CN-121973213-A - Airport transfer robot control method and device, robot and storage medium

CN121973213ACN 121973213 ACN121973213 ACN 121973213ACN-121973213-A

Abstract

The application discloses an airport transfer robot control method, an airport transfer robot control device, an airport transfer robot and a storage medium, wherein the method comprises the steps of acquiring scene three-dimensional information containing at least one piece of luggage; the method comprises the steps of identifying transfer attribute information of each piece of luggage based on scene three-dimensional information, enabling the transfer attribute information to represent the category, three-dimensional geometric characteristics and pose of the corresponding piece of luggage, determining a target grabbing strategy based on the transfer attribute information of the current piece of luggage, generating grabbing control instructions corresponding to the current piece of luggage based on the target grabbing strategy, enabling the target grabbing strategy to represent grabbing points and grabbing poses, driving a mechanical arm executing mechanism of an airport transfer robot to execute grabbing actions on the current piece of luggage based on the grabbing control instructions, and carrying the current piece of luggage to a stacking area under the condition that grabbing is determined to be successful, so that unmanned accurate transfer of pieces of luggage with different specifications is achieved, and efficiency and flexibility of apron luggage transfer are improved.

Inventors

JIANG ZHAOQUAN
FANG PEIGEN
XIE GUOFENG

Assignees

浙江凌艾未来科技有限公司
浙江零跑科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260204

Claims (10)

1. An airport transfer robot control method, the method comprising: acquiring three-dimensional information of a scene containing at least one piece of luggage; identifying transfer attribute information of each piece of luggage based on the scene three-dimensional information, wherein the transfer attribute information characterizes the category, the three-dimensional geometric feature and the pose of the corresponding piece of luggage; determining a target grabbing strategy based on the transfer attribute information of the current luggage, and generating a grabbing control instruction corresponding to the current luggage based on the target grabbing strategy, wherein the target grabbing strategy characterizes grabbing points and grabbing postures, and the current luggage is any luggage in the at least one luggage; based on the grabbing control instruction, driving a mechanical arm executing mechanism of the airport transferring robot to execute grabbing action on the current luggage, and carrying the current luggage to a stacking area under the condition that grabbing success is determined.
2. The method according to claim 1, wherein said handling of the current baggage to a palletization zone in case it is determined that the gripping is successful comprises: In the process of executing the grabbing action on the current luggage, carrying out grabbing state detection based on six-dimensional force sensor data and real-time visual data of the mechanical arm executing mechanism; If the detected grabbing state indicates grabbing failure, grabbing failure processing is carried out until the detected grabbing state indicates grabbing success, wherein the grabbing failure processing comprises the step of adjusting grabbing pose of the mechanical arm executing mechanism; and carrying the current luggage to a stacking area when the detected grabbing state indicates that grabbing is successful.
3. The method according to claim 2, wherein the method further comprises: Acquiring first force information in real time based on a six-dimensional sensor on the mechanical arm actuating mechanism and acquiring second force information at the contact point of each end clamping jaw and the current luggage based on a pressure sensor arranged on the end clamping jaw of the mechanical arm actuating mechanism in the process of carrying the current luggage to a stacking area; Determining comprehensive state parameters of the current luggage based on the first force information and the second force information, wherein the comprehensive state parameters at least comprise resultant force and resultant moment of the luggage, gravity center offset of the luggage and current posture inclination angle of the luggage relative to the clamping jaw; based on the comprehensive state parameters, identifying the current clamping state of the current luggage in real time, wherein the current clamping state comprises a stable state, a state with external disturbance or an abnormal state of the posture; Generating a clamping jaw force application adjustment command based on the current clamping state, and adjusting clamping force applied to the current luggage based on the clamping jaw force application adjustment command, wherein the clamping jaw force application adjustment command indicates the application force size and distribution of each clamping jaw.
4. The method of claim 1, wherein the acquiring scene three-dimensional information including at least one piece of luggage comprises: collecting RGB data and depth data of a apron working area, and fusing the RGB data and the depth data to obtain fused data of the apron working area; And converting the fusion data of the apron working area into three-dimensional point cloud to obtain the scene three-dimensional information containing at least one piece of luggage.
5. The method according to any one of claims 1-4, wherein after the current baggage is transported to a palletizing zone, the method further comprises: determining a target placement pose corresponding to the current luggage in a preset placement pose sequence, wherein the preset placement pose sequence comprises the placement pose of each piece of luggage, and the preset placement pose sequence is generated based on an optimal stack type meeting the stability requirement and the space utilization requirement; And performing a placement operation on the current luggage based on the target placement pose of the current luggage.
6. The method of claim 5, wherein the method further comprises: constructing a stack structure model representing support and dependency relationship between luggage in the target stack body aiming at the target stack body of the stacking area based on stacking adjacent relationship between luggage in the target stack body; Generating an executable unstacking sequence corresponding to the target stack based on the local stability change of the stack structure model when any row Li Shanyuan is removed; and controlling the mechanical arm actuating mechanism to perform unstacking treatment on the target stack body based on the executable unstacking sequence.
7. An airport transfer robot control apparatus, the apparatus comprising: the scene information acquisition module is used for acquiring scene three-dimensional information containing at least one piece of luggage; The transfer attribute identification module is used for identifying transfer attribute information of each piece of luggage based on the scene three-dimensional information, wherein the transfer attribute information characterizes the category, the three-dimensional geometric feature and the pose of the corresponding piece of luggage; The system comprises a target grabbing strategy determining module, a target grabbing strategy determining module and a target grabbing module, wherein the target grabbing strategy determining module is used for determining a target grabbing strategy based on the transfer attribute information of the current baggage and generating a grabbing control instruction corresponding to the current baggage based on the target grabbing strategy; and the grabbing module is used for driving the mechanical arm executing mechanism of the airport transferring robot to execute grabbing action on the current luggage based on the grabbing control instruction, and carrying the current luggage to a stacking area under the condition that the grabbing is determined to be successful.
8. An airport transfer robot comprising a robotic arm actuator and an airport transfer robot control apparatus of claim 7.
9. The airport transfer robot of claim 8, wherein said robotic arm actuator comprises a robotic arm and at least one jaw disposed at a distal end of said robotic arm, said robotic arm having a six-dimensional force sensor disposed thereon, a jaw end of each of said jaws having a pressure sensor disposed thereon.
10. A computer-readable storage medium, wherein at least one instruction or at least one program is stored in the computer-readable storage medium, the at least one instruction or the at least one program being loaded and executed by a processor to implement the airport transfer robot control method according to any one of claims 1-6.

Description

Airport transfer robot control method and device, robot and storage medium Technical Field The application relates to the technical field of air freight, in particular to a control method and device of an airport transfer robot, the airport transfer robot and a storage medium. Background Apron baggage handling refers to the "last hundred meters" transportation and loading and unloading of baggage between an airport terminal and an aircraft cargo bay. This is a very challenging operating environment, whose development has surrounded four core requirements of efficiency, safety, cost, and reliability. However, the apron baggage transportation in the related art needs to rely on manual transportation, resulting in low efficiency and poor flexibility of apron baggage transportation. Disclosure of Invention In order to solve the problems in the prior art, the embodiment of the application provides an airport transfer robot control method, an airport transfer robot control device, an airport transfer robot and a storage medium, wherein the technical scheme is as follows: In one aspect, there is provided a method of airport transfer robot control, the method comprising: acquiring three-dimensional information of a scene containing at least one piece of luggage; identifying transfer attribute information of each piece of luggage based on the scene three-dimensional information, wherein the transfer attribute information characterizes the category, the three-dimensional geometric feature and the pose of the corresponding piece of luggage; Determining a target grabbing strategy based on transfer attribute information of the current luggage, and generating grabbing control instructions corresponding to the current luggage based on the target grabbing strategy, wherein the target grabbing strategy represents grabbing points and grabbing postures, and the current luggage is any luggage in the at least one luggage; based on the grabbing control instruction, driving a mechanical arm executing mechanism of the airport transferring robot to execute grabbing action on the current luggage, and carrying the current luggage to a stacking area under the condition that grabbing success is determined. In another aspect, there is provided an airport transfer robot control apparatus, the apparatus comprising: the scene information acquisition module is used for acquiring scene three-dimensional information containing at least one piece of luggage; The transfer attribute identification module is used for identifying transfer attribute information of each piece of luggage based on the scene three-dimensional information, wherein the transfer attribute information characterizes the category, the three-dimensional geometric feature and the pose of the corresponding piece of luggage; The system comprises a target grabbing strategy determining module, a target grabbing strategy determining module and a target grabbing module, wherein the target grabbing strategy determining module is used for determining a target grabbing strategy based on the transfer attribute information of the current baggage and generating a grabbing control instruction corresponding to the current baggage based on the target grabbing strategy; and the grabbing module is used for driving the mechanical arm executing mechanism of the airport transferring robot to execute grabbing action on the current luggage based on the grabbing control instruction, and carrying the current luggage to a stacking area under the condition that the grabbing is determined to be successful. In some embodiments, the grabbing module is specifically configured to detect a grabbing state based on six-dimensional force sensor data and real-time visual data of the mechanical arm executing mechanism in a grabbing action process of executing the current baggage, perform grabbing failure processing until the detected grabbing state indicates grabbing success if the detected grabbing state indicates grabbing failure, and adjust grabbing pose of the mechanical arm executing mechanism when the detected grabbing state indicates grabbing success, and carry the current baggage to a stacking area. In some embodiments, the apparatus further comprises: The force information acquisition module is used for acquiring first force information in real time based on a six-dimensional sensor on the mechanical arm actuating mechanism and acquiring second force information at the contact point of each end clamping jaw and the current luggage based on a pressure sensor arranged on the end clamping jaw of the mechanical arm actuating mechanism in the process of carrying the current luggage to a stacking area; the comprehensive state parameter determining module is used for determining the comprehensive state parameter of the current luggage based on the first force information and the second force information, wherein the comprehensive state parameter at least comprises resultant force and resultant moment born by th