Research On Airport Baggage Intelligent Handling System Based On Robot Arm

With the continuous progress of the times,people’s transportation methods have also undergone earth-shaking changes,and more people choose to travel by plane.Therefore,my country’s civil aviation has developed rapidly.However,while the passenger flow continues to increase,ensuring the safe and stable delivery of passenger luggage has always been a problem that needs to be improved.The domestic handling of passenger baggage entering and leaving the port generally uses manual handling.The domestic handling of passenger baggage entering and leaving the port generally uses manual handling.This paper studies and designs a set of intelligent airport baggage handling system based on robotic arms,which provides new ideas and methods for handling baggage in and out of the port.In this paper,by investigating the on-site working environment of the civil aviation airport baggage handling system,the research on the intelligent airport baggage handling system based on the robotic arm is carried out.The overall scheme of the baggage handling system was designed.The kinematics analysis of the robotic arm was carried out,and the calibration of the industrial camera and the hand-eye relationship were studied.Developed the baggage handling control system,and then realized the automation and intelligence of the baggage handling system.The main research work completed in this paper is as follows:(1)Clarified the research background and significance of the airport luggage handling system,and analyzed the development status and trends of industrial robots and airport luggage handling systems at home and abroad.(2)According to the actual situation of the civil aviation airport,the overall layout of the intelligent luggage handling system was designed.Then the components were designed and selected,and a set of intelligent handling systems that could identify,grab and stack luggage of different shapes,sizes and materials was built.(3)This paper analyzes the kinematics of the robotic arm.According to the structural characteristics and basic parameters of the mechanical arm,the establishment of the D-H coordinate system was completed,and the D-H parameter table was calculated;According to the principle of coordinate transformation,the forward kinematics and inverse kinematics of the manipulator were solved.(4)The linear imaging model of the industrial camera is analyzed,and the Zhang’s calibration method is used to calibrate the industrial camera,and the internal parameter matrix of the camera is solved.According to the principle of hand-eye calibration,the Eye-to-hand relationship was selected,the position relationship between the robot end effector and the industrial camera was established,and the relationship matrix of the camera coordinate system under the robot arm base coordinate system was solved.(5)Designed the overall control scheme and handling process of the baggage handling system,and developed the circuit diagram of the baggage handling system,and allocated the I/O terminals of the baggage handling system and wired them.The communication relationship between the robot system and the visual recognition system was established,and a reasonable handling trajectory of the robot end effector was planned.Finally,a complete intelligent luggage handling system based on robotic arms was built and tested.The results showed that the success rate of luggage grabbing was 91.33%,and the success rate of luggage stacking was 90.08%.The intelligent airport baggage handling system based on robotic arm designed in this paper can meet the requirements of various indexes of baggage handling.The research results of the thesis lay a certain foundation for the practical application of the airport luggage intelligent handling system,and at the same time provide a certain reference for the research and design of the same kind of handling system.