Dual robot and collection method for airport trolley collection

Abstract

The application relates to the technical field of robots, and provides a double robot and a collection method for collecting airport trolleys, which comprises a robot rear trolley used for collecting and arraying trolleys, a first handle grabbing assembly arranged on the robot rear trolley and used for grabbing a rear handle of a trolley, and a robot front trolley used for fixing a front handle of a trolley at the front end of an array of trolleys, a second handle grabbing assembly arranged on the robot front trolley and used for grabbing a front handle of a trolley, and a sensor assembly arranged on the robot rear trolley and the robot front trolley and used for sensing the positions of a plurality of trolleys and roadblocks. When the array of trolleys is moved, the robot front trolley and the robot rear trolley respectively pull the front end and the rear end of the array of trolleys to move the array of trolleys, the turning and obstacle avoidance actions can be more flexible, and the collection efficiency can be effectively improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a dual-robot system for collecting luggage carts at airports and a method for doing so. Background Technology

[0002] In recent years, passenger traffic at mega-airports around the world has been steadily increasing, leading to a surge in demand for airport baggage carts from passengers carrying heavy luggage. Baggage carts typically help passengers move their luggage from the airport entrance to the boarding gate, facilitating their travel. Therefore, airports with high passenger and baggage volumes often need to employ a large number of staff to manage baggage carts scattered throughout the airport, ensuring timely replenishment of the baggage cart shortage at airport entrances.

[0003] However, the huge passenger flow, the vast airport area, and the continuously increasing number of baggage carts, coupled with the uneven distribution of the limited number of carts throughout the airport, are key issues affecting the smooth turnover of baggage carts. Simply increasing the number of baggage carts or the number of collection personnel will simultaneously lead to negative effects such as increased costs and increased congestion.

[0004] Furthermore, airports nowadays generally use manual baggage cart collection. However, the labor cost of manually collecting airport baggage carts is extremely high, and the service quality declines due to factors such as employee fatigue and emotional distress, resulting in low and unstable work efficiency.

[0005] Therefore, the aforementioned technical deficiencies urgently need to be addressed. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the purpose of this application is to provide a dual-robot system and a collection method for collecting luggage carts at airports, which aims to improve the efficiency of luggage cart collection in airports and other places and reduce the cost of luggage cart collection.

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

[0008] The first aspect provides a dual-robot system for collecting luggage carts at airports, comprising:

[0009] The robot rear vehicle is used to collect and stack luggage carts in an array. The robot rear vehicle is equipped with a first handle gripping component, which is used to grip the handle at the rear of the luggage cart.

[0010] And the robot front vehicle, which is used to fix the front handle of the luggage cart at the front of the luggage cart array. The robot front vehicle is equipped with a second handle gripping component, which is used to grip the front handle of the luggage cart.

[0011] Both the rear and front vehicles of the robot are equipped with sensor components, which are used to detect the positions of several luggage carts and roadblocks.

[0012] In this embodiment, the first handle gripping component includes:

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

[0014] A first clamping base is disposed at the end of a first rocker arm, and the angle between the first clamping base and the first rocker arm is adjustable by a driving component;

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

[0016] The first front clamp is provided with a first bending section and forms a first fixing groove, which is used to fasten the handle at the rear of the luggage cart.

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

[0018] The first traveling chassis includes at least two front wheels and at least two rear casters, with each of the two front wheels equipped with a drive motor.

[0019] The first fuselage frame is mounted on the first traveling chassis;

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

[0021] In this embodiment, a first suspension mechanism is provided between the first fuselage frame and the first traveling chassis, and the first suspension mechanism is used to keep the first fuselage frame stable.

[0022] In this embodiment, the second handle gripping component includes:

[0023] The second rocker arm is movably connected to the front of the robot and extends along the front end of the robot. The angle between the second rocker arm and the robot is adjustable.

[0024] The second clamping base is disposed at the end of the second rocker arm, and the angle between the second clamping base and the second rocker arm is adjustable by a driving component;

[0025] And a second front-end clamp, which is mounted on a second clamp base;

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

[0027] In this embodiment, the end of the second front clamp is provided with an arc-shaped guide surface, which is used to guide the front handle of the luggage cart into the fixing groove.

[0028] In this embodiment, the first clamp base and the second clamp base are each provided with a limit electric push rod, 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] In this embodiment, the robot's front vehicle further includes a second walking chassis and a second body frame. The second walking chassis is used to drive the robot's front vehicle, and the second body frame is mounted on the second walking chassis. The second rocker arm is movably connected to the second body frame.

[0030] In this embodiment, a second suspension mechanism is provided between the second fuselage frame and the second traveling chassis. The second suspension mechanism is used to keep the second fuselage frame stable.

[0031] The second aspect of this application provides a collection method for airport baggage carts using dual robots, based on any one of the first aspects. The collection method includes the following steps:

[0032] Obtain the locations of several luggage carts within a preset spatial range;

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

[0034] The robot front vehicle and robot rear vehicle are controlled to collect and stack several luggage carts in an array at the collection and stacking location. The robot front vehicle is controlled to fix the front handle of the luggage cart at the very front of the luggage cart array, so that the luggage cart array is fixed.

[0035] Determine whether the number of luggage carts in the luggage cart array has reached the preset number of luggage carts;

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

[0037] Compared with existing technologies, this application provides a dual-robot system and method for collecting baggage carts at airports. This invention uses two robots to collect baggage carts scattered in different locations, effectively improving collection efficiency. When a preset number of baggage carts is collected, the stacking of carts into the array is stopped. Then, the front and rear robots pull the front and rear ends of the baggage cart array respectively to move it, allowing for more flexible turning and obstacle avoidance maneuvers, further improving collection efficiency. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the overall structure of a dual-robot system for collecting luggage carts at an airport, as provided in this embodiment.

[0040] Figure 2 This is a schematic diagram of the overall structure of the robot rear vehicle of a dual-robot system for collecting luggage in an airport, provided in this embodiment.

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

[0042] Figure 4 This is another overall structural diagram of the robot rear vehicle of a dual-robot system for collecting luggage in an airport, provided in this embodiment.

[0043] Figure 5 This is a schematic diagram of the overall structure of the robot front vehicle of a dual-robot system for collecting luggage carts at airports, provided in this embodiment.

[0044] Figure 6 yes Figure 5 Enlarged diagram of the symbol B in the center;

[0045] Figure 7 This is a schematic diagram of the structure of the second handle gripping component of a dual robot for collecting luggage carts at airports when it is docked with the front handle of the luggage cart, as provided in this embodiment;

[0046] Figure 8 This is a schematic diagram of the overall structure of a dual-robot system for collecting luggage carts at an airport, as provided in this embodiment.

[0047] In the diagram: 1. Rear of the robot; 11. First handle gripping assembly; 111. First rocker arm; 112. First clamping base; 113. First front clamp; 1131. First bending section; 1132. First fixing groove; 12. First walking chassis; 121. Front wheel; 122. Rear omnidirectional wheel; 13. First body frame; 14. First suspension mechanism; 2. Front of the robot; 21. Second handle gripping assembly; 211. Second rocker arm; 212. Second clamping base; 213. Second front clamp; 2131. Second bending section; 2132. Second fixing groove; 2133. Arc-shaped guide surface; 214. Limiting electric push rod; 22. Second walking chassis; 23. Second body frame; 24. Second suspension mechanism; 3. Sensor assembly; 4. Luggage cart array; 41. Luggage cart. Detailed Implementation

[0048] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0049] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0050] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0051] Furthermore, 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] This invention provides, for example Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, a dual-robot system for collecting luggage carts 41 scattered in an airport waiting area is described. The system collects the luggage carts 41 and stacks them together. Its main structure includes a rear robot 1 and a front robot 2. The rear robot 1 collects and stacks the luggage carts 41 in an array. A first handle gripping component 11 is installed on the rear robot 1 to grip the rear handle of the luggage cart 41. The front robot 2 secures the front handle of the luggage cart 41 at the very front of the array. A second handle gripping component 21 is installed on the front robot 2 to grip the front handle of the luggage cart 41. Both the rear robot 1 and the front robot 2 are equipped with sensor components 3, which are used to detect the positions of several luggage carts 41 and obstacles. During the actual baggage cart collection operation, the rear robot 1 is responsible for the main collection work, pushing the baggage carts 41 scattered in different locations into the rear of the baggage cart array 4; while the front robot 2 is responsible for fixing the baggage carts 41 at the very front of the baggage cart array 4, so that the baggage cart array 4 can be fixed in place and will not slip. This makes it easier for the rear robot 1 to push the baggage carts 41 into the rear of the baggage cart array 4 to complete the collection and stacking work.

[0053] It should be noted that for airports with high passenger and baggage traffic, simply increasing the number of baggage carts or baggage collection personnel will simultaneously lead to negative effects such as increased costs and increased congestion. Furthermore, airports currently generally rely on manual collection of baggage carts. However, manual collection of baggage carts is extremely labor-intensive, and employee fatigue and emotional factors can lead to a decline in service quality, resulting in low and unstable work efficiency.

[0054] This invention utilizes two robots to collect baggage carts 41 scattered in different locations, effectively improving the efficiency of baggage cart collection. When a preset number of baggage carts 41 are collected, the stacking of baggage carts 41 into the baggage cart array 4 is stopped. Then, the front robot 2 and the rear robot 1 pull the front and rear ends of the baggage cart array 4 respectively to move it. Furthermore, when encountering obstacles or needing to change its trajectory during movement, both the rear robot 1 and the front robot 2 can independently make turns. This significantly reduces the turning radius of the baggage cart array 4, allowing for more flexible turning and obstacle avoidance maneuvers, thus effectively improving collection efficiency. Automating the baggage cart collection process using robots will undoubtedly reduce operating costs in airports and other similar locations, and improve the efficiency of baggage cart collection.

[0055] Furthermore, such as Figure 2 , Figure 3 As shown, the first handle gripping assembly 11 includes: a first rocker arm 111, a first clamping base 112, and a first front clamp 113. The first rocker arm 111 is movably connected to the robot rear vehicle 1 and 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 clamping base 112 is disposed at the end of the first rocker arm 111, and the angle between the first clamping base 112 and the first rocker arm 111 is adjustable by a driving component. The first front clamp 113 is disposed on the first clamping base 112. The first front clamp 113 is provided with a first bending section 1131 and forms a first fixing groove 1132. The first fixing groove 1132 is used to fasten the handle at the rear of the luggage cart 41.

[0056] The first rocker arm 111 is adjustable in angle, allowing the first front clamp 113 to align with the rear handle of the luggage cart 41. When the robot's rear vehicle 1 approaches the retrieved luggage cart 41, it adjusts its position so that the opening of the first fixing groove 1132 on the first front clamp 113 aligns with the rear handle of the luggage cart 41. Since the opening of the first fixing groove 1132 faces downwards in this embodiment, swinging the first rocker arm 111 causes the first fixing groove 1132 to descend, thus guiding the rear handle of the luggage cart 41 into the first fixing groove 1132.

[0057] Specifically (e.g.) Figure 3 and Figure 8 As shown), the first front end fixture 113 of the robot's rear carriage 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 a 45-degree angle (i.e., a = 45°). This allows the rear handle of the luggage cart 41 to better enter the clamp when the rear clamp actively grabs it. At the same time, the 45-degree outward turning design can also greatly increase the error tolerance of the rear clamp when actively grabbing.

[0058] Furthermore, such as Figure 2 , Figure 4 As shown, the robot's rear vehicle 1 also includes at least: a first walking chassis 12 and a first body frame 13. The first walking chassis 12 includes at least two front wheels 121 and at least two rear omnidirectional wheels 122, and each of the two front wheels 121 is equipped with a drive motor. The first body frame 13 is mounted on the first walking chassis 12. A first rocker arm 111 is movably connected to the first body frame 13. The first body frame 13 is an aluminum alloy frame.

[0059] It should be noted that the dimensions of the chassis structure were designed based on the principle that its top-view projection area on the ground should match the top-view projection area of ​​an adult male. The entire chassis structure consists of six parts: casters, suspension system, motor driver, DC servo motor, reducer, and front drive wheels.

[0060] The chassis features a four-wheel design, consisting of two front drive wheels and two rear omnidirectional wheels. Each front drive wheel is equipped with a DC servo motor and a motor reducer. Both front drive wheels generate sufficient torque to power the robot's movement. The rear omnidirectional wheels 122 are connected to the chassis structure via a self-designed suspension system. This system ensures that when the airport baggage cart 41 robot encounters minor obstacles on the ground, at least three wheels are on the same plane simultaneously, preventing the baggage cart 41 robot from tipping over or causing other safety issues.

[0061] The drive motor is a DC servo drive motor. Compared to stepper motors, servo motors operate more smoothly and do not vibrate even at low speeds. Furthermore, servo motors provide constant torque output and have strong overload capacity. Additionally, due to limited space in the lower part of the chassis, an L-shaped right-angle planetary reducer is selected, achieving both speed reduction and torque increase while saving chassis space.

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

[0063] It should be noted that if the four-wheeled chassis is rigidly connected during robot movement, two wheels will lift off the ground when encountering a protruding corner, causing the robot to tip over on either side. If the robot tipps over and falls, it will suffer significant and irreversible damage. In this embodiment, a first suspension mechanism 14 is provided between the first body frame 13 and the first walking chassis 12 in the chassis mechanical structure design. The rear wheel suspension is connected via a central main shaft, with a retaining spring limiting the position of the deep groove bearing and a step-limiting bolt limiting the torsional angle of the rear wheel suspension system. This ensures that when the four-wheeled chassis encounters a protruding corner, at least three wheels can maintain a stable state with three points on the same plane on the ground simultaneously, greatly reducing the probability of tipping over during robot movement and enabling the robot to travel smoothly over long distances.

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

[0065] The second rocker arm 211 is adjustable in angle, allowing the first front clamp 113 to align with the front handle of the luggage cart 41. When the robot's rear vehicle 1 approaches the retrieved luggage cart 41, it adjusts its position so that the opening of the second fixing groove 2132 on the second front clamp 213 aligns with the front handle of the luggage cart 41. Since the opening of the second fixing groove 2132 faces downwards in this embodiment, swinging the second rocker arm 211 causes the second fixing groove 2132 to descend, guiding the rear handle of the luggage cart 41 into the second fixing groove 2132.

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

[0067] To simplify the complex gripping length of the luggage cart 41 by the subsequent visual algorithm system, this embodiment adopts the overall approach of having the front vehicle remain stationary while the rear vehicle locates and pushes the luggage cart 41 into the front vehicle. Therefore, the mechanical grippers of the front and rear vehicles are different. Since the front vehicle needs to wait at a fixed location during the integration of a single luggage cart 41 in the first stage, it is particularly important that the rear vehicle locates and pushes the first cart into the gripper of the front vehicle, and the front vehicle then aligns it to ensure that the entire row of luggage carts 41 can be aligned uniformly when subsequent luggage carts 41 are pushed into the front luggage cart. Therefore, the front vehicle uses a derivative of the James coupler design.

[0068] In this embodiment (e.g.) Figure 7 As shown, the front handle of the luggage cart 41 is guided into the fixing slot by the arc-shaped guide surface 2133. Before grabbing the front handle of the luggage cart 41, the robot front vehicle 2 approaches the luggage cart 41 and aligns the arc-shaped guide surface 2133 with the front handle of the luggage cart 41, maintaining a certain distance between them. Then, the robot front vehicle 2 moves towards the front handle of the luggage cart 41 and impacts the front handle of the luggage cart 41 head-on through the arc-shaped guide surface 2133. Guided by the arc-shaped inclined surface of the arc-shaped guide surface 2133, the front handle of the luggage cart 41 slides into the second fixing slot 2132. This design has a simple structure and can easily and quickly complete the docking of the two.

[0069] Specifically, the arc-shaped guide surface 2133 of the second front-end gripper 213 (the front end of the mechanical gripper of the front vehicle) is a smooth arc-shaped guide surface at a 45-degree angle. This allows the robotic arm (second handle gripping component 21) of the front vehicle 2 to not require active control when the rear vehicle 1 pushes the first luggage cart 41 in. The smooth curved surface of the luggage cart 41 contacts and collides with the arc-shaped guide surface 2133 of the second front-end gripper 213. Since both are smooth metal curved surfaces, and the center of the arc of the second front-end gripper 2133 is slightly higher than the center of the curved surface of the luggage cart 41, the arc-shaped guide surface 2133 of the second front-end gripper 213 of the front vehicle 2 passively slides upwards along the tangent plane of the two surfaces. At this time, the front handle of the luggage cart 41 enters the mechanical gripper of the front vehicle, and the mechanical gripper (second handle gripping component 21) of the front vehicle falls under the influence of gravity. At this point, the robotic arm is actively controlled, and the electric push rod is pushed in to clamp. The robotic arm is subjected to the torque of the motor and presses down to clamp the luggage cart 41. The first cart has been pushed in.

[0070] Furthermore, such as Figure 3 , Figure 6 As shown, both the first clamp base 112 and the second clamp base 212 are provided with limit electric push rods 214. 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, thereby firmly fixing the handle of the luggage cart 41.

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

[0073] Furthermore, such as Figure 5 As shown, a second suspension mechanism 24 is provided between the second body frame 23 and the second walking chassis 22. The second suspension mechanism 24 is used to keep the second body frame 23 stable. When the robot's front vehicle 2 hits an uneven road surface during movement, the second suspension mechanism 24 can filter vibrations and swaying to a certain extent, thereby improving the stability of the robot's front vehicle 2 or rear vehicle during movement.

[0074] The second aspect of this application provides a collection method for a dual-robot system used for collecting luggage on an airport baggage cart 41, based on any one of the first aspects. The collection method includes the following steps:

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

[0076] Specifically, the sensor assembly 3 senses the positions of several luggage carts 41 within a preset spatial range, and simultaneously senses obstacles around the robot's front cart 2 and rear cart 1, in order to calculate the travel route.

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

[0078] Specifically, after obtaining the locations of several luggage carts 41, the optimal collection and stacking locations are determined through calculation and comparison. That is, after obtaining the locations of several luggage carts 41, the optimal collection and stacking locations are determined through calculation and comparison, and then the optimal movement route is calculated based on the obstacles around the front robot 2 and the rear robot 1.

[0079] Step 3: Control the front robot 2 and the rear robot 1 to collect and stack several luggage carts 41 in an array at the collection and stacking location. The front robot 2 controls the front handle of the frontmost luggage cart 41 in the luggage cart array 4 to fix the luggage cart array 4.

[0080] Specifically, first, control the front robot 2 to arrive at the collection and stacking location and wait. Then, control the rear robot 1 to collect the luggage cart 41 according to the principle of proximity, push the luggage cart 41 to the collection and stacking location, and push the luggage cart 41 onto the front robot 2, so that the luggage cart 41 docks with the front robot 2.

[0081] Step 4: Determine whether the number of luggage carts 41 in luggage cart array 4 has reached the preset number of luggage carts 41;

[0082] Step 5: If yes, stop collecting and stacking luggage carts 41, and control the front robot 2 and the rear robot 1 to pull the front and rear ends of the luggage cart array 4 respectively, moving the luggage cart array 4 to the 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 front robot 2 and the rear robot 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 front robot 2 and the rear robot 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, this application provides a dual-robot system and method for collecting airport baggage carts 41. This invention uses two robots to collect baggage carts 41 scattered in different locations, effectively improving the efficiency of baggage cart collection. When the number of baggage carts 41 collected reaches a preset number, the stacking of baggage carts 41 into the baggage cart array 4 is stopped. Then, the front robot 2 and the rear robot 1 pull the front and rear ends of the baggage cart array 4 respectively to move the array, allowing for more flexible turning and obstacle avoidance maneuvers, thus effectively improving collection efficiency.

[0085] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A dual-robot system for collecting luggage carts at airports, characterized in that, include: The robot rear vehicle is used to collect and stack luggage carts in an array. The robot rear vehicle is equipped with a first handle gripping component, which is used to grip the handle at the rear of the luggage cart. And a robot front vehicle, which is used to fix the front handle of the luggage cart at the front of the luggage cart array. The robot front vehicle is equipped with a second handle gripping component, which is used to grip the front handle of the luggage cart. Both the rear and front vehicles of the robot are equipped with sensor components, which are used to detect the positions of several luggage carts and roadblocks. The first handle gripping component includes: A first rocker arm is movably connected to the rear of the robot vehicle. The first rocker arm extends along the front end of the rear of the robot vehicle, and the angle between the first rocker arm and the rear of the robot vehicle is adjustable. A first clamping base is disposed at the end of the first rocker arm, and the angle between the first clamping base and the first rocker arm is adjustable by a driving component; and a first front-end fixture, wherein the first front-end fixture is disposed on the first fixture base; The first front clamp is provided with a first bending section and forms a first fixing groove, which is used to fasten the handle at the rear of the luggage cart. The second handle gripping component includes: A 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; The second clamping base is disposed at the end of the second rocker arm, and the angle between the second clamping base and the second rocker arm is adjustable by a driving component; And a second front-end clamp, the second front-end clamp being disposed on the second clamp base; The second front clamp is provided with a second bending section and forms a second fixing groove, which is used to fix the front handle of the luggage cart at the frontmost end of the luggage cart array. The end of the second front clamp is provided with an arc-shaped guide surface, which is used to guide the front handle of the luggage cart into the fixing groove.

2. A dual-robot system for collecting airport baggage carts according to claim 1, characterized in that, The robot's rear vehicle also includes at least: A first traveling chassis, the first traveling chassis includes at least two front wheels and at least two rear omnidirectional wheels, and each of the two front wheels is provided with a drive motor; A first fuselage frame is mounted on the first traveling chassis; The first rocker arm is movably connected to the first fuselage frame.

3. A dual-robot system for collecting luggage carts at airports according to claim 2, characterized in that, A first suspension mechanism is provided between the first fuselage frame and the first traveling chassis, and the first suspension mechanism is used to keep the first fuselage frame stable.

4. A dual-robot system for collecting airport baggage carts according to claim 1, characterized in that, Both the first clamp base and the second clamp base are provided with limit electric actuators, and the two limit electric actuators are used to adjust the clamping space size of the first fixing groove and the second fixing groove, respectively.

5. A dual-robot system for collecting airport baggage carts according to claim 1, characterized in that, The robot's front vehicle also includes a second walking chassis and a second body frame. The second walking chassis is used to drive the robot's front vehicle, and the second body frame is mounted on the second walking chassis. The second rocker arm is movably connected to the second body frame.

6. A dual-robot system for collecting luggage carts at airports according to claim 5, characterized in that, A second suspension mechanism is provided between the second fuselage frame and the second traveling chassis, and the second suspension mechanism is used to keep the second fuselage frame stable.

7. A collection method using dual robots for airport baggage cart collection, based on any one of claims 1-6, characterized in that, The collection method includes the following steps: Obtain the locations of several luggage carts within a preset spatial range; Calculate the collection and stacking location based on the location of several luggage carts; The robot front vehicle and robot rear vehicle are controlled to collect and stack several luggage carts in an array at the collection and stacking location, wherein the robot front vehicle is controlled to fix the front handle of the luggage cart at the front of the luggage cart array, so that the luggage cart array is fixed. Determine whether the number of luggage carts in the luggage cart array has reached the preset number of luggage carts; If so, stop collecting and stacking luggage carts, and control the front and rear robot vehicles to pull the front and rear ends of the luggage cart array respectively, moving the luggage cart array to the preset parking location.

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