Double robots for collecting airport luggage barrows and collecting method

Abstract

The invention relates to the technical field of robots, and provides double robots for airport luggage barrow collection and a collection method.The double robots for airport luggage barrow collection comprise a robot rear vehicle used for collecting and stacking luggage barrows in an array mode, and a first handle grabbing assembly is arranged on the robot rear vehicle and used for grabbing handles arranged on the rear portions of the luggage barrows; the robot front car is used for fixing a front end handle of a luggage barrow at the foremost end of the luggage barrow array, a second handle grabbing assembly is arranged on the robot front car, and the second handle grabbing assembly is used for grabbing a front handle of the luggage barrow; the robot rear vehicle and the robot front vehicle are each provided with a sensor assembly, and the sensor assemblies are used for sensing the positions of the luggage barrows and the roadblocks. When the stacked luggage barrow array is moved, the robot front car and the robot rear car pull the front end and the rear end of the luggage barrow array respectively to move the luggage barrow array, turning and obstacle avoiding actions can be more flexibly carried out, and the collecting efficiency can be effectively improved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a dual robot and a collection method for airport luggage cart collection. Background Art

[0002] In recent years, the passenger flow of super-large airports around the world has been increasing, and the demand for airport luggage carts has increased dramatically due to the large number of passengers carrying heavy luggage. Luggage carts usually help passengers carry their luggage from the airport entrance to the boarding gate to facilitate their travel. Therefore, airports with large passenger and luggage flows have to hire a large number of staff to deploy luggage carts scattered throughout the airport in order to timely fill the demand gap for luggage carts at the airport entrance.

[0003] However, the huge passenger flow, vast airport area, and the continuously increasing number of luggage carts. The uneven distribution of limited luggage carts throughout the airport is a key issue affecting the smooth turnover of airport luggage carts. Unilaterally increasing the number of luggage carts or the number of recycling personnel will also bring negative effects such as increased costs and increased congestion.

[0004] Moreover, today's airports generally use manual collection of airport luggage carts. The labor cost of manual collection of airport luggage carts is extremely high, and the service quality is reduced due to factors such as employee fatigue and emotions, making the work efficiency low and unstable.

[0005] Therefore, the above-mentioned technical defects need to be changed urgently. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, the purpose of the present application is to provide a dual robot and a collection method for airport luggage cart collection, aiming to improve the luggage cart collection efficiency in places such as airports and reduce the luggage cart collection cost.

[0007] A technical solution adopted by this application to solve the technical problem is as follows:

[0008] A first aspect provides a dual robot for airport baggage cart collection, comprising:

[0009] A robot rear vehicle, which is used to collect and stack luggage carts in an array. A first handle grabbing assembly is provided on the robot rear vehicle, which is used to grab a handle at the rear of the luggage cart;

[0010] and a robot front car, the robot front car is used to fix the front handle of the luggage cart at the front end of the luggage cart array, and a second handle grabbing component is provided on the robot front car, and the second handle grabbing component is used to grab the front handle of the luggage cart;

[0011] Among them, sensor components are set on the robot rear vehicle and the robot front vehicle, and the sensor components are used to sense the positions of several luggage carts and roadblocks.

[0012] This embodiment is further configured that the first handle grabbing assembly includes:

[0013] A first rocker arm, the first rocker arm is movably connected to the rear vehicle of the robot, the first rocker arm extends along the front end of the rear vehicle of the robot, and the angle between the first rocker arm and the rear vehicle of the robot is adjustable;

[0014] A first clamp base, the first clamp base is arranged at the end of the first rocker arm, and the angle between the first clamp base and the first rocker arm is adjustable through a driving member;

[0015] and a first front end fixture, the first front end fixture being disposed on a first fixture base;

[0016] The first front end clamp is provided with a first bending section and forms a first fixing groove, and the first fixing groove is used for buckling the rear handle of the luggage cart.

[0017] This embodiment is further configured such that the robot rear vehicle at least includes:

[0018] A first walking chassis, the first walking chassis comprising at least two front wheels and at least two rear universal wheels, the two front wheels are respectively provided with a driving motor;

[0019] A first fuselage frame, the first fuselage frame is arranged on a first walking chassis;

[0020] Wherein, the first rocker arm is movably connected to the first fuselage frame.

[0021] This embodiment is further configured such that a first suspension mechanism is provided between the first fuselage frame and the first walking chassis, and the first suspension mechanism is used to keep the first fuselage frame stable.

[0022] This embodiment is further configured such that the second handle grabbing assembly includes:

[0023] A second rocker arm, the second rocker arm is movably connected to the robot front vehicle, the second rocker arm extends along the front end of the robot front vehicle, and the angle between the second rocker arm and the robot front vehicle is adjustable;

[0024] A second clamp base, the second clamp base is arranged at the end of the second rocker arm, and the angle between the second clamp base and the second rocker arm is adjustable through a driving member;

[0025] and a second front end fixture, the second front end fixture being disposed on a second fixture base;

[0026] The second front end clamp is provided with a second bending section and forms a second fixing groove, and the second fixing groove is used to fix the front end handle of the luggage trolley at the front end of the luggage trolley array.

[0027] The present embodiment is further configured such that an end portion of the second front end clamp is provided with an arc-shaped guiding surface, and the arc-shaped guiding surface is used to guide the front handle of the luggage cart to enter the fixing groove.

[0028] The present embodiment is further configured such that both the first clamp base and the second clamp base are provided with limit electric push rods, and the two limit electric push rods are used to adjust the clamping space size of the first fixing groove and the second fixing groove respectively.

[0029] This embodiment is further configured such that the robot front vehicle also includes a second walking chassis and a second fuselage frame, the second walking chassis is used to drive the robot front vehicle, and the second fuselage frame is arranged on the second walking chassis; wherein the second rocker arm is movably connected to the second fuselage frame.

[0030] This embodiment is further configured such that a second suspension mechanism is provided between the second fuselage frame and the second walking chassis, and the second suspension mechanism is used to keep the second fuselage frame stable.

[0031] A second aspect of the present application provides a dual-robot collection method for airport luggage cart collection based on any one of the first aspects, the collection method comprising the following steps:

[0032] Obtaining the positions of several luggage carts within a preset space range;

[0033] Calculate the collection and stacking locations based on the positions of several luggage carts;

[0034] Control the front robot vehicle and the rear robot vehicle to collect a number of baggage carts and stack them in an array at a collection and stacking location, wherein the front robot vehicle is controlled to fix the front handle of the frontmost baggage cart in the baggage cart array, so that the baggage cart array is fixed;

[0035] Determine whether the number of luggage carts in the luggage cart array reaches a preset number of luggage carts;

[0036] If yes, stop collecting and stacking the luggage carts, control the front robot and the rear robot to pull the front and rear ends of the luggage cart array respectively, and move the luggage cart array to a preset parking location.

[0037] Compared with the prior art, the present application provides a dual robot and a collection method for collecting luggage carts at an airport. The present invention uses dual robots to collect luggage carts scattered in different places, which can effectively improve the efficiency of collecting luggage carts. When the number of luggage carts collected reaches a preset number, the stacking of luggage carts into the luggage cart array is stopped. Then the robot front car and the robot rear car respectively pull the front and rear ends of the luggage cart array to move the luggage cart array, which can make turning and obstacle avoidance actions more flexible, and can effectively improve the collection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 This is a schematic diagram of the overall structure of a dual robot for collecting luggage carts at an airport provided in this embodiment when collecting luggage carts;

[0040] Figure 2 This is a schematic diagram of the overall structure of a robot rear vehicle of a dual robot for collecting airport luggage carts provided by this embodiment;

[0041] Figure 3 yes Figure 2 An enlarged schematic diagram of the part marked A;

[0042] Figure 4 is another overall structural schematic diagram of a robot rear vehicle of a dual robot for collecting airport luggage vehicles provided by this embodiment;

[0043] Figure 5 This is a schematic diagram of the overall structure of a robot front vehicle of a dual robot for collecting airport luggage carts provided by this embodiment;

[0044] Figure 6 yes Figure 5 An enlarged schematic diagram of the part marked B;

[0045] Figure 7 This is a schematic diagram of the structure of a dual robot provided in this embodiment for collecting airport luggage carts when the second handle grabbing assembly is docked with the front handle of the luggage cart;

[0046] Figure 8 The figure is a schematic diagram of the overall structure of a dual robot for collecting luggage carts at an airport provided in this embodiment when collecting luggage carts.

[0047] In the figure: 1. robot rear vehicle; 11. first handle gripping assembly; 111. first rocker arm; 112. first fixture base; 113. first front fixture; 1131. first bending section; 1132. first fixing groove; 12. first walking chassis; 121. front wheels; 122. rear universal wheels; 13. first fuselage frame; 14. first suspension mechanism; 2. robot front vehicle; 21. second handle gripping assembly; 211. second rocker arm; 212. second fixture base; 213. second front fixture; 2131. second bending section; 2132. second fixing groove; 2133. arc-shaped guide surface; 214. limit electric push rod; 22. second walking chassis; 23. second fuselage frame; 24. second suspension mechanism; 3. sensor assembly; 4. luggage cart array; 41. luggage cart. DETAILED DESCRIPTION

[0048] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0049] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0050] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0051] In addition, the technical features involved in the different embodiments of the present invention described above can be combined with each other as long as they do not conflict with each other.

[0052] The present invention provides Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, a dual robot for collecting luggage carts 41 at an airport is used to collect luggage carts 41 scattered in the airport waiting hall and stack the collected luggage carts 41 together. Its main structure includes: a robot rear car 1 and a robot front car 2. The robot rear car 1 is used to collect and stack luggage carts 41 in an array. The robot rear car 1 is provided with a first handle grabbing component 11, which is used to grab the rear handle of the luggage cart 41; the robot front car 2 is used to fix the front handle of the luggage cart 41 at the front end of the luggage cart array 4, and the robot front car 2 is provided with a second handle grabbing component 21, which is used to grab the front handle of the luggage cart 41; wherein, the robot rear car 1 and the robot front car 2 are both provided with a sensor component 3, which is used to sense the positions of several luggage carts 41 and roadblocks. In the actual baggage cart 41 collection operation, the robot rear vehicle 1 is responsible for the main collection work, pushing the baggage carts 41 scattered at different positions to the rear end of the baggage cart array 4; while the robot front vehicle 2 is responsible for fixing the baggage cart 41 at the front end of the baggage cart array 4, so that the baggage cart array 4 can be fixed in place without slipping. This facilitates the robot rear vehicle 1 to push the baggage cart 41 to the rear end of the baggage cart array 4 to complete the collection and stacking work.

[0053] It should be noted that, for airports with large passenger and luggage traffic, unilaterally increasing the number of luggage carts 41 or increasing the number of collection personnel will also bring about negative effects such as increased costs and increased congestion. Moreover, today's airports generally use manual collection of airport luggage carts 41. The labor cost of manually collecting airport luggage carts 41 is extremely high, and the service quality is reduced due to factors such as employee fatigue and emotions, making the work efficiency low and unstable.

[0054] The present invention uses dual robots to collect luggage carts 41 scattered in different places, which can effectively improve the efficiency of collecting luggage carts 41. When the number of luggage carts 41 collected reaches a preset number, the luggage carts 41 are stopped from being stacked in the luggage cart array 4. Then the robot front car 2 and the robot rear car 1 respectively pull the front and rear ends of the luggage cart array 4 to move the luggage cart array 4, and when encountering obstacles or changing the travel trajectory during the movement, the robot rear car 1 and the robot front car 2 can turn independently. The turning radius of the luggage cart array 4 is greatly reduced, and the turning and obstacle avoidance actions can be performed more flexibly, which can effectively improve the collection efficiency. Using robots to realize the automation of the luggage cart 41 collection process will inevitably reduce the operating costs of airports and other places and improve the efficiency of luggage cart 41 collection.

[0055] Further, such as Figure 2 , Figure 3 As shown, the first handle grasping assembly 11 includes: a first rocker arm 111, a first clamp base 112 and a first front end clamp 113. The first rocker arm 111 is movably connected to the robot rear vehicle 1, and the first rocker arm 111 extends along the front end of the robot rear vehicle 1. The angle between the first rocker arm 111 and the robot rear vehicle 1 is adjustable; the first clamp base 112 is arranged at the end of the first rocker arm 111, and the angle between the first clamp base 112 and the first rocker arm 111 is adjustable through a driving member; the first front end clamp 113 is arranged on the first clamp base 112; wherein, the first front end clamp 113 is provided with a first bending section 1131, and forms a first fixing groove 1132, and the first fixing groove 1132 is used to buckle the rear handle of the luggage cart 41.

[0056] The first rocker arm 111 can be adjusted up and down so that the first front clamp 113 can be aligned with the handle at the rear of the luggage cart 41. When the robot rear cart 1 approaches the recovered luggage cart 41, the position is adjusted so that the opening of the first fixing slot 1132 on the first front clamp 113 is aligned with the handle at the rear of the luggage cart 41. Since the opening of the first fixing slot 1132 in this embodiment faces downward, the handle at the rear of the luggage cart 41 is inserted into the first fixing slot 1132 by swinging the first rocker arm 111 downward.

[0057] Specifically (such as Figure 3 and Figure 8 As shown in FIG. 1 , the first front end fixture 113 of the robot rear vehicle 1 adopts an outward-turning guide surface fixture design, wherein the outward-turning angle is Figure 3a. The end of the first front clamp 113 is turned outward at 45 degrees (i.e. a = 45 degrees). In this way, when the rear vehicle clamp actively clamps the rear handle of the luggage cart 41, the rear handle of the luggage cart 41 can be better inserted into the rear vehicle clamp. At the same time, the 45-degree turnout design can also greatly increase the fault tolerance of the rear vehicle when actively grabbing.

[0058] Further, such as Figure 2 , Figure 4 As shown, the robot rear vehicle 1 at least includes: a first walking chassis 12 and a first fuselage frame 13, the first walking chassis 12 includes at least two front wheels 121 and at least two rear universal wheels 122, and the two front wheels 121 are respectively provided with a driving motor; the first fuselage frame 13 is arranged on the first walking chassis 12; wherein the first rocker arm 111 is movably connected to the first fuselage frame 13. wherein the first fuselage frame 13 is an aluminum alloy frame.

[0059] It should be noted that the size of the chassis structure design is based on the design principle that the projection area of ​​the top view on the ground is consistent with the size of the projection area of ​​an adult man on the ground when viewed from above. The entire chassis structure consists of six parts: universal wheels, suspension system, motor driver, DC servo motor, reducer and front drive wheel.

[0060] The chassis structure design adopts a four-wheel structure, consisting of two front drive wheels and two rear universal wheels. Each front drive wheel is equipped with a DC servo motor and a motor reducer. Both front drive wheels can generate sufficient torque to provide power for the robot to move. The rear universal wheel 122 is connected to the chassis structure through a self-designed suspension system, which can ensure that at least three wheels of the airport luggage cart 41 robot can be in the same plane at the same time when encountering a small obstacle on the ground, avoiding safety problems such as tipping of the luggage cart 41 robot.

[0061] The drive motor is a DC servo drive motor. Compared with stepper motors, servo motors run more smoothly and do not vibrate even at low speeds. Servo motors have constant torque output and strong overload capacity. In addition, due to the limited space under the chassis, an L-shaped right-angle planetary reducer is used to achieve the effect of speed reduction and torque increase and save chassis space.

[0062] Further, such as Figure 4 As shown, a first suspension mechanism 14 is provided between the first fuselage frame 13 and the first walking chassis 12 , and the first suspension mechanism 14 is used to keep the first fuselage frame 13 stable.

[0063] It should be noted that, during the movement of the robot, if the four-wheel mobile chassis is connected with a rigid body, then when encountering a corner protrusion, two wheels of the four-wheel chassis will be off the ground, which will cause the robot to overturn on both sides. If the robot is in a state of overturning, falling will cause the robot to suffer a great degree of irreversible damage. In the chassis mechanical structure design, this embodiment is provided with a first suspension mechanism 14 between the first fuselage frame 13 and the first walking chassis 12, and the rear wheel suspension body is connected through an intermediate main shaft, the retaining spring limits the position of the deep groove bearing, and the step limit bolt limits the torsion angle of the rear wheel suspension system, so that when the four-wheel mobile chassis encounters a corner protrusion, at least three wheels can be kept in a stable state of three points on the same plane on the ground at the same time, which greatly reduces the probability of the robot overturning during movement, so that the robot can travel smoothly for a long distance.

[0064] Further, such as Figure 5 , Figure 6 As shown, the second handle grasping assembly 21 includes: a second rocker arm 211, a second clamp base 212 and a second front end clamp 213, the second rocker arm 211 is movably connected to the robot front vehicle 2, the second rocker arm 211 extends along the front end of the robot front vehicle 2, and the angle between the second rocker arm 211 and the robot front vehicle 2 is adjustable; the second clamp base 212 is arranged at the end of the second rocker arm 211, and the angle between the second clamp base 212 and the second rocker arm 211 is adjustable through a driving member; the second front end clamp 213 is arranged on the second clamp base 212; wherein, the second front end clamp 213 is provided with a second bending section 2131, and forms a second fixing groove 2132, and the second fixing groove 2132 is used to fix the front end handle of the luggage cart 41 at the front end of the luggage cart array 4.

[0065] The second rocker arm 211 can be adjusted up and down so that the first front clamp 113 can be aligned with the front handle of the luggage cart 41. When the robot rear vehicle 1 approaches the recovered luggage cart 41, the position is adjusted so that the opening of the second fixing groove 2132 on the second front clamp 213 is aligned with the front handle of the luggage cart 41. Since the opening of the second fixing groove 2132 in this embodiment faces downward, the second rocker arm 211 is swung downward to make the second fixing groove 2132 move downward and the rear handle of the luggage cart 41 enter the second fixing groove 2132.

[0066] Further, such as Figure 5 , Figure 6 As shown, an arc-shaped guiding surface 2133 is provided at the end of the second front-end clamp 213 , and the arc-shaped guiding surface 2133 is used to guide the front handle of the luggage cart 41 to enter the second fixing groove 2132 .

[0067] In order to simplify the complex length of the luggage cart 41 clamped by the later visual algorithm system, the overall idea of ​​the front car in this embodiment is that the front car does not move, and the rear car searches for the luggage cart 41 and pushes it into the front car. Therefore, the mechanical clamps of the front and rear cars are different. Since the front car needs to wait at a fixed location when integrating a single luggage cart 41 in the first stage, it is particularly important that the rear car finds and pushes the first car into the front car clamp, and the front car catches it to ensure that the entire row of luggage carts 41 can be uniformly aligned when the subsequent luggage carts 41 are pushed into the front luggage cart 41. Therefore, the front car adopts a derivative version of the Zhan type hook solution.

[0068] In this embodiment (such as Figure 7 As shown in the figure, the front handle of the luggage cart 41 is guided into the fixed groove by the arc-shaped guide surface 2133. Before grabbing the front handle of the luggage cart 41, the robot front car 2 first approaches the luggage cart 41 and aligns the arc-shaped guide surface 2133 with the front handle of the luggage cart 41, and the two keep a certain distance. Then the robot front car 2 moves toward the front handle of the luggage cart 41, and hits the front handle of the luggage cart 41 head-on through the arc-shaped guide surface 2133. Under the guidance of the arc-shaped inclined surface of the arc-shaped guide surface 2133, the front handle of the luggage cart 41 slides into the second fixed groove 2132. This design has a simple structure and can quickly and easily complete the docking of the two.

[0069] Specifically, the arc-shaped guide surface 2133 of the second front-end clamp 213 (the front end of the mechanical clamp of the front vehicle) is a 45-degree arc-shaped smooth guide surface. When the robot rear vehicle 1 pushes the first luggage cart 41 in, the mechanical arm of the robot front vehicle 2 (the second handle gripping assembly 21) does not need to be actively controlled. The smooth curved surface at the front end of the luggage cart 41 contacts and collides with the arc-shaped guide surface 2133 of the second front-end clamp 213. Since both are smooth metal curved surfaces, and the arc center of the arc-shaped guide surface 2133 of the second front-end clamp 213 is slightly higher than the center of the front end curved surface of the luggage cart 41, the arc-shaped guide surface 2133 of the second front-end clamp 213 of the robot front vehicle 2 will be passively moved up and slid along the tangent surface of the two. At this time, the front handle of the luggage cart 41 enters the mechanical clamp of the front vehicle, and the mechanical clamp of the front vehicle (the second handle gripping assembly 21) falls under the action of gravity. At this time, the mechanical arm is actively controlled, the electric push rod is pushed in and clamped, and the mechanical arm is subjected to the torque of the motor, and is pressed down to clamp the luggage cart 41, and the first car is pushed in.

[0070] Further, such as Figure 3 , Figure 6 As shown, both the first clamp base 112 and the second clamp base 212 are provided with a limit electric push rod 214 , and the two limit electric push rods 214 are used to adjust the clamping space size of the first fixing groove 1132 and the second fixing groove 2132 respectively.

[0071] After the robot front vehicle 2 or rear vehicle docks with the luggage cart 41 , the limit electric push rod 214 is activated to reduce the clamping space size of the first fixing groove 1132 and the second fixing groove 2132 , so as to tightly fix the handle of the luggage cart 41 .

[0072] Further, such as Figure 5 As shown, the robot front vehicle 2 also includes a second walking chassis 22 and a second fuselage frame 23. The second walking chassis 22 is used to drive the robot front vehicle 2 to move in a predetermined area. The second fuselage frame 23 is arranged on the second walking chassis 22; wherein, the second rocker arm 211 is movably connected to the second fuselage frame 23.

[0073] Further, such as Figure 5 As shown, a second suspension mechanism 24 is provided between the second fuselage frame 23 and the second walking chassis 22, and the second suspension mechanism 24 is used to keep the second fuselage frame 23 stable. When the robot front vehicle 2 is pressed against an uneven road surface during movement, the second suspension mechanism 24 can filter vibration and shaking to a certain extent, thereby improving the stability of the robot front vehicle 2 or the rear vehicle during movement.

[0074] The second aspect of the present application provides a dual-robot collection method for collecting airport luggage carts 41 based on any one of the first aspects, the collection method comprising the following steps:

[0075] Step 1: Obtain the positions of several luggage carts 41 within a preset space range;

[0076] Specifically, the positions of several luggage carts 41 within a preset space are sensed by the sensor assembly 3, and obstacles around the robot front car 2 and the robot rear car 1 are sensed at the same time, so as to calculate the travel route.

[0077] Step 2: Calculate the best collection and stacking location based on the positions of several luggage carts 41;

[0078] Specifically, after obtaining the positions of several luggage carts 41, the collection and stacking locations are obtained by calculation and comparison. That is, after obtaining the positions of several luggage carts 41, the best collection and stacking locations are obtained by calculation and comparison, and then the best moving route is calculated based on the obstacles around the robot front car 2 and the robot rear car 1.

[0079] Step 3: Control the robot front vehicle 2 and the robot rear vehicle 1 to collect a plurality of luggage carts 41 and stack them in an array at a collection and stacking location, wherein the robot front vehicle 2 is controlled to fix the front handle of the frontmost luggage cart 41 in the luggage cart array 4, so that the luggage cart array 4 is fixed;

[0080] Specifically, the robot front vehicle 2 is first controlled to arrive at the collection and stacking location and wait, and then the robot rear vehicle 1 is controlled to collect the luggage cart 41 according to the principle of proximity, and push the luggage cart 41 to the collection and stacking location, and push the luggage cart 41 onto the robot front vehicle 2, so that the luggage cart 41 and the robot front vehicle 2 are docked.

[0081] Step 4: determine whether the number of luggage carts 41 in the luggage cart array 4 reaches a preset number of luggage carts 41;

[0082] Step 5: If yes, stop collecting and stacking the luggage carts 41, control the robot front car 2 and the robot rear car 1 to pull the front and rear ends of the luggage cart array 4 respectively, and move the luggage cart array 4 to a preset parking location.

[0083] Specifically, when the number of luggage carts 41 in the luggage cart array 4 reaches the preset number of luggage carts 41, the collection and stacking of luggage carts 41 is stopped, and the robot front car 2 and the robot rear car 1 are controlled to pull the front and rear ends of the luggage cart array 4 respectively; at the same time, the obstacles around the robot front car 2 and the robot rear car 1 are sensed by the sensor component 3, and the travel route is calculated to move the luggage cart array 4 to the preset parking location.

[0084] In summary, the present application provides a dual robot and collection method for collecting luggage carts 41 at an airport. The present invention uses dual robots to collect luggage carts 41 scattered in different places, which can effectively improve the efficiency of collecting luggage carts 41. When the number of luggage carts 41 collected reaches a preset number, the stacking of luggage carts 41 into the luggage cart array 4 is stopped. Then the robot front car 2 and the robot rear car 1 respectively pull the front and rear ends of the luggage cart array 4 to move the luggage cart array 4, which can make turning and obstacle avoidance actions more flexible, and can effectively improve the collection efficiency.

[0085] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A dual robot for airport luggage cart collection, characterized in that, include: A robot rear vehicle, the robot rear vehicle is used to collect and stack luggage carts in an array, and the robot rear vehicle is provided with a first handle grabbing assembly, and the first handle grabbing assembly is used to grab a handle at the rear of the luggage cart; and a robot front vehicle, the robot front vehicle being used to fix the front handle of the luggage cart at the front end of the luggage cart array, the robot front vehicle being provided with a second handle grabbing assembly, the second handle grabbing assembly being used to grab the front handle of the luggage cart; Wherein, the robot rear vehicle and the robot front vehicle are both provided with sensor components, and the sensor components are used to sense the positions of several luggage carts and roadblocks.

2. A dual robot for airport luggage cart collection according to claim 1, characterized in that: The first handle grab assembly comprises: A first rocker arm, wherein the first rocker arm is movably connected to the rear vehicle of the robot, the first rocker arm extends along the front end of the rear vehicle of the robot, and the angle between the first rocker arm and the rear vehicle of the robot is adjustable; A first clamp base, wherein the first clamp base is arranged at an end of the first rocker arm, and an angle between the first clamp base and the first rocker arm is adjustable through a driving member; and a first front end fixture, the first front end fixture being disposed on the first fixture base; Wherein, the first front end clamp is provided with a first bending section and forms a first fixing groove, and the first fixing groove is used for buckling the rear handle of the luggage cart.

3. A dual robot for airport luggage cart collection according to claim 2, characterized in that: The robot rear vehicle at least includes: A first walking chassis, the first walking chassis comprising at least two front wheels and at least two rear universal wheels, the two front wheels being respectively provided with a driving motor; a first fuselage frame, the first fuselage frame being arranged on the first walking chassis; Wherein, the first rocker arm is movably connected to the first fuselage frame.

4. A dual robot for airport luggage cart collection according to claim 3, characterized in that: A first suspension mechanism is provided between the first fuselage frame and the first walking chassis, and the first suspension mechanism is used to keep the first fuselage frame stable.

5. A dual robot for airport luggage cart collection according to claim 2, characterized in that: The second handle grab assembly comprises: A second rocker arm, the second rocker arm is movably connected to the robot front vehicle, the second rocker arm extends along the front end of the robot front vehicle, and the angle between the second rocker arm and the robot front vehicle is adjustable; A second clamp base, the second clamp base is arranged at an end of the second rocker arm, and an angle between the second clamp base and the second rocker arm is adjustable through a driving member; and a second front end fixture, the second front end fixture being disposed on the second fixture base; The second front end clamp is provided with a second bending section and forms a second fixing groove, and the second fixing groove is used to fix the front end handle of the luggage trolley at the front end of the luggage trolley array.

6. A dual robot for airport luggage cart collection according to claim 5, characterized in that: An arc-shaped guiding surface is disposed at the end of the second front-end clamp, and the arc-shaped guiding surface is used to guide the front handle of the luggage cart to enter the fixing groove.

7. A dual robot for airport luggage cart collection according to claim 5, characterized in that: The first clamp base and the second clamp base are both provided with limit electric push rods, and the two limit electric push rods are respectively used to adjust the clamping space size of the first fixing groove and the second fixing groove.

8. A dual robot for airport luggage cart collection according to claim 1, characterized in that: The robot front vehicle also includes a second walking chassis and a second fuselage frame, the second walking chassis is used to drive the robot front vehicle, and the second fuselage frame is arranged on the second walking chassis; wherein the second rocker arm is movably connected to the second fuselage frame.

9. A dual robot for airport luggage cart collection according to claim 8, characterized in that: A second suspension mechanism is provided between the second fuselage frame and the second walking chassis, and the second suspension mechanism is used to keep the second fuselage frame stable.

10. A dual-robot collection method for airport luggage cart collection based on any one of claims 1-9, characterized in that: The collection method comprises the following steps: Obtaining the positions of several luggage carts within a preset space range; Calculate the collection and stacking locations based on the positions of several luggage carts; Control the front robot vehicle and the rear robot vehicle to collect a plurality of luggage carts and stack them in an array at the collection and stacking location, wherein the front robot vehicle is controlled to fix the front handle of the frontmost luggage cart in the luggage cart array to fix the luggage cart array; Determining whether the number of luggage carts in the luggage cart array reaches a preset number of luggage carts; If yes, the collection and stacking of luggage carts is stopped, and the robot front car and the robot rear car are controlled to pull the front and rear ends of the luggage cart array respectively, so as to move the luggage cart array to a preset parking location.

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