An airport luggage empty basket recovery system

Abstract

The application provides an airport luggage empty basket recycling system. The system comprises an identification module arranged above the end of a rotating disc, the identification module is used for identifying empty baskets and generating an empty basket signal and sending the signal to a stacking module; the stacking module is provided with no less than one stacking plate on the side away from the rotating disc; the stacking module is used for grabbing the empty baskets on the rotating disc according to the empty basket signal, stacking the empty baskets on the stacking plate to form an empty basket stack; a counting module is used for obtaining the number of empty baskets in the empty basket stack on each stacking plate; when the number of empty baskets in the empty basket stack on one stacking plate is equal to a set number of empty baskets, a transfer signal is generated and sent to a transfer module and the stacking module; after receiving the transfer signal, the stacking module stops stacking on the corresponding stacking plate; after receiving the transfer signal, the transfer module transfers the empty baskets on the stacking plate to an empty basket upper basket line. The application solves the technical problem of low automation degree of sorting end empty basket collection, stacking and transportation and the need for a large number of labor in the prior art.

Description

Technical Field

[0001] This invention relates to the field of automatic baggage basket recycling technology in airport terminals, and more particularly to an airport baggage basket recycling system. Background Technology

[0002] With the increase in air passenger throughput, airport terminals are becoming larger and larger, and the efficiency requirements for airport baggage handling systems are becoming increasingly stringent. In existing technologies, to ensure the smooth transport of checked baggage in automated sorting systems, check-in staff at the departure hall counters need to place soft bags, shoulder bags, and other items into baggage baskets for passenger check-in. After use, the baggage baskets are automatically transported from the sorting hall to the check-in counter via an automated empty basket return line. During this process, empty baskets collected at various sorting ends of the automated sorting system are manually placed on the empty basket loading line; then, they are distributed to each distribution point via the automated empty basket return line.

[0003] However, the collection, stacking, and transportation of empty baskets at the end of the sorting process still rely on manual labor. Especially for large hub airports with large baggage sorting halls and scattered sorting carousels, a significant amount of manpower and resources must be invested daily in the collection, handling, and distribution of empty baskets. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an airport baggage empty basket recycling system, which solves the technical problems of low automation in the collection, stacking, and transportation of empty baskets at the sorting end, requiring a large amount of manpower.

[0005] According to the present invention, an airport baggage empty basket recycling system includes:

[0006] The module includes an identification module, a stacking module, a counting module, and a transfer module.

[0007] The identification module is located above the end of the turntable. The identification module is used to identify empty baskets passing by the identification module on the turntable and generate an empty basket signal to be sent to the stacking module.

[0008] The stacking module is located at the end of the turntable and on one side of the turntable. The side of the stacking module away from the turntable is provided with at least one stacking plate. The stacking module is used to grab empty baskets on the turntable according to the empty basket signal and stack them on the stacking plate to form an empty basket stack.

[0009] The counting module is used to obtain the number of empty baskets in each stack of empty baskets on the stack. When the number of empty baskets in a stack of empty baskets on a stack equals the set number of empty baskets, the counting module generates a transfer signal and sends it to the transfer module and the stacking module.

[0010] After receiving the transfer signal, the stacking module stops stacking on the corresponding stack plate;

[0011] After receiving the transfer signal, the transfer module transfers several empty baskets on the stack to the basket line on the empty basket.

[0012] Furthermore, the identification module includes:

[0013] Camera truss, first camera unit, and second camera unit;

[0014] The camera truss is positioned above the turntable, and the camera truss has multiple camera positions spaced apart along the conveying direction of the turntable.

[0015] The first camera unit is installed on one of the multiple camera positions on the camera truss. The first camera unit is used to acquire the first camera position image of the turntable below according to the first preset frequency, analyze each first camera position image to determine whether the luggage basket passing under the first camera unit is empty. If so, a wake-up signal is generated and sent to the second camera unit.

[0016] The second camera unit is installed on a camera position on the camera truss and is located behind the first camera unit. In response to the wake-up signal of the first camera unit, the second camera unit acquires several second camera position images of the lower turntable at a second preset frequency. The second camera unit also analyzes several second camera position images to obtain the position information of the empty basket and generates an empty basket signal based on the position information.

[0017] Furthermore, the stacking module includes: a first robotic arm, a suction cup gripper, and a first controller. One end of the first robotic arm is mounted on one side of the turntable, and the suction cup gripper is fixed to the other end of the first robotic arm. The first robotic arm includes multiple pneumatic joints, and the multiple pneumatic joints and the suction cup gripper of the first robotic arm are all connected to the first controller.

[0018] The first controller controls multiple pneumatic joints to adjust the position of the suction cup gripper based on the empty basket signal, so as to grab the empty basket on the turntable and stack the grabbed empty basket on the stacking plate or other empty baskets.

[0019] Furthermore, the counting module includes at least one photoelectric detection switch and an edge processor, with each photoelectric detection switch connected to the edge processor; each photoelectric detection switch is located at a set height above the corresponding stack plate;

[0020] When the empty basket stack on the pallet reaches the set height, the photoelectric signal of the corresponding photoelectric monitoring switch is blocked, and the edge processor generates a transfer signal, which includes the pallet number.

[0021] Furthermore, the transfer module includes: a chassis, a clamping assembly, a fork assembly, and a drive control assembly;

[0022] The chassis has an omnidirectional steering wheel at its bottom;

[0023] The clamping assembly includes two mounting units, which are arranged one-to-one on both sides of the chassis to form a clamping space; clamping devices are provided on both sides of the clamping space; during clamping, the two clamping devices are abutted against both sides of the empty basket stack to fix the empty basket stack in the clamping space.

[0024] The fork assembly includes a translation device, forks, and a lifting device; the translation device is located at the bottom of the clamping space, and both sides of the translation device are connected to the inner wall of the clamping space through the lifting device; the forks are mounted on the translation device; the translation device and the lifting device work together to drive the forks to move the entire empty basket stack from one side into the clamping space.

[0025] The omnidirectional steering wheel, fork assembly, and clamping assembly are all connected to the drive control assembly. The drive control assembly controls the fork assembly to move the empty basket stacks, and controls the clamping assembly to fix or release the empty basket stacks on the fork assembly. The drive control assembly also controls the omnidirectional steering wheel to move along a preset travel trajectory.

[0026] Furthermore, the transfer module also includes an obstacle avoidance component, which includes several cameras and a processor. At least one camera is set at each intersection in the preset driving trajectory, and each camera captures continuous images and sends them to the processor.

[0027] Before the transfer module arrives at the intersection, the processor analyzes continuous images captured by all the cameras at the intersection to confirm whether there is any moving object at the intersection;

[0028] If present, the processor generates an avoidance signal and sends it to the drive control component; upon receiving the avoidance signal, the drive control component controls the omnidirectional steering wheel to stop at the intersection.

[0029] The processor continues to analyze the continuous images captured by all the cameras at the intersection to determine whether the moving object has left the intersection; if so, the processor generates a recovery signal and sends it to the drive control component. After receiving the recovery signal, the drive control component controls the omnidirectional steering wheel to leave the intersection.

[0030] Furthermore, the transfer module also includes an audible and visual alarm device. When the drive control group controls the omnidirectional steering wheel to stop at the intersection, the drive control component controls the audible and visual alarm device to play a reminder voice.

[0031] Furthermore, the recycling system also includes a basket loading module and a positioning module;

[0032] The positioning module is used to acquire surface information of the upper basket line;

[0033] The loading module is located on one side of the empty basket loading line. The loading module is used to unstack the stack of empty baskets according to the surface information of the loading line and place the unstacked empty baskets on the empty basket loading line.

[0034] Furthermore, the basket loading module includes: a second robotic arm, a gripping hand, and a second controller; one end of the second robotic arm is installed on one side of the basket loading line, and the other end of the second robotic arm is provided with a gripping hand; the gripping hand is provided with a counting device, which is used to count the empty baskets located in the gripping hand; the second robotic arm includes multiple pneumatic joints, and the multiple pneumatic joints of the second robotic arm and the gripping hand are all connected to the second controller;

[0035] The second controller controls multiple pneumatic joints to adjust the position of the gripper. When the number of empty baskets in the gripper reaches a set number, the second controller controls the gripper to grab the set number of empty baskets and place them on the empty basket loading line.

[0036] Furthermore, the loading module also includes an empty crate stacking buffer line, which includes:

[0037] The two side plates each have several fork slots at the top. When the two side plates are arranged in parallel, the fork slots on the two side plates correspond one-to-one to form a channel for the forks to pass through.

[0038] Multiple electric rollers are spaced apart between the two side plates, and the multiple electric rollers work together to transport empty basket stacks along the length of the side plates.

[0039] Furthermore, an impact airbag is provided at the outer edge of the mounting unit.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] This invention identifies empty baskets on a turntable using an identification module, then stacks them onto a pallet using a stacking module. Simultaneously, a counting module counts the empty baskets, and when the number of empty baskets in the stack reaches a predetermined limit, a transfer module promptly moves the stack to the designated empty basket line. This invention overcomes the limitations of existing technologies, which suffer from low automation in the collection, stacking, and transportation of empty baskets at the sorting end and require significant manpower. It achieves a higher recycling rate and greater operational efficiency for empty baskets. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of a luggage empty basket recycling system.

[0043] Figure 2 This is a schematic diagram of the transfer module according to another embodiment of the present invention.

[0044] Figure 3This is a schematic diagram of the upper basket module and the positioning module according to another embodiment of the present invention.

[0045] Figure 4 This is a schematic diagram of the structure of an empty basket stack buffer line according to another embodiment of the present invention.

[0046] In the diagram, 1. Turntable; 2. Identification module; 21. First camera unit; 22. Second camera unit; 3. Empty basket stack; 4. Transfer module; 5. Counting module; 6. Stacking plate; 7. Stacking module; 8. First air compressor; 9. First control cabinet; 41. Installation unit; 42. Collision airbag; 43. Forks; 44. Omnidirectional steering wheel; 45. Translation device; 46. Lifting device; 47. Clamping device; 48. Emergency stop button; 49. Audible and visual alarm device; 101. Positioning module; 102. Basket loading module; 103. Second air compressor; 104. Second control cabinet; 201. Electric roller; 202. Fork slot; 203. Side plate; 204. Photoelectric switch. Detailed Implementation

[0047] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0048] like Figures 1-4 As shown, an airport baggage empty basket recycling system includes:

[0049] The system comprises an identification module 2, a stacking module 7, a counting module 5, and a transfer module 4.

[0050] The identification module 2 is located above the end of the turntable 1. The identification module 2 is used to identify empty baskets passing by the identification module 2 on the turntable 1 and generate an empty basket signal to be sent to the stacking module 7.

[0051] The stacking module 7 is located at the end of the turntable 1 and on one side of the turntable 1. The side of the stacking module 7 away from the turntable 1 is provided with at least one stacking plate 6. The stacking module 7 is used to grab empty baskets on the turntable 1 according to the empty basket signal and stack them on the stacking plate 6 to form an empty basket stack 3.

[0052] The counting module 5 is used to obtain the number of empty baskets in the empty basket stack 3 on each stack 6; when the number of empty baskets in the empty basket stack 3 on a stack 6 is equal to the set number of empty baskets, the counting module 5 generates a transfer signal and sends it to the transfer module 4 and the stacking module 7.

[0053] After receiving the transfer signal, the stacking module 7 stops stacking on the corresponding stack plate 6;

[0054] After receiving the transfer signal, the transfer module 4 transfers several empty baskets on the stack plate 6 to the basket line on the empty basket.

[0055] The specific implementation of this embodiment includes:

[0056] In this embodiment, the identification module 2 includes a camera truss, a first camera unit 21, and a second camera unit 22. The camera truss is positioned above the turntable 1, and multiple camera positions are spaced apart along the conveying direction of the turntable 1. The first camera unit 21 is installed at one of the multiple camera positions on the camera truss. The first camera unit 21 is used to acquire first camera position images of the turntable 1 below at a first preset frequency, analyze each first camera position image to determine whether the luggage basket currently passing below the first camera unit 21 is empty, and if so, generate a wake-up signal and send it to the second camera unit 22. The second camera unit 22 is installed at one camera position on the camera truss and is located after the first camera unit 21. In response to the wake-up signal of the first camera unit 21, the second camera unit 22 acquires several second camera position images of the turntable 1 below at a second preset frequency. The second camera unit 22 also analyzes several second camera position images to obtain the position information of the empty basket and generates an empty basket signal based on the position information.

[0057] In this embodiment, the first camera unit 21 and the second camera unit 22 are arranged at intervals along the conveying direction of the turntable 1. The first preset frequency of the first camera unit 21 is related to the conveying speed of the turntable 1 and the length of the luggage basket. When the first camera unit 21 detects that the luggage basket passing below is empty, it triggers the second camera unit 22 to collect images of the second position according to the second preset frequency. The second camera unit 22 is not triggered when the luggage basket passing below is not empty. This working mode can reduce the workload of the second camera unit 22 and maximize the utilization efficiency of the second camera unit 22. It should be noted that the second preset frequency is higher than the first preset frequency. In this embodiment, the second preset frequency is twice the first preset frequency.

[0058] It should also be noted that in this embodiment, since it is necessary to obtain the position information of the empty basket based on the second camera image, but only the current passing luggage basket needs to be determined based on the first camera image, the performance parameters of the second camera unit 22 are better than those of the first camera unit 21.

[0059] In this embodiment, the stacking module 7 includes: a first robotic arm, a suction cup gripper, and a first controller. One end of the first robotic arm is installed on one side of the turntable 1, and the suction cup gripper is fixed to the other end of the first robotic arm. The first robotic arm includes multiple pneumatic joints, and the multiple pneumatic joints and the suction cup gripper of the first robotic arm are all connected to the first controller.

[0060] The first controller controls multiple pneumatic joints to adjust the position of the suction cup gripper according to the empty basket signal, so as to grab the empty basket on the turntable 1 and stack the grabbed empty basket on the stack plate 6 or other empty baskets.

[0061] Both the first robotic arm and the suction cup gripper are pneumatic structures, so the stacking module 7 also includes a first air compressor 8 and a first control cabinet 9. The first air compressor 8 is used to provide air to the first robotic arm and the suction cup gripper, and the first control cabinet 9 is used to provide mains power.

[0062] In this embodiment, there are two stacking plates 6. A perpendicular line is drawn along the bottom center of the first robotic arm, projecting the edge of the turntable 1. The two stacking plates 6 are symmetrically distributed on both sides of the perpendicular line. The first controller controls the first robotic arm and the suction cup gripper to stack on the two stacking plates 6. When the number of empty baskets on one of the stacking plates 6 reaches the set number of empty baskets, stacking on that stacking plate 6 stops, and stacking on the next stacking plate 6 begins.

[0063] In this embodiment, the counting module 5 includes at least one photoelectric detection switch and an edge processor, with each photoelectric detection switch connected to the edge processor; each photoelectric detection switch is located at a set height above the corresponding stack plate 6.

[0064] When the empty basket stack 3 on the stack 6 reaches the set height, the photoelectric signal of the corresponding photoelectric monitoring switch is blocked, and the edge processor generates a transfer signal, which includes the stack 6 number.

[0065] This embodiment identifies empty baskets on the turntable 1 using an identification module 2, then stacks them on a stacking plate 6 using a stacking module 7. Simultaneously, a counting module 5 counts the empty baskets, and when the number of empty baskets in the stack 3 on the stack 6 reaches a set quantity, a transfer module 4 promptly transfers the stack 3 to the empty basket loading line. This addresses the technical problem of low automation and high manpower requirements in the collection, stacking, and transportation of empty baskets at the end of the sorting process in existing technologies. The embodiment achieves higher recycling rates and greater operational efficiency for empty baskets.

[0066] In another embodiment of the present invention, the transfer module 4 includes: a chassis, a clamping assembly, a fork assembly 43, and a drive control assembly; the chassis has an omnidirectional steering wheel 44 at its bottom; the clamping assembly includes two mounting units 41, which are arranged one-to-one on both sides of the chassis to form a clamping space; clamping devices 47 are provided on both sides of the clamping space; during clamping, the two clamping devices 47 abut against both sides of the empty crate stack 3 to fix the empty crate stack 3 in the clamping space; the fork assembly 43 includes a translation device 45, forks 43, and a lifting device 46; the translation device 45... The device 45 is located at the bottom of the clamping space, and both sides of the translation device 45 are connected to the inner wall of the clamping space via lifting devices 46. The forks 43 are mounted on the translation device 45. The translation device 45 and the lifting devices 46 work together to drive the forks 43 to move the empty basket stack 3 from one side into the clamping space. The omnidirectional steering wheel 44, the fork 43 assembly, and the clamping assembly are all connected to the drive control assembly. The drive control assembly controls the fork 43 assembly to move the empty basket stack 3, and controls the clamping assembly to fix or release the empty basket stack 3 on the fork 43 assembly. The drive control assembly also controls the omnidirectional steering wheel 44 to move along a preset travel trajectory.

[0067] The specific implementation process of this embodiment includes:

[0068] The drive control module has a pre-programmed sequence. It controls the omnidirectional steering wheels 44 to move the entire transfer module 4 along a preset trajectory. Multiple sets of omnidirectional steering wheels 44 are included. The drive control module obtains the number of the stack plate 6 based on the transfer signal and further obtains the preset trajectory, thereby achieving automated transfer.

[0069] During the process of picking up the empty crate stack 3, the lifting device 46 adjusts the forks 43 to the picking position, and the translation device 45 adjusts the horizontal movement of the forks 43 to pick up the empty crate stack 3 into the clamping space. In this embodiment, the lifting device 46 includes a servo motor and a lead screw; the translation device 45 includes a servo motor, gears, and a rack. In this embodiment, the clamping device 47 includes a cylinder. The clamping device 47 clamps the goods inward to ensure the stability of the goods during transportation, and automatically releases after reaching the destination.

[0070] It should be noted that the transfer module 4 is equipped with multiple lidar sensors, which can achieve 360° obstacle detection and navigation. When an obstacle is detected in front during the journey, the system will brake and stop in advance. The outer perimeter of the installation unit of the transfer module 4 is also equipped with collision airbags 42. In the event of a collision, the collision airbags 42 will automatically deploy to protect the safety of pedestrians or other equipment.

[0071] The transfer module 4 is also equipped with an emergency stop button 48 and an audible and visual alarm device 49. When the transfer module 4 is started, the audible and visual alarm device 49 will emit a warning sound and the three-color lights will flash at the same time. In case of emergency, the transfer module 4 will stop moving after the emergency stop button 48 is pressed.

[0072] In another embodiment of the present invention, the transfer module 4 further includes an avoidance component, which includes a plurality of cameras and a processor. At least one camera is set at each intersection in the preset driving trajectory, and each camera captures continuous images and sends them to the processor.

[0073] Before the transfer module 4 reaches the intersection, the processor analyzes the continuous images captured by all the cameras at the intersection to confirm whether there is any moving object at the intersection.

[0074] If present, the processor generates an avoidance signal and sends it to the drive control component; upon receiving the avoidance signal, the drive control component controls the omnidirectional steering wheel 44 to stop at the intersection.

[0075] The processor continues to analyze the continuous images captured by all the cameras at the intersection to determine whether the moving object has left the intersection; if so, the processor generates a recovery signal and sends it to the drive control component. After receiving the recovery signal, the drive control component controls the omnidirectional steering wheel 44 to leave the intersection.

[0076] The specific implementation process of this embodiment includes:

[0077] The processor performs pixel-based temporal difference analysis on two or three adjacent frames in a continuous image sequence captured by the camera, removes stationary objects through thresholding, and extracts moving regions from the images. When no moving object is detected, the transfer module 4 continues forward. When a moving object is detected, the transfer module 4 waits at the intersection until the baggage cart has completely departed.

[0078] When the drive control group controls the omnidirectional steering wheel 44 to stop at the intersection, the drive control component controls the audible and visual alarm device 49 to play a reminder voice until the moving object passes through the intersection.

[0079] In another embodiment of the present invention, the recycling system further includes a basket loading module and a positioning module 101;

[0080] The positioning module 101 is used to acquire surface information of the upper frame line;

[0081] The loading module is located on one side of the empty basket loading line. The loading module is used to unpack the empty basket stack 3 according to the surface information of the loading line and place the unpacked empty baskets on the empty basket loading line.

[0082] The specific implementation process of this embodiment includes:

[0083] The positioning module 101 includes a camera bracket and a third camera unit. The third camera unit is mounted on the upper basket line via the camera bracket to collect surface information of the upper basket line, thereby assisting the upper basket module in placing the empty basket in the center area of ​​the upper basket line.

[0084] The basket loading module includes: a second robotic arm, a gripper, and a second controller; one end of the second robotic arm is installed on one side of the basket loading line, and the other end of the second robotic arm is provided with a gripper; the gripper is provided with a counting device, which is used to count the empty baskets located in the gripper; the second robotic arm includes multiple pneumatic joints, and the multiple pneumatic joints of the second robotic arm and the gripper are all connected to the second controller;

[0085] The second controller controls multiple pneumatic joints to adjust the position of the gripper. When the number of empty baskets in the gripper reaches a set number, the second controller controls the gripper to grab the set number of empty baskets and place them on the empty basket loading line.

[0086] In this embodiment, the counting device includes multiple photoelectric sensors; the photoelectric sensors are used to identify the number of empty baskets grabbed by the gripper.

[0087] Similar to the stacking module 7, the basket loading module also includes a second control cabinet 104 and a second air compressor 102 basket loading module 103; the second control cabinet 104 is used to provide power, and the second air compressor 102 basket loading module 103 is used to provide air source.

[0088] When the second robotic arm is busy, the transfer module 4 places the empty crate stack 3 on the empty crate stack 3 buffer line. The empty crate stack 3 buffer line includes: two side plates 203, each side plate 203 has several fork slots 202 on its top. After the two side plates 203 are arranged in parallel, the several fork slots 202 on the two side plates 203 correspond one-to-one to form a channel for the forks 43 to pass through; and multiple electric rollers 201, which are arranged at intervals between the two side plates 203. The multiple electric rollers 201 cooperate to transport the empty crate stack 3 along the length of the side plates 203.

[0089] It also includes a photoelectric switch 204, which is located between two fork slots 202 on the same side plate 203; when the photoelectric switch 204 is blocked, it indicates that the empty basket stack 3 is placed in place, and the electric roller 201 is then driven to operate.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An airport baggage empty basket recycling system, characterized in that: The recycling system includes: The module includes an identification module, a stacking module, a counting module, and a transfer module. The identification module is located above the end of the turntable. It identifies empty baskets passing the turntable and generates an empty basket signal to be sent to the stacking module. The identification module includes a camera truss, a first camera unit, and a second camera unit. The camera truss is located above the turntable and has multiple camera positions spaced at intervals along the turntable's conveying direction. The first camera unit is installed at one of the multiple camera positions on the camera truss. It acquires first camera images of the turntable below at a first preset frequency, analyzes each first camera image to determine whether the baggage basket passing below the first camera unit is empty, and if so, generates a wake-up signal to be sent to the second camera unit. The second camera unit is installed at one camera position on the camera truss and is located after the first camera unit. In response to the wake-up signal from the first camera unit, the second camera unit acquires several second camera images of the turntable below at a second preset frequency. The second camera unit also analyzes several second camera images to obtain the position information of the empty basket and generates an empty basket signal based on the position information. The stacking module is located at the end of the turntable and on one side of the turntable. The side of the stacking module away from the turntable is provided with at least one stacking plate. The stacking module is used to grab empty baskets on the turntable according to the empty basket signal and stack them on the stacking plate to form an empty basket stack. The counting module is used to obtain the number of empty baskets in each stack of empty baskets on the stack. When the number of empty baskets in a stack of empty baskets on a stack equals the set number of empty baskets, the counting module generates a transfer signal and sends it to the transfer module and the stacking module. After receiving the transfer signal, the stacking module stops stacking on the corresponding stack plate; After receiving the transfer signal, the transfer module transfers several empty baskets on the stack to the basket line on the empty basket.

2. The airport baggage empty basket recycling system as described in claim 1, characterized in that: The counting module includes at least one photoelectric detection switch and an edge processor, with each photoelectric detection switch connected to the edge processor; each photoelectric detection switch is located at a set height above the corresponding stack plate; When the empty basket stack on the pallet reaches the set height, the photoelectric signal of the corresponding photoelectric monitoring switch is blocked, and the edge processor generates a transfer signal, which includes the pallet number.

3. The airport baggage empty basket recycling system as described in claim 1, characterized in that: The transfer module includes: a chassis, a clamping assembly, a fork assembly, and a drive control assembly; The chassis has an omnidirectional steering wheel at its bottom; The clamping assembly includes two mounting units, which are arranged one-to-one on both sides of the chassis to form a clamping space; clamping devices are provided on both sides of the clamping space; during clamping, the two clamping devices are abutted against both sides of the empty basket stack to fix the empty basket stack in the clamping space. The fork assembly includes a translation device, forks, and a lifting device; the translation device is located at the bottom of the clamping space, and both sides of the translation device are connected to the inner wall of the clamping space through the lifting device; the forks are mounted on the translation device; the translation device and the lifting device work together to drive the forks to move the entire empty basket stack from one side into the clamping space. The omnidirectional steering wheel, fork assembly, and clamping assembly are all connected to the drive control assembly. The drive control assembly controls the fork assembly to move the empty basket stacks, and controls the clamping assembly to fix or release the empty basket stacks on the fork assembly. The drive control assembly also controls the omnidirectional steering wheel to move along a preset travel trajectory.

4. The airport baggage empty basket recycling system as described in claim 3, characterized in that: The transfer module also includes an avoidance component, which includes several cameras and a processor. At least one camera is set at each intersection in the preset driving trajectory, and each camera captures continuous images and sends them to the processor. Before the transfer module arrives at the intersection, the processor analyzes continuous images captured by all the cameras at the intersection to confirm whether there is any moving object at the intersection; If present, the processor generates an avoidance signal and sends it to the drive control component; Upon receiving the avoidance signal, the drive control component controls the omnidirectional steering wheel to stop at the intersection; The processor continues to analyze continuous images captured by all cameras at the intersection to determine whether the moving object has left the intersection; If so, the processor generates a recovery signal and sends it to the drive control component. After receiving the recovery signal, the drive control component controls the omnidirectional steering wheel to leave the intersection.

5. The airport baggage empty basket recycling system as described in claim 4, characterized in that: The transfer module also includes an audible and visual alarm device; During the operation of the omnidirectional steering wheel, the audible and visual alarm device emits a warning sound; When the drive control group stops the omnidirectional steering wheel at the intersection, the drive control component controls the audible and visual alarm device to play a reminder voice.

6. The airport baggage empty basket recycling system as described in claim 1, characterized in that: The recycling system also includes a basket loading module and a positioning module; The positioning module is used to acquire surface information of the upper basket line; The loading module is located on one side of the empty basket loading line. The loading module is used to unstack the stack of empty baskets according to the surface information of the loading line and place the unstacked empty baskets on the empty basket loading line.

7. An airport baggage empty basket recycling system as described in claim 6, characterized in that: The basket loading module includes: a second robotic arm, a gripper, and a second controller; one end of the second robotic arm is installed on one side of the basket loading line, and the other end of the second robotic arm is provided with a gripper; the gripper is provided with a counting device, which is used to count the empty baskets located in the gripper; the second robotic arm includes multiple pneumatic joints, and the multiple pneumatic joints of the second robotic arm and the gripper are all connected to the second controller; The second controller controls multiple pneumatic joints to adjust the position of the gripper. When the number of empty baskets in the gripper reaches a set number, the second controller controls the gripper to grab the set number of empty baskets and place them on the empty basket loading line.

8. An airport baggage empty basket recycling system as described in claim 3, characterized in that: An impact airbag is provided at the outer edge of the installation unit.

9. An airport baggage empty basket recycling system as described in any one of claims 6-7, characterized in that: The loading module also includes an empty basket stacking buffer line, which includes: The two side plates each have several fork slots at the top. When the two side plates are arranged in parallel, the fork slots on the two side plates correspond one-to-one to form a channel for the forks to pass through. Multiple electric rollers are spaced apart between the two side plates, and the multiple electric rollers work together to transport empty basket stacks along the length of the side plates.

Images