot to send the baggage located in the baggage delivery area to the waiting area to wait for the baggage status detection results. The baggage status includes normal baggage and suspicious baggage. When the baggage is normal baggage, the robot is controlled to transport the baggage to the transfer area for transfer. When the baggage is suspicious, the robot is controlled to move the suspicious baggage to the sealing entrance area so that the sealing equipment can seal the baggage. This application provides the optimal path for transporting baggage in different states, completes the diversion and transportation of baggage after detection, reduces manual labor and improves baggage distribution efficiency.

Description

Baggage sorting system and sorting method

Technical field

This application relates to the field of civil aviation logistics applications, and in particular to a baggage sorting system and a sorting method.

Background technique

The civil aviation transportation and logistics industry plays an increasingly important role due to its convenience, speed and efficiency. As people's lives get better and better, the passenger and cargo volume of my country's civil aviation airports grows rapidly, and traditional luggage sorting equipment can no longer meet the needs of airport luggage. The need for rapid growth in logistics volume often leads to flight delays or cancellations, which not only increases operating costs but also seriously affects the normal travel of passengers.

In the existing airport transportation and sorting system, luggage is detected for radiation, and is processed and transported differently according to the amount of radiation. Its transportation speed and sorting speed can no longer meet the growing actual demand.

Contents of the invention

The embodiment of the present application provides a baggage sorting system and a sorting method, aiming to improve baggage sorting efficiency.

The embodiment of the first aspect of the present application provides a baggage sorting system including: a detection device for detecting the status of baggage, and transporting the detected baggage to the baggage delivery area, where the baggage status includes normal baggage and suspicious baggage; Shi Feng Equipment, used to receive baggage from the sealing entrance area and seal the baggage; robot, used to transport baggage; controller, used to control the robot to send baggage from the baggage delivery area to the waiting area to wait for the baggage status detection result. When the baggage is normal baggage, the robot is controlled to transport the baggage to the transfer area to transfer the baggage; when the baggage is suspicious baggage, the robot is controlled to move the suspicious baggage to the sealing entrance area so that the sealing equipment can seal the baggage.

According to the implementation of the first aspect of the present application, the baggage also includes high-risk baggage, and the controller is also used to control the robot to transport the baggage to the unloading area to unload the baggage when the baggage is high-risk baggage.

According to the implementation of the first aspect of the present application, the baggage sorting system further includes a sealing exit area. The sealing exit area and the sealing entrance area are located on opposite sides of the sealing equipment in the first direction. The unloading area is located on the sealing equipment. The second direction is away from the side of the detection device.

According to the implementation of the first aspect of the present application, a charging device is also included. The controller is also used to control the robot to charge at the charging device. The waiting area and the transfer area are located on both sides of the charging device in the first direction, and the baggage delivery area is located at the charging device. The second direction is close to the side of the detection equipment.

According to an embodiment of the first aspect of the present application, the detection device and the sealing device are located on both sides of the charging device in the second direction.

According to an embodiment of the first aspect of the present application, multiple charging devices are arranged at intervals in the second direction, and the controller is used to control the robot to transport the luggage to the transfer area through the multiple charging devices when the luggage is normal luggage to transfer the luggage.

According to an embodiment of the first aspect of the present application, a return flow area is also included, and the controller is further configured to control the robot to return to the charging device via the return flow area when the robot does not receive luggage at the detection device, and the return flow area is located in the waiting area in the second direction. Close to the side of the testing equipment.

The embodiment of the second aspect of the present application also provides a sorting method, which uses the luggage sorting system as described above to sort luggage. The sorting method includes: detecting the status of the luggage and transporting the detected luggage to the luggage compartment. Send-out area; transport the baggage from the baggage-out area to the waiting area and wait for the test results. The baggage includes normal baggage and suspicious baggage; when the baggage is normal baggage, the baggage is transported to the transfer area. When the baggage is suspicious baggage, the baggage is sent to the transfer area. The waiting area is transported to the Shi Feng entrance area.

According to an embodiment of the second aspect of the present application, when the baggage is suspicious baggage, the step of transporting the baggage from the waiting area to the sealing entrance area includes: transporting the suspicious baggage located in the sealing entrance area to the sealing equipment for sealing ;Transport the sealed suspicious baggage to the Shifeng exit area; and transport the sealed suspicious baggage from the Shifeng exit area to the transfer area.

According to the implementation of the second aspect of the present application, the baggage also includes high-risk baggage. The baggage is transported from the baggage delivery area to the waiting area and waits for the detection results. The step of baggage including normal baggage and suspicious baggage also includes: when the baggage is high-risk baggage , transport the baggage from the waiting area to the unloading area through the sealing entrance area to unload high-risk baggage.

According to the implementation of the second aspect of the present application, the sealing outlet area and the sealing entrance area are located on opposite sides of the sealing equipment in the first direction, and the unloading area is located on the side of the sealing equipment away from the detection equipment in the second direction. In the step of transporting the sealed suspicious baggage from the sealing exit area to the transfer area: Make the robot located in the unloading area move to the sealing exit area to receive the sealed suspicious baggage, and transport the sealed suspicious baggage to the transfer area district.

According to the implementation of the second aspect of the present application, the sorting system also includes a charging device. The waiting area and the transfer area are located on both sides of the charging device in the first direction, and the sealed suspicious baggage in the sealed exit area is transported to the transfer area. In the steps: Let the robot located in the area where the charging equipment is located run empty and move to the Shi Feng exit area to receive the suspicious baggage, and transport the sealed suspicious baggage to the transfer area.

According to the implementation of the second aspect of the present application, the sorting system also includes a return flow area, which is located on the side of the waiting area close to the detection equipment in the second direction. The sorting method also includes: when the robot is in an unloaded state, the position is unloaded. The robots in the baggage delivery area pass through the Shifeng exit area and the baggage delivery area in sequence, then pass through the return area or waiting area and enter the charging equipment for charging, or move to the baggage delivery area to wait for the luggage to be transported; or, when the robot is unloaded, it is placed in the transfer area The robot in the baggage delivery area passes through the baggage delivery area, then passes through the return area or waiting area and enters the charging equipment for charging.

According to a baggage sorting system provided by an embodiment of the present application, the baggage sorting system includes: a detection device, a sealing device, a robot and a controller. The detection equipment is used to detect the status of baggage and transport the detected baggage to the baggage delivery area. The robot is used to transport baggage in different states. The sealing equipment is used to receive baggage from the sealing entrance area and seal the baggage. The controller is used Yu controls the robot to send the baggage located in the baggage delivery area to the waiting area to wait for the baggage status detection results. Among them, the baggage status includes normal baggage and suspicious baggage. When the baggage is normal baggage, the robot is controlled to transport the baggage to the transfer area for transfer. When the baggage is suspicious, the robot is controlled to move the suspicious baggage to the sealing entrance area so that the sealing equipment can seal the baggage. In this application, the transfer of normal baggage and the transfer of suspicious baggage are located in different areas, and the suspicious baggage is sealed so that baggage in different states can be effectively isolated and the sorting and transportation of baggage can be organized in an orderly manner. The robot distributes tasks through the controller and completes the diversion and transportation of baggage after inspection without manual participation, reducing the amount of manual labor and improving the efficiency of baggage distribution.

Description of drawings

Other features, objects and advantages of the present application will become more apparent upon reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings, wherein the same or similar reference numerals designate the same or similar features.

Figure 1 is a schematic structural diagram of a baggage sorting system provided by an embodiment of the present application;

Figure 2 is one of the structural schematic diagrams of a robot provided by an embodiment of the present application;

Figure 3 is the second structural schematic diagram of a robot provided by an embodiment of the present application;

Figure 4 is a third structural schematic diagram of a robot provided by an embodiment of the present application;

Figure 5 is a flow chart of robot transportation provided by an embodiment of the present application;

Figure 6 is one of the flow charts of a sorting method provided by an embodiment of the present application;

Figure 7 is the second flow chart of a sorting method provided by the embodiment of the present application;

Figure 8 is the third flow chart of a sorting method provided by an embodiment of the present application.

Explanation of reference symbols:

A-baggage delivery area; _A1 -baggage delivery area one, _A2 -baggage delivery area two; _B1 -return area; _B2 -waiting area; C-transfer area; D-sealing entrance area; E-unloading area ;F-Shi Feng exit area;G-High-risk storage area;H-Charging equipment;H ₁ -Main charging equipment;H ₂ -Backup charging equipment;I-Testing equipment;J-Shi Feng equipment;K-Luggage carousel; -First direction; Y-Second direction;

1-robot;

2-Chassis; 21-Lidar; 22-Safety contact edge; 23-Light strip; 24-Electrical board;

3-Transmission module; 31-Power on button; 32-Status light; 33-Display screen; 34-Emergency stop switch;

35-Photoelectric switch; 36-Belt conveyor; 37-Charging contact;

4-Charging pile; 5-Luggage tray.

Detailed ways

The features and exemplary embodiments of various aspects of the present application will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating examples of the present application. In the accompanying drawings and the following description, at least part of the known structures and technologies are not shown to avoid unnecessary ambiguity in the present application; and, for clarity, the size of some structures may be exaggerated. In addition, the features, structures or characteristics described below may be combined in one or more embodiments in any suitable manner.

In the description of this application, it should be noted that, unless otherwise stated, "plurality" means more than two; the terms "upper", "lower", "left", "right", "inside", " The orientation or positional relationship indicated such as "outside" is only for the convenience of describing the present application and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. Application restrictions. Furthermore, the terms "first," "second," etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The directional words appearing in the following description refer to the directions shown in the figures and do not limit the specific structures of the embodiments of the present application. In the description of this application, it should also be noted that, unless otherwise clearly stated and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection, or Connected integrally; either directly or indirectly. For those of ordinary skill in the art, the specific meanings of the above terms in this application may be understood based on specific circumstances.

In order to better understand the present application, a baggage sorting system and a sorting method according to embodiments of the present application will be described in detail below with reference to FIGS. 1 to 8 .

Figure 1 is a schematic structural diagram of a baggage sorting system provided by an embodiment of the present application; Figure 2 is a schematic structural diagram of a robot 1 provided by another embodiment of the present application.

Please refer to FIG1 . A baggage sorting system and a baggage sorting method provided by the present application include: a detection device I, used to detect the baggage status and transport the detected baggage to a baggage delivery area A. The baggage status includes normal baggage and suspicious baggage; a sealing device J, used to receive baggage from a sealing entrance area D and seal the baggage; a robot 1, used to transport baggage; a controller, used to control the robot 1 to transport the baggage from the baggage delivery area A to a waiting area _B2 to wait for the baggage status detection result. When the baggage is normal baggage, the robot 1 is controlled to transport the baggage to a transfer area C for transfer; when the baggage is suspicious baggage, the robot 1 is controlled to move the suspicious baggage to the sealing entrance area D so that the sealing device J can seal the baggage.

In the embodiment provided in this application, the baggage sorting system includes: detection equipment I, sealing equipment J, robot 1 and controller. The detection equipment I is used to detect the status of the baggage and transport the detected baggage to the baggage delivery area A. The robot 1 is used to transport baggage in different states. The sealing device J is used to receive the baggage from the sealing entrance area D and conduct inspection on the baggage. Afterwards, the controller is used to control the robot 1 to send the baggage located in the baggage delivery area A to the waiting area B ₂ to wait for the baggage status detection result. Among them, the baggage status includes normal baggage and suspicious baggage. When the baggage is normal baggage, the robot 1 is controlled to transport the baggage to the transfer area C for transfer. When the baggage is suspicious baggage, the robot 1 is controlled to move the suspicious baggage to the sealing entrance area D so that the sealing device J can seal the baggage. In this application, the transfer of normal baggage and the transfer of suspicious baggage are located in different areas, and the suspicious baggage is sealed so that baggage in different states can be effectively isolated and the sorting and transportation of baggage can be organized in an orderly manner. Robot 1 dispatches tasks through the controller to complete the diversion and transportation of baggage after detection without manual participation, reducing the amount of manual labor and improving the efficiency of baggage distribution.

Optionally, the detection equipment I is used to detect baggage, and classify the baggage status into normal baggage and suspicious baggage according to the radiation content of the baggage. Optionally, the detection device I is also used to classify the baggage status into high-risk baggage. After receiving the baggage in the sealing entrance area D, the robot 1 moves to the waiting area B ₂ and waits for the baggage detection result from the detection device 1 to be transmitted from the controller. The controller controls the transportation route of the robot 1 based on the baggage detection result.

The sealing device J is used to seal suspicious baggage. The sealing device J can tie and mark the suspicious baggage with a binding tape to distinguish it from normal baggage. The sealing entrance area D is the area on the entrance side of the sealing equipment J. Suspicious baggage is unloaded in the sealing entrance area D and enters the sealing equipment J for sealing.

There are many ways to set up the controller. The controller can be a separate device, or the controller can be set on the robot 1. The controller can be responsible for task distribution of the robot 1, real-time monitoring of the status of the robot 1, and charging management of the robot 1.

In addition, the robot 1 receives the baggage from the exit of the detection device 1 in the baggage sending area A, and waits for the detection result of the baggage status in the waiting area _B2 . Robot 1 completes the unloading of normal baggage and suspicious baggage in transfer area C.

As mentioned above, the "areas" such as "baggage delivery area A" and "waiting area B ₂ " may not be physical areas. For example, "baggage delivery area A" may be located within a certain range around the detection device 1. The areas, "sealing entrance area D" and "unloading area E" can be areas within a certain range on the J side of the sealing equipment. In other embodiments, a transportation platform may also be provided, and "baggage delivery area A", "waiting area B ₂ ", "sealing entrance area D", "unloading area E" and "transfer area C" can all be transportation platforms. area on the platform.

There are many application scenarios for baggage sorting systems. For example, the baggage sorting system can be used to sort baggage on trains, airplanes, etc. When the baggage sorting system is used to sort baggage at airports, it can replace traditional baggage sorting. The belt conveyor supports a large number of robots 1 to operate at the same time, improving the efficiency of baggage transportation. The robot 1 has high flexibility and simple site layout. The number of robots 1 can be configured according to the size of the application scenario and actual needs. The layout is flexible and the initial construction cost is saved. The system is not limited to baggage transportation in a small area of the above-mentioned operating sites, but can also replace baggage transportation at the airport check-in island. In addition, the baggage sorting system is not limited to luggage transportation in scenarios such as airports, but can also be used in any scenario where items need to be transported, such as logistics goods and factory material transportation.

In some optional embodiments, the baggage also includes high-risk baggage, and the controller is also used to control the robot 1 to transport the baggage to the unloading area E to unload the baggage when the baggage is high-risk baggage.

In these optional embodiments, unloading area E is the unloading point for high-risk baggage, which shunts high-risk baggage, normal baggage, and suspicious baggage, and high-risk baggage is individually unloaded and transferred to high-risk storage area G to achieve isolation of high-risk baggage. processing to improve sorting efficiency.

In some optional embodiments, the baggage sorting system also includes a sealing exit area F. The sealing exit area F and the sealing entrance area D are located on opposite sides of the sealing equipment J in the first direction X, and the unloading area E Located on the side of the sealing device J away from the detection device I in the second direction Y.

In these optional embodiments, the sealing exit area F and the sealing entrance area D are located on opposite sides of the sealing device J in the first direction X, allowing baggage to enter and be transported out of the sealing device J The directions of entering the sealing equipment J and moving out of the sealing equipment J will not interfere with each other, thereby improving transportation efficiency. At the same time, the unloading area E is located on the side of the sealing equipment J away from the detection device I in the second direction Y, which allows the suspicious baggage to be transported through the unloading area E, and the robot 1 can take a shorter path from the sealing entrance area D through the unloading area. Area E moves to the Shifeng exit area F. After unloading, the empty robot 1 can directly move from the unloading area E to the Shifeng exit area F, optimizing the transportation path of the robot 1 and saving transportation time.

Among them, the sealing exit area F is the area on the exit side of the sealing equipment J, and the robot 1 receives the suspicious baggage from the sealing exit area F. The unloading area E can not only serve as an unloading point for high-risk baggage, but can also be located on the moving path of the robot 1 transporting suspicious baggage.

In some optional embodiments, the baggage sorting system also includes a charging device H. The controller is also used to control the robot 1 to charge at the charging device H. The waiting area B ₂ and the transfer area C are located in the charging device H in the first direction X. On both sides of the charging device H, the baggage delivery area A is located on the side of the charging device H close to the detection device I in the second direction Y.

In these optional embodiments, the charging device H provides electric energy for the transportation of the robot 1, and the waiting area _B2 and the transfer area C are located on both sides of the charging device H in the first direction X, so that the robot 1 can move from the waiting area _B2 Or the transfer area C moves to the charging equipment H via a shorter path for charging. The baggage delivery area A is located on the side of the charging device H close to the detection device I in the second direction Y. This allows the robot 1 to quickly move from the baggage delivery area A to the charging device H to wait when it does not receive luggage.

Optionally, there can be multiple baggage delivery areas A, wherein the baggage delivery area A includes the first baggage delivery area A ₁ located on the side of the detection device I close to the charging device H, and the second baggage delivery area A ₂ located in the transfer area C close to the detection One side of device I.

In some optional embodiments, the detection device I and the sealing device J are located on both sides of the charging device H in the second direction Y.

In these optional embodiments, the robot 1 can move along the peripheral sides of the detection device I and the sealing device J, so that the transportation path is shorter and the sorting efficiency is improved.

In some optional embodiments, multiple charging devices H are arranged at intervals in the second direction Y, and the controller is used to control the robot 1 to transport the luggage to the transfer area C through the multiple charging devices H when the luggage is normal luggage, to transfer luggage.

In these optional embodiments, the charging device H includes a main charging device H ₁ and a backup charging device H ₂ , which can be used for charging multiple robots 1 . As shown in Figure 1, the main charging device _H1 is provided with a backup charging device _H2 on the side close to the sealing device J in the first direction Charge.

Optionally, the number of charging devices H is not specifically limited and can be determined according to the number of robots 1.

In some optional embodiments, the baggage sorting system also includes a return flow area B ₁ , and the controller is also used to control the robot 1 to return to charging via the return flow area B ₁ when the robot 1 does not receive luggage in the baggage delivery area A. Equipment H, reflow area B ₁ is located on the side of waiting area B ₂ close to the detection equipment I in the second direction Y.

In these optional embodiments, when the robot 1 located in the waiting area B ₂ does not receive luggage, the robot 1 can return to the main charging device H ₁ from the return area B ₁ via a shorter path without occupying the waiting area. The _B2 space also allows the robot 1 in the transfer area C to unload the luggage and quickly return to the charging device H for charging.

Optionally, when the robot 1 in the main charging equipment _H1 is out of space, the controller can control the robot 1 to move from the return area _B1 through the waiting area _B2 to the backup charging equipment _H2 for charging.

Optionally, the baggage sorting system also includes a baggage carousel K, used to receive the baggage unloaded in the transfer area C.

Optionally, as shown in Figures 2, 3 and 4, the robot 1 body is composed of a motor drive module, a power module, a communication module, a navigation module, a display module, a button module, a sound and light prompt module and a belt conveyor module.

Among them, the motor drive module drives the robot 1 to walk, allowing the robot 1 to move forward, backward and rotate in place. The battery voltage is converted into a standard voltage through the power module to provide power input for each device. The communication module ensures smooth and safe communication and provides the robot 1 wireless WIFI signal. The navigation module is used to provide the real-time position of the robot 1 and can plan its path independently. At the same time, lidar is used for obstacle avoidance of robot 1. The belt conveyor module is used to interface with the baggage system to transmit and receive baggage. After detecting that the baggage is in place, it will automatically stop transmitting and receiving baggage. Display the status of robot 1 and belt conveyor module through the display module. The button module includes system emergency stop button and manual operation button. The sound and light alarm signals of the robot 1 are provided through the sound and light prompt module.

Optionally, as shown in Figure 2, the robot 1 consists of a chassis 2, a transmission module 3, and a charging pile 4, and a luggage-specific tray 5 is placed on the transmission module 3.

Optionally, as shown in Figures 2 and 3, the chassis 2 includes a lidar 21, a safety edge 22, a light strip 23, and an electrical board 24. The electrical board 24 is provided with a main control unit, a navigation calculation module, an IO controller and a drive module. There is a laser radar 21 installed on the front and rear of the chassis 2, which can intelligently detect and identify obstacles in an all-round way, effectively preventing the robot 1 from colliding with workers and objects. The light strips 23 are distributed in a pair on each front and rear side of the chassis 2, and can display the robot 1's standby status, task status, left turn, right turn, emergency stop, and fault status. There is a safety edge 22 on the front and rear of the bottom of the robot 1, which is used to detect whether the robot 1 collides with an object.

Optionally, as shown in Figures 3 and 4, the transmission module 3 includes a power-on button 31, a status light 32, a display screen 33, an emergency stop switch 34, a photoelectric switch 35, a belt conveyor 36, and a charging contact 37. The baggage status light 32 can display the normal, suspicious, and high-risk status of the baggage security inspection results. The display screen 33 can view the status and parameters of the robot 1, which is convenient for maintenance personnel to use. Emergency stop switches 34 are arranged one on each side of the belt conveyor 36 for emergency use. The photoelectric switches 35 are evenly distributed inside the belt conveyor 36 and are used to detect the position of the luggage and cooperate with the belt conveyor 36 to transmit the luggage. The charging contact 37 is located at the bottom of the transmission module 3 and is charged using a charging sheet contact method to enable the robot 1 to quickly enter and leave the charging state. The belt conveyor 36 of the transmission module 3 can be replaced by a transmission module such as a roller.

Optionally, Figure 5 is a flow chart of the transportation of the robot 1 of the present application. Robot 1 starts from the charging device H and moves to the baggage pick-up and drop-off area A to receive the baggage. If it does not receive the baggage in the baggage pick-up and drop-off area A, it returns to the charging device H. If it receives the baggage, it moves to the waiting area B ₂ to wait for the baggage. Status detection results.

When the baggage is normal, the baggage status light 32 of the robot 1 displays green and moves directly to the transfer area C to transfer the baggage.

When the baggage is normal, the baggage status light 32 of the robot 1 displays yellow and passes through the sealing entrance area D and the unloading area E in sequence. After unloading the baggage, it moves to the transfer area C.

When it is suspicious luggage, the luggage status light 32 of the robot 1 displays red and passes through the sealing entrance area D, the unloading area E, the sealing exit area F, and then moves to the transfer area C to transfer the luggage.

As mentioned above, all robots will move from the transfer area C to the baggage delivery area A to start the next transportation cycle.

Figure 6 is one of the flow charts of a sorting method provided by the second embodiment of the present application. An embodiment of the present application provides a sorting method that uses the baggage sorting system as described above to sort baggage. The sorting method includes:

Step S100: Detect the status of the baggage and transport the detected baggage to the baggage delivery area A.

Step S200: Transport the baggage from the baggage delivery area A to the waiting area _B2 and wait for the detection results. The baggage includes normal baggage and suspicious baggage.

Step S300: When the baggage is normal baggage, transport the baggage to the transfer area C; when the baggage is suspicious baggage, transport the baggage from the waiting area _B2 to the sealing entrance area D.

In these optional embodiments, the status of the baggage is detected and classified into normal baggage and suspicious baggage, and the baggage in different statuses is transported separately. When the baggage is normal baggage, the baggage is transported to the transfer area C. When the baggage is If the baggage is suspicious, the baggage will be transported from the waiting area _B2 to the sealing entrance area D for sealing.

In some optional embodiments, please refer to Figure 7 as well. Step S300 also includes:

Step S310: Transport the suspicious baggage located in the sealing entrance area D to the sealing equipment J for sealing.

Step S320: Transport the sealed suspicious baggage to the sealed exit area F.

Step S330: Transport the sealed suspicious baggage in the sealed exit area F to the transfer area C.

In these optional embodiments, the suspicious baggage is transported by placing the suspicious baggage into the sealing device J for sealing, then taking it out from the sealing exit and transporting it to the transfer area C for transfer.

As mentioned above, the sealing exit area F and the sealing entrance area D can be located on opposite sides of the sealing equipment J in the first direction You can move from the sealing entrance to the sealing exit by moving a short distance, speeding up the sealing efficiency and transportation efficiency.

In some optional embodiments, the baggage also includes high-risk baggage. After step S200, it may also include: when the baggage is high-risk baggage, transport the baggage from the waiting area _B2 to the unloading area E via the sealing entrance area D, so as to High-risk baggage is unloaded.

In these optional embodiments, when the status of the baggage is detected to be high-risk baggage, the high-risk baggage needs to be immediately isolated. The robot 1 transports the baggage from the waiting area B ₂ to the unloading area E via the sealing entrance area D to isolate the high-risk baggage. Baggage is unloaded.

As mentioned above, the sealing outlet area F and the sealing entrance area D can be located on opposite sides of the sealing device J in the first direction X, and the unloading area E is located on a side of the sealing device J away from the detection device I in the second direction Y. side, so that high-risk baggage can be quickly transported through the sealed entrance area D to the unloading area E for unloading and put into the high-risk storage area G to improve transportation efficiency.

In some optional embodiments, in step S330: the robot 1 located in the unloading area E can be moved to the sealing exit area F to receive the sealed suspicious baggage, and transport the sealed suspicious baggage to the transfer area. C.

In these optional embodiments, the sealing outlet area F and the sealing entrance area D are located on opposite sides of the sealing equipment J in the first direction X, and the unloading area E is located on the sealing equipment J in the second direction Y away from the detection. One side of device I. The unloading area E can not only be used as an unloading point for high-risk baggage, but also can be used as a transmission path for the robot 1. This arrangement can make the path for the robot 1 to move from the sealing entrance area D to the sealing exit area F via the unloading area E shorter. In addition, the controller can make the robot 1 located in the unloading area E quickly move to the sealing exit area F. Receive the sealed suspicious baggage and transfer the baggage to the next partition.

Optionally, the robot 1 located in the unloading area E may be the robot 1 that transports suspicious baggage through the sealed entrance, or it may be the robot 1 that unloads high-risk baggage from the unloading area E.

In some optional embodiments, in step S330, the robot 1 located in the area where the charging device H is located can also be made to run without load and move to the sealing exit area F to receive the suspicious baggage, and transport the sealed suspicious baggage to Transfer area C.

In these optional embodiments, the waiting area _B2 and the transfer area C are located on both sides of the charging equipment H in the first direction X. When the detection equipment I has no luggage to receive, the controller can schedule the area where the charging equipment H is located. The robot 1 runs with no load and moves to the Shifeng exit to receive suspicious baggage, maximizing the rational deployment of the robot 1 and improving the efficiency of baggage delivery.

In some optional embodiments, please refer to Figure 8 as well. The sorting method also includes step S400, specifically:

Step S400: When the robot 1 is in the unloaded state, let the robot 1 located in the unloading area E pass through the sealing exit area F, the baggage delivery area A, then pass through the return area B ₁ or the waiting area B ₂ and enter the charging equipment H for charging. , or move to baggage delivery area A to wait for baggage delivery; or, when robot 1 is unloaded, let robot 1 in transfer area C pass through baggage delivery area A in sequence, then pass through return area B ₁ or waiting area B ₂ and enter Charging device H performs charging.

Optionally, step S400 can be not only located after step S330, but also after step S200. Step S400 can also be located before step S100, between step S100 and step S200, or between step S200 and step S300.

Optionally, as long as the robot 1 is in an unloaded state, it can return to the charging device H along its transportation path for charging.

In these optional embodiments, the sorting system also includes a backflow area B ₁ , which is located on the side of the waiting area _{B 2 close} to the detection device I in the second direction Y. When the robot 1 in the waiting area B ₂ does not receive luggage, the robot 1 can move from the return area B ₁ to the charging device H in a shorter path without occupying the space in the waiting area B _2. It can also make the transfer area C After the robot 1 unloads the baggage, when the robot 1 is in an empty state, it quickly returns to the charging device H for charging.

While the present application has been described with reference to preferred embodiments, various modifications may be made and equivalents may be substituted for components thereof without departing from the scope of the application. In particular, as long as there is no structural conflict, the technical features mentioned in the various embodiments can be combined in any way. The application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims (13)

1. A baggage sorting system, characterized in that the baggage sorting system includes: Detection equipment, used to detect the status of luggage and transport the detected luggage to the luggage delivery area, where the status of luggage includes normal luggage and suspicious luggage; Sealing equipment, used to receive the baggage from the sealing entrance area and seal the baggage; a robot for transporting said baggage; A controller configured to control the robot to send the baggage in the baggage delivery area to the waiting area to wait for the baggage status detection result, and to control the robot to transport the baggage to the transfer area when the baggage is normal baggage, to transfer the baggage; when the baggage is suspicious baggage, the robot is controlled to move the suspicious baggage to the sealing entrance area, so that the sealing device seals the baggage. 2. The baggage sorting system according to claim 1, wherein the baggage further includes high-risk baggage, and the controller is further configured to control the robot to transport the baggage when the baggage is high-risk baggage. Go to the unloading area to unload the baggage. 3. The baggage sorting system according to claim 2, characterized in that the baggage sorting system further includes a sealing exit area, and the sealing exit area and the sealing entrance area are located in the sealing equipment. On opposite sides in the first direction, the unloading area is located on the side of the sealing device facing away from the detection device in the second direction, and the first direction and the second direction intersect. 4. The baggage sorting system according to claim 1, further comprising a charging device, and the controller is further used to control the robot to charge in the charging device, the waiting area and the transfer area. Located on both sides of the charging device in the first direction, the luggage delivery area is located on the side of the charging device close to the detection device in the second direction. 5. The baggage sorting system according to claim 4, wherein the detection device and the sealing device are located on both sides of the charging device in the second direction. 6. The baggage sorting system according to claim 5, characterized in that a plurality of the charging devices are arranged at intervals in the second direction, and the controller is used to control the robot to pass through multiple channels when the baggage is normal baggage. The luggage is transported to the transfer area between the charging devices to transfer the luggage. 7. The baggage sorting system according to claim 4, further comprising a return area, and the controller is further configured to control the robot when it does not receive the baggage in the baggage delivery area. The robot returns to the charging device via the reflow area, which is located on a side of the waiting area close to the detection device in the second direction. 8. A sorting method, characterized in that the baggage is sorted using the baggage sorting system according to any one of claims 1 to 7, and the sorting method includes: Detect the status of the baggage and transport the detected baggage to the baggage delivery area; Transport the baggage from the baggage sending area to the waiting area and wait for the detection results, the baggage includes normal baggage and suspicious baggage; When the baggage is normal baggage, the baggage is transported to the transfer area; when the baggage is suspicious baggage, the baggage is transported from the waiting area to the sealing entrance area. 9. The sorting method according to claim 8, characterized in that when the luggage is suspicious luggage, the step of transporting the luggage from the waiting area to the sealing entrance area includes: Transport the suspicious baggage located in the sealing entrance area to the sealing equipment for sealing; Transport the sealed suspicious baggage to the sealed exit area; The sealed suspicious baggage in the sealed exit area is transported to the transfer area. 10. The sorting method according to claim 8, wherein the baggage further includes high-risk baggage, and the baggage is transported from the baggage delivery area to the waiting area and waits for test results, and the baggage includes The step of collecting normal baggage and suspicious baggage further includes: when the baggage is high-risk baggage, transporting the baggage from the waiting area to the unloading area via the sealing entrance area to unload the high-risk baggage. 11. The sorting method according to claim 10, characterized in that the sealing outlet area and the sealing entrance area are located on opposite sides of the sealing equipment in the first direction, and the unloading area is located at The sealing device is on the side away from the detection device in the second direction, and in the step of transporting the sealed suspicious baggage in the sealing exit area to the transfer area: make it located in the unloading area The robot moves to the sealing exit area to receive the sealed suspicious baggage, and transports the sealed suspicious baggage to the transfer area. 12. The sorting method according to claim 11, characterized in that the sorting system further includes a charging device, and the waiting area and the transfer area are located on both sides of the charging device in the first direction. , in the step of transporting the sealed suspicious baggage in the sealing exit area to the transfer area: causing the robot located in the area where the charging equipment is located to run unloaded and move to the sealing exit The area receives the suspicious baggage and transports the sealed suspicious baggage to the transfer area. 13. The sorting method according to claim 10, characterized in that the sorting system further includes a return flow area, the return flow area is located on the side of the waiting area close to the detection equipment in the second direction, so The sorting method also includes: when the robot is in an unloaded state, causing the robot located in the unloading area to pass through the sealing exit area, the baggage delivery area, and then pass through the return area or the Wait in the waiting area and enter the charging equipment for charging, or move to the baggage delivery area to wait for the baggage to be delivered; Alternatively, when the robot is in an unloaded state, the robot located in the transfer area passes through the baggage delivery area, then passes through the return area or the waiting area and enters the charging equipment for charging.