Luggage barrow traction system

Abstract

The utility model relates to the technical field of airport luggage traction, in particular to a luggage barrow traction system which comprises a tractor, a control center and at least one auxiliary device, the tractor is used for dragging a luggage barrow, and the auxiliary device is used for monitoring the environment conditions of the tractor and the periphery of the luggage barrow. The tractor, the control center and the at least one auxiliary device communicate with one another. The luggage barrow traction system is provided with at least one auxiliary device which is used for monitoring the environment conditions around the tractor and the luggage barrow, the tractor, the control center and the at least one auxiliary device communicate with each other, and the auxiliary device can enable the tractor and the luggage barrow to avoid obstacles. The luggage barrow is prevented from colliding with an obstacle in the traction process of the tractor, the traction and movement efficiency of the tractor on the luggage barrow is higher, in addition, after the auxiliary device is arranged, workers do not need to conduct on-site commanding, on-site accidents are reduced, and manpower is saved.

Description

Technical Field

[0001] The present application relates to the technical field of airport baggage traction, and in particular to a baggage trolley traction system. Background Art

[0002] Airport unmanned automatic navigation baggage tractors are a common means of baggage transportation. The existing airport baggage tractors are roughly divided into three categories: self-propelled, trailer-type and box-type.

[0003] The patent application with application number 202311763037.5 discloses an airport unmanned automatic navigation baggage tractor, including a frame, an outer compartment, an inner compartment, a storage basket, an upper half moving component and a lower half moving component. The outer compartment and the inner compartment are fixedly installed on the frame, and the four side walls of the inner compartment are provided with guide grooves that run through the entire side walls. The storage basket is slidably installed in the inner compartment, the upper half moving components are symmetrically installed on the two short side walls of the outer compartment, and the lower half moving components are symmetrically installed on the two long side walls of the outer compartment. The storage basket is alternately connected to the upper half moving component and the lower half moving component through a locking component, and when the storage basket moves from the upper half moving component to the lower half moving component, the locking component locks the upper half moving component. The combined effect of the three enables the tractor to load more luggage, complete convenient loading and unloading, and reduce the number of traction times. However, when the luggage towed by the luggage tractor is too long, blind spots are likely to appear, and the tractor cannot avoid obstacles in time when encountering obstacles, thus affecting the safety of autonomous driving. Utility Model Content

[0004] In view of the deficiencies or problems existing in the prior art, the present application provides a luggage trolley traction system, which can automatically traction luggage to a designated area and avoid obstacles in time, making traction of luggage more efficient and safer.

[0005] The technical solution adopted by the present application to solve the above-mentioned technical problems is: a luggage cart traction system, including a tractor, a control center and at least one auxiliary device, the tractor is used to tow the luggage cart, the auxiliary device is used to monitor the environmental conditions of the tractor and the surrounding area of ​​the luggage cart, and the tractor, the control center and at least one auxiliary device communicate with each other.

[0006] As a preferred embodiment, the auxiliary device is provided with a first control system, a first communication module, a first guidance module and a first target recognition module. The first target recognition module is used to obtain the environmental conditions around the tractor and the luggage. The first communication module, the first guidance module and the first target recognition module are respectively connected to the first control system, and the first communication module is connected to the control center.

[0007] In some embodiments, the first target recognition module is provided with a visual recognition mechanism or a radar recognition mechanism to recognize external information such as the model and color of the tractor, so that the auxiliary device can recognize the tractor.

[0008] In some embodiments, the first guide module is positioned by a magnetic member. Preferably, the magnetic member is a magnetic strip or a magnetic nail.

[0009] In some embodiments, the first guiding module is laser positioning.

[0010] In some embodiments, the first guidance module is visual positioning.

[0011] In some embodiments, the first guidance module is inertial positioning.

[0012] In some embodiments, the first guidance module is radar positioning.

[0013] In some embodiments, the first guidance module is GPS positioning.

[0014] In some embodiments, the first guidance module is Beidou positioning.

[0015] In some embodiments, the first guidance module is LBS positioning.

[0016] In some embodiments, the first guidance module is WIFI positioning.

[0017] In some embodiments, the first guidance module is 4G / 5G positioning.

[0018] In some embodiments, the first guidance module is Bluetooth positioning.

[0019] In some embodiments, the first guidance module is UWB positioning.

[0020] In some embodiments, the first guidance module is AOA positioning.

[0021] In some embodiments, the first guidance module is LORA positioning.

[0022] In some embodiments, the first guidance module is RFID positioning.

[0023] In some embodiments, the first guidance module is geomagnetic positioning.

[0024] In some embodiments, the first guiding module is a combination of any two or more of the above positioning methods.

[0025] As a preferred embodiment, a first anti-collision mechanism is provided on the auxiliary device, and the first anti-collision mechanism is connected to the first control system. The first anti-collision mechanism is used to make emergency braking of the auxiliary device to avoid collision between the auxiliary device and obstacles, reduce damage to components and outer surface shell of the auxiliary device caused by collision, and thereby reduce maintenance frequency and maintenance costs.

[0026] As a preferred embodiment, the auxiliary device is provided with a first alarm mechanism, and when the tractor tows the luggage to move, the first alarm mechanism is activated, and the first alarm mechanism is connected to the first control system.

[0027] Preferably, the first alarm mechanism sounds an alarm by emitting light or sound or a combination of light and sound.

[0028] As a preferred embodiment, the auxiliary device is provided with a first manipulator and / or a first lifting mechanism, and the first manipulator and / or the first lifting mechanism are used to assist the connection between the tractor and the luggage cart or between luggage carts.

[0029] As a preferred embodiment, the auxiliary device is provided with an automatic docking mechanism, which is used to connect the auxiliary device with the tractor, and the automatic docking mechanism is connected to the first control system. When the tractor and the auxiliary device finish working, the automatic docking mechanism connects the auxiliary device with the tractor, and the auxiliary device enters the designated area together with the tractor. In this way, the auxiliary device does not need to consume additional energy, and the tractor can provide power. Such a setting is more energy-saving; in addition, if the auxiliary device and the tractor enter the designated area separately, more venues and space will be occupied, which will make the airport more messy, which will increase the probability of collision incidents in the airport. Connecting the auxiliary device with the tractor before entering the designated area can reduce the waste of space, make the venue more tidy and orderly, and reduce the probability of collision incidents.

[0030] As a preferred embodiment, the auxiliary device is an auxiliary vehicle or an auxiliary drone.

[0031] As a preferred embodiment, the auxiliary drone is provided with an adsorption mechanism, which can enable the auxiliary drone to be adsorbed on a luggage cart or a tractor, and the adsorption mechanism is connected to the first control system.

[0032] As a preferred embodiment, the tractor is provided with a second control system, a second communication module, a second guidance module and a second target recognition module, the second target recognition module is used to obtain the environmental conditions around the tractor and the luggage, the second communication module, the second guidance module and the second target recognition module are respectively connected to the second control system, and the second communication module is connected to the control center; the tractor is also provided with a towing mechanism, and the towing mechanism is used to dock with the luggage cart.

[0033] In some embodiments, the tractor is further provided with a second manipulator and / or a second lifting mechanism, which is used to assist the connection between the tractor and the luggage cart or the connection between luggage carts; the second target recognition module is provided with a visual recognition mechanism or a radar recognition mechanism, so that the tractor can identify and match the luggage cart and the surrounding environment, and the second target recognition module is used to assist the towing mechanism to dock with the luggage cart.

[0034] In some embodiments, the second guide module is positioned by a magnetic member. Preferably, the magnetic member is a magnetic strip or a magnetic nail.

[0035] In some embodiments, the second guiding module is laser positioning.

[0036] In some embodiments, the second guidance module is visual positioning.

[0037] In some embodiments, the second guidance module is inertial positioning.

[0038] In some embodiments, the second guidance module is radar positioning.

[0039] In some embodiments, the second guidance module is GPS positioning.

[0040] In some embodiments, the second guidance module is Beidou positioning.

[0041] In some embodiments, the second guidance module is LBS positioning.

[0042] In some embodiments, the second guidance module is WIFI positioning.

[0043] In some embodiments, the second guidance module is 4G / 5G positioning.

[0044] In some embodiments, the second guidance module is Bluetooth positioning.

[0045] In some embodiments, the second guidance module is UWB positioning.

[0046] In some embodiments, the second guidance module is AOA positioning.

[0047] In some embodiments, the second guidance module is LORA positioning.

[0048] In some embodiments, the second guidance module is RFID positioning.

[0049] In some embodiments, the second guidance module is geomagnetic positioning.

[0050] In some embodiments, the second guiding module is a combination of any two or more of the above positioning methods.

[0051] As a preferred embodiment, the tractor is provided with a monitoring module, the monitoring module is connected to the second control system, the monitoring module is provided with a mechanical sensor, and the monitoring module is used to monitor whether the force of the tractor towing the luggage is within a preset range.

[0052] As a preferred embodiment, the tractor is provided with a second anti-collision mechanism, which is connected to a second control system. The second anti-collision mechanism is used to perform emergency braking of the tractor to avoid collision between the tractor and obstacles, reduce damage to components and outer surface shell of the tractor caused by collision, and thereby reduce maintenance frequency and maintenance costs.

[0053] As a preferred embodiment, the tractor is provided with a charging port, and the charging port is used to connect to a charging pile.

[0054] As a preferred embodiment, the luggage trolley traction system further includes a general communication module and a general navigation module, and the general communication module and the general navigation module are respectively connected to the control center.

[0055] Compared with existing products, since the luggage cart traction system is provided with at least one auxiliary device, the auxiliary device is used to monitor the environmental conditions around the tractor and the luggage cart. The tractor, the control center and at least one auxiliary device communicate with each other. The auxiliary device can enable the tractor and the luggage cart to avoid obstacles and prevent the luggage cart from colliding with obstacles while being towed by the tractor, thereby making the tractor more efficient in towing and moving the luggage cart. In addition, after the auxiliary device is set up, there is no need for staff to conduct on-site command, which not only reduces the occurrence of on-site accidents but also saves manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The present application will be further described in detail below in conjunction with the accompanying drawings and preferred embodiments, but those skilled in the art will appreciate that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be used as a limitation on the scope of the present application. In addition, unless otherwise specified, the drawings are only schematically representing the composition or structure of the described objects and may contain exaggerated displays, and the drawings are not necessarily drawn to scale.

[0057] Figure 1 This is one of the structural schematic diagrams of a luggage cart traction system of the present application;

[0058] Figure 2 This is the second structural schematic diagram of a luggage cart traction system of the present application;

[0059] Figure 3 This is the third structural schematic diagram of a luggage cart traction system of the present application.

[0060] Description of reference numerals:

[0061] 1. Tractor; 2. Auxiliary device; 3. Second target recognition module; 4. Second guidance module; 5. Luggage cart; 6. First target recognition module; 7. First guidance module. DETAILED DESCRIPTION

[0062] In order to enable those skilled in the art to better understand the technical solution of the present application, the present application is described in detail, clearly and completely in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0063] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0064] Please see Figures 1 to 3As shown, an embodiment of the present application discloses a luggage cart traction system, including a tractor 1, a control center and two auxiliary devices 2. In this embodiment, the auxiliary device 2 is an auxiliary vehicle. The two auxiliary vehicles can be arranged on the left and right sides or the front and rear sides of the luggage cart 5. Of course, if the tractor 1 tows a large number of luggage carts 5 and the luggage carts 5 are arranged in a long queue, three or more auxiliary vehicles can also be arranged. The tractor 1 includes a frame, a steering wheel and two second driving wheels are arranged at the bottom of the frame, the frame is provided with a storage bin, and luggage can be placed in the storage bin. The rear of the frame is provided with a connecting portion for connecting the luggage cart 5, and the luggage cart 5 is placed on the luggage cart. The head and tail of each luggage cart 5 are provided with a connecting assembly for connecting the frame or the luggage cart 5. The first luggage cart 5 is connected to the frame, and the following luggage carts 5 are connected head to tail in sequence. The luggage is checked in the tractor 1 of the tractor 1. The auxiliary vehicle is used to monitor the environmental conditions around the tractor 1 and the luggage cart 5 to avoid blind spots when the luggage towed by the tractor 1 is too long, resulting in untimely obstacle avoidance. The auxiliary vehicle is provided with a first communication module and a first guide module 7, and the tractor 1 is provided with a second communication module and a second target identification module 3, and the first communication module and the second communication module are respectively connected to the control center. The auxiliary vehicle communicates with the control center through the first communication module, and the control center issues instructions to the tractor 1 through the second communication module. The tractor 1 identifies the luggage cart 5 through the second target identification module 3 under the control of the control center.

[0065] It is understandable that the luggage trolley traction system also includes a general communication module and a general navigation module, which are respectively connected to the control center, and the control center, the general communication module and the general navigation module together are equivalent to a tower. The general navigation module adopts but is not limited to inertial navigation or WIFI navigation or RFID navigation. The tractor 1 and the auxiliary device 2 can communicate with each other, and the tractor 1 and the auxiliary device 2 can also communicate with each other respectively with the control center.

[0066] The first guide module 7 is used to monitor the distance between the luggage cart 5 and the obstacle, and transmit the distance information to the control center. After analyzing the distance information, the control center issues instructions to the driving path of the tractor 1, so that the luggage cart 5 avoids the obstacle, that is, the auxiliary device 2 plays the role of a sentinel, preventing the luggage cart 5 from colliding with the obstacle during the traction process of the tractor 1, thereby reducing the occurrence of accidents; after the distance information is transmitted to the control center, the control center analyzes the distance information and instructs the tractor 1 to pull the luggage cart 5 to move to the side with a larger space, that is, the auxiliary device 2 plays the role of auxiliary navigation, so that the tractor 1 has a higher efficiency in pulling and moving the luggage cart 5, which is conducive to a good traffic order at the airport. It can be understood that since the tractor 1 itself is provided with the second guide module 4, it has its own navigation function, but due to the large number of luggage carts 5 towed, the long queue of luggage carts 5 and the complex airport environment, the auxiliary device 2 is needed for auxiliary navigation. It should be noted that the auxiliary device 2 is provided with a first control system, and the tractor 1 is provided with a second control system. The auxiliary device 2 can transmit information to the control center through the first communication module, and the control center transmits the information to the tractor 1 through the second communication module. The control system of the tractor 1 analyzes the information and guides the movement of the tractor 1; or the auxiliary device 2 can transmit information to the control center through the first communication module, and the control center processes the information and directly issues instructions to the tractor 1 through the second communication module, and the tractor 1 moves under the instructions of the control center; or the auxiliary device 2 directly transmits information to the tractor 1 through the first communication module and the second communication module, and the second control system analyzes the information and guides the movement of the tractor 1. The tractor 1 in the present application is provided with a cockpit. It can be understood that the tractor 1 in the present application can be driven manually or in an automatic driving mode. The present application focuses on the automatic driving mode. It should be noted that when the tractor 1 is towing the luggage cart 5, the number of luggage carts 5 is large and long like a train. Even if the tractor 1 is driven manually, it is difficult to notice the blind spots. Therefore, whether the tractor 1 adopts manual driving or automatic driving mode, the guidance of the auxiliary device 2 is required.

[0067] Since the tractor 1 and the luggage cart 5 are constantly moving when the tractor 1 is towing the luggage cart 5, during this process, the staff or other work vehicles at the airport are likely to collide with the tractor 1 and the towed luggage cart 5. The auxiliary device 2 is provided with a first alarm mechanism. When the tractor 1 is towing the luggage cart 5, the first alarm mechanism works, and the first alarm mechanism is connected to the first control system and the control center respectively. When the tractor 1 is towing the luggage cart 5, the first control system or the control center controls the first alarm mechanism to alarm, so as to remind or warn the surrounding staff or other motor vehicles, so that the surrounding staff or other motor vehicles do not approach to avoid accidents. Preferably, the first alarm mechanism alarms by emitting light or sound or a combination of sound and light.

[0068] Furthermore, the auxiliary device 2 is also provided with a first target recognition module 6, which is used to detect and obtain the environmental conditions around the tractor 1 and the luggage cart 5. The first target recognition module 6 is connected to the first control system, and the first target recognition module 6 includes a camera and a laser radar, or a camera and an infrared sensor. It should be noted that the environmental information around the luggage cart 5 includes whether there are staff members and obstacles around the target luggage cart 5, as well as the distance between the staff members, obstacles and the luggage cart 5. The environmental information around the luggage cart 5 is obtained mainly to avoid accidents.

[0069] In one embodiment of the present application, the first target recognition module 6 is provided with a visual recognition mechanism. The visual recognition mechanism can recognize the location of the luggage cart 5, the barcode or QR code on the luggage and other external information, so that the auxiliary device 2 can recognize the luggage cart 5. Preferably, the visual recognition mechanism is a camera.

[0070] In one embodiment of the present application, the first target recognition module 6 is provided with a radar recognition mechanism. Preferably, the radar recognition mechanism includes but is not limited to ultrasonic recognition or laser recognition.

[0071] In one embodiment of the present application, the first guide module 7 is a magnetic positioning and guiding method. Specifically, the magnetic parts here include but are not limited to magnetic strips or magnetic nails. The principle of magnetic positioning is based on the principle of magnetic field induction. The magnetic parts are composed of a series of magnetic materials with different polarities. Positioning and navigation are performed through the magnetic field induction generated by the magnetic parts. The magnetic positioning and guiding method is accurate and low-cost.

[0072] In one embodiment of the present application, the first guidance module 7 is a laser positioning guidance method, and a laser transmitter is installed on the auxiliary device 2. Laser positioning is achieved by ranging, that is, a laser signal is emitted, and the distance is calculated based on the time difference of the signal reflected from the object. The angle between the obstacle and the transmitter is determined based on the angle of the emitted laser, thereby obtaining the distance between the transmitter and the obstacle.

[0073] In one embodiment of the present application, the first guidance module 7 is a visual positioning guidance method. A camera is installed on the auxiliary device 2, and the camera is used to obtain image information of the environment, and then the image is analyzed through image processing and visual algorithms, and information related to the position is extracted to determine the position. The visual positioning guidance method can better handle complex environments and large-scale scenes.

[0074] In one embodiment of the present application, the first guidance module 7 is an inertial positioning guidance method, which has high accuracy and reliability and stable performance.

[0075] In one embodiment of the present application, the first guidance module 7 is a radar positioning guidance method. A radar system is installed on the auxiliary device 2. The signal sent by the radar system will be reflected back by the obstacle. The radar system that receives the reflected wave will calculate the distance and direction between the obstacle and the radar system, thereby determining the position of the obstacle.

[0076] In one embodiment of the present application, the first guidance module 7 is a GPS positioning guidance method. GPS positioning is also called the Global Positioning System, which is a medium-range circular orbit satellite navigation system with a wide range of applications and high positioning efficiency.

[0077] In one embodiment of the present application, the first guidance module 7 is a Beidou positioning guidance method.

[0078] In one embodiment of the present application, the first guidance module 7 is an LBS positioning guidance method. The full name of LBS is Location Based Service, which refers to a value-added service that obtains the location information of mobile terminal users through the radio communication network of telecommunications mobile operators or external positioning methods, and provides users with corresponding services with the support of a GIS (Geographic Information System) platform.

[0079] In one embodiment of the present application, the first guidance module 7 is a WIFI positioning guidance mode. The principle of WIFI positioning is to establish a model based on the relationship between the known position and the signal strength of the corresponding WIFI network, and then use the model to perform positioning calculation by measuring the current WIFI signal strength of the device. The model can be established using training data of the known position and the signal strength of the corresponding WIFI network, and modeled through algorithms such as machine learning to improve the accuracy of positioning.

[0080] In one embodiment of the present application, the first guidance module 7 is a 4G / 5G positioning guidance method.

[0081] In one embodiment of the present application, the first guidance module 7 is a Bluetooth positioning guidance method.

[0082] In one embodiment of the present application, the first guidance module 7 is a UWB positioning guidance method. UWB stands for Ultra WideBand, which is an ultra-wideband positioning technology. It is a positioning technology based on wireless communication and uses short pulse signals for communication and positioning. A UWB system is installed on the auxiliary device 23. The UWB system includes a UWB receiver, a UWB reference tag, and an active UWB tag. During the positioning process, the UWB receiver receives the UWB signal emitted by the tag, and obtains a signal containing effective information by filtering various noise interferences mixed in the electromagnetic wave transmission process, and then performs ranging positioning calculation and analysis through the central processing unit. UWB positioning technology can reach the centimeter level, with high reliability and strong anti-interference ability.

[0083] In one embodiment of the present application, the first guidance module 7 is an AOA positioning guidance method. AOA stands for Angle of Arrival, which is a high-precision positioning technology based on the propagation characteristics of wireless signals. It has the advantages of high precision, high concurrency, low power consumption, low cost and high compatibility.

[0084] In one embodiment of the present application, the first guidance module 7 is a LORA positioning guidance method. The full name of LORA is LongRange. The core algorithm of LORA positioning is a triangulation positioning algorithm. This algorithm regards the target position as the center of a circle and the reference node position as a point on the circle. The position of the target device is determined by the intersection of the circle formed by three or more reference nodes. It has the advantages of low energy consumption and long distance.

[0085] In one embodiment of the present application, the first guidance module 7 is an RFID positioning guidance method. The RFID positioning technology is based on the principle of wireless radio frequency communication. It includes three basic components: RFID tag, RFID reader and position calculation algorithm (or locator). The RFID tag is a small electronic device that can store and transmit data. It has a built-in microchip and antenna. It communicates wirelessly with the reader by receiving whisker signals and transmitting wireless radio frequency signals. The RFID reader is responsible for transmitting radio frequency signals and receiving information returned by the RFID tag. The position calculation algorithm calculates the specific position of the tag based on indicators such as signal strength and arrival time difference, using methods such as triangulation positioning or fingerprint positioning, or installing a locator to achieve precise positioning management.

[0086] In one embodiment of the present application, the first guidance module 7 is a geomagnetic positioning guidance method. Geomagnetic positioning is a relatively mature positioning technology. In fact, the method of positioning using the earth's magnetic field has high reliability and accuracy.

[0087] In an embodiment of the present application, the first guiding module 7 can be any one of the above positioning methods or a combination of any two or more of them.

[0088] In one embodiment of the present application, a first anti-collision mechanism is provided on the auxiliary device 2, and the first anti-collision mechanism is connected to the first control system. The first anti-collision mechanism is used to emergency brake the auxiliary device 2 to avoid collision between the auxiliary device 2 and obstacles, reduce damage to the parts and outer surface shell of the auxiliary device 2 caused by collision, and thus reduce the maintenance frequency and maintenance cost. The emergency braking principle of the first anti-collision mechanism is similar to that of the sweeping robot. The first anti-collision mechanism can sense the distance information between the auxiliary device 2 and the obstacle and transmit the distance information to the first control system. When the distance is less than a certain value, the first control system will emergency brake the auxiliary device 2. The auxiliary device 2 can also be emergency braked by setting an algorithm in the first anti-collision mechanism, that is, setting a program in the first anti-collision mechanism. When the first anti-collision mechanism detects that the distance between the auxiliary device 2 and the obstacle is less than a certain value, the braking mechanism of the auxiliary device 2 will emergency brake.

[0089] Furthermore, the auxiliary device 2 is provided with an automatic docking mechanism, which is connected to the first control system and is used to connect the auxiliary device 2 with the tractor 1. When the tractor 1 and the auxiliary device 2 finish working, the automatic docking mechanism connects the auxiliary device 2 with the tractor 1, and the auxiliary device 2 enters the designated area together with the tractor 1. In this way, the auxiliary device 2 does not need to consume extra energy, and the tractor 1 can provide power. Such a setting is more energy-saving; in addition, if the auxiliary device 2 and the tractor 1 enter the designated area separately, more venues and space will be occupied, which will make the airport more messy, and thus increase the probability of collision incidents in the airport. Connecting the auxiliary device 2 with the tractor 1 before entering the designated area can reduce the waste of space, make the venue more tidy and orderly, and reduce the probability of collision incidents.

[0090] In one embodiment of the present application, the auxiliary device 2 is an auxiliary drone, and an adsorption mechanism is provided on the auxiliary drone, which can adsorb the auxiliary drone onto the luggage cart 5 or the tractor 1. When the drone needs to monitor the environmental conditions of a specific location of the luggage cart 5, the drone does not need to continue to hover above the luggage cart 5. At this time, the adsorption mechanism can be used to adsorb the drone onto the luggage cart 5 or the tractor 1 to monitor the environmental conditions of the specific location. Such a setting can increase the energy consumption of the drone, so that the drone can monitor the environmental conditions and obstacles around the luggage cart 5, that is, the tractor 1 when it is static.

[0091] The tractor 1 is provided with a second guide module 4, which is used to guide the driving direction of the tractor 1, and the second guide module 4 is connected to the second control system. It should be noted that the tractor 1 can use its own second guide module 4 for navigation, or use the auxiliary device 2 for navigation, or use its own second guide module 4 as the main navigation and the auxiliary device 2 as the auxiliary navigation for navigation. Due to the complex airport environment, as a preferred embodiment, the tractor 1 adopts the form of using its own second guide module 4 as the main navigation and the auxiliary device 2 as the auxiliary navigation for navigation, which can avoid obstacles to the greatest extent and tow the luggage cart 5 more efficiently. It should be noted that the tractor 1 can tow autonomously through the second guide module 4, or it can tow the luggage cart 5 through manual remote control.

[0092] In one embodiment of the present application, the second guiding module 4 is a magnetic positioning and guiding method.

[0093] In one embodiment of the present application, the second guiding module 4 is a laser positioning guiding method.

[0094] In one embodiment of the present application, the second guiding module 4 is a visual positioning guidance method.

[0095] In one embodiment of the present application, the second guidance module 4 is an inertial positioning guidance method.

[0096] In one embodiment of the present application, the second guidance module 4 is a radar positioning guidance method.

[0097] In one embodiment of the present application, the second guidance module 4 is a GPS positioning guidance method.

[0098] In one embodiment of the present application, the second guidance module 4 is an LBS positioning guidance method.

[0099] In one embodiment of the present application, the second guidance module 4 is a WIFI positioning guidance method.

[0100] In one embodiment of the present application, the second guidance module 4 is a 4G / 5G positioning guidance method.

[0101] In one embodiment of the present application, the second guidance module 4 is a Bluetooth positioning guidance method.

[0102] In one embodiment of the present application, the second guidance module 4 is a UWB positioning guidance method.

[0103] In one embodiment of the present application, the second guidance module 4 is an AOA positioning guidance method.

[0104] In one embodiment of the present application, the second guidance module 4 is a LORA positioning guidance method.

[0105] In one embodiment of the present application, the second guiding module 4 is an RFID positioning guiding method.

[0106] In one embodiment of the present application, the second guidance module 4 is a geomagnetic positioning guidance method.

[0107] In an embodiment of the present application, the second guiding module 4 can be any one of the above positioning methods or a combination of any two or more of them.

[0108] In one embodiment of the present application, the second target recognition module 3 is provided with a visual recognition mechanism or a radar recognition mechanism. Preferably, the radar recognition mechanism includes but is not limited to ultrasonic recognition or laser recognition.

[0109] Preferably, the tractor 1 is provided with a monitoring module, which is connected to the second control system and is provided with a mechanical sensor. The monitoring module is used to monitor whether the force of the tractor 1 pulling the luggage cart 5 is within a preset range. If it exceeds the preset range, the tractor 1 will feed back relevant information to the control center, and the control center will make further instructions based on the information. For example, when a certain luggage cart 5 scrapes a building or other obstacles during the traction process, the original pulling force of the tractor 1 cannot pull the luggage cart 5. At this time, the tractor 1 will increase the force to pull the luggage cart 5. When the mechanical sensor detects that the pulling force of the tractor 1 exceeds the preset range, the tractor 1 will feed back the information to the control center, prompting the on-site work that the pulling force of the tractor 1 is abnormal. It should be noted that when the pulling force of the tractor 1 exceeds the preset range, the tractor 1 stops pulling the luggage cart 5 to avoid damage to the luggage cart 5 or the tractor 1 due to excessive pulling force.

[0110] It should be noted that the tractor 1 is provided with a towing mechanism, which is a towing hook, and a towing point is provided at the corresponding position of the luggage cart 5, which is a towing frame or a towing hook. The towing mechanism and the towing point cooperate to connect the tractor 1 and the luggage cart 5, that is, the towing mechanism is used to dock with the towing point.

[0111] In order to make the connection between the luggage carts 5 and the connection between the luggage carts 5 and the tractor 1 more intelligent, the auxiliary device 2 is provided with a first manipulator and / or a first lifting mechanism, which is connected to the first control system and is used to assist the tractor 1 in connecting with the luggage carts 5 or connecting with the luggage carts 5. Specifically, the first target recognition module 6 recognizes the specific position and height of the towing point of each luggage cart 5, and the first manipulator and / or the first lifting mechanism lifts or lifts the luggage cart 5 to a certain height to facilitate the docking between the towing points of the two luggage carts 5. Similarly, the first target recognition module 6 recognizes the specific position and height of the towing point of the first luggage cart 5 (i.e., the lead car), and the first manipulator and / or the first lifting mechanism lifts or lifts the luggage cart 5 to a certain height to facilitate the connection between the tractor 1 and the luggage cart 5.

[0112] Furthermore, the tractor 1 is provided with a second manipulator, and the second manipulator is connected to the second control system. The tractor 1 is also provided with a second lifting mechanism, and the second lifting mechanism is used to lift or adjust the position and height of the luggage cart 5. Specifically, the second target recognition module 3 recognizes the specific position and height of the towing point of the luggage cart 5, and the second manipulator or the second lifting mechanism lifts or lifts the luggage cart 5 to a certain height to facilitate the docking between the towing points of the two luggage carts 5. Similarly, the second target recognition module 3 recognizes the specific position and height of the towing point located at the first luggage cart 5 (i.e., the lead car), and the second manipulator and / or the second lifting mechanism lifts or lifts the luggage cart 5 to a certain height to facilitate the connection between the tractor 1 and the luggage cart 5.

[0113] In one embodiment of the present application, a second anti-collision mechanism is provided on the tractor 1, and the second anti-collision mechanism is connected to the second control system. The second anti-collision mechanism is used to make the tractor 1 perform emergency braking to avoid collision between the tractor 1 and obstacles, reduce damage to the parts and outer surface shell of the tractor 1 caused by collision, and thus reduce maintenance frequency and maintenance costs. The emergency braking principle of the second anti-collision mechanism is similar to that of the first anti-collision mechanism.

[0114] Furthermore, a charging port is provided on the tractor 1, and the charging port is used to connect to a charging pile to facilitate charging of the tractor 1.

[0115] The present application is described in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the present application and its core ideas. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A luggage cart traction system, characterized in that: The invention comprises a tractor (1), a control center and at least one auxiliary device (2), wherein the tractor (1) is used for towing a luggage cart (5), the auxiliary device (2) is used for monitoring the environmental conditions around the tractor (1) and the luggage cart (5), and the tractor (1), the control center and the at least one auxiliary device (2) communicate with each other.

2. The luggage cart traction system according to claim 1, characterized in that: The auxiliary device (2) is provided with a first control system, a first communication module, a first guidance module (7) and a first target recognition module (6); the first target recognition module (6) is used to obtain environmental conditions around the tractor (1) and the luggage; the first communication module, the first guidance module (7) and the first target recognition module (6) are respectively connected to the first control system; and the first communication module is connected to a control center.

3. The luggage cart traction system according to claim 2, characterized in that: The first target recognition module (6) is provided with a visual recognition mechanism and / or a radar recognition mechanism.

4. The luggage cart traction system according to claim 2, characterized in that: The first guiding module (7) is any one or a combination of the following: Magnetic positioning; Laser positioning; Visual positioning; Inertial positioning; Radar positioning; GPS positioning; Beidou positioning; LBS positioning; WIFI positioning; Positioning for 4G / 5G; Bluetooth positioning; UWB positioning; AOA positioning; LORA positioning; RFID positioning; Geomagnetic positioning.

5. The luggage cart traction system according to claim 2, characterized in that: The auxiliary device (2) is provided with a first anti-collision mechanism, the first anti-collision mechanism is connected to a first control system, and the first anti-collision mechanism is used to cause emergency braking of the auxiliary device (2).

6. The luggage cart traction system according to claim 2, characterized in that: The auxiliary device (2) is provided with a first alarm mechanism, and when the tractor (1) tows the luggage cart (5) to move, the first alarm mechanism operates, and the first alarm mechanism is connected to a first control system.

7. The luggage cart traction system according to claim 6, characterized in that: The first alarm mechanism sounds an alarm by emitting light or sound or a combination of light and sound.

8. The luggage cart traction system according to claim 2, characterized in that: The auxiliary device (2) is provided with an automatic connection mechanism, the automatic connection mechanism is used to connect the auxiliary device (2) with the tractor (1), and the automatic connection mechanism is connected to the first control system.

9. The luggage cart traction system according to claim 1, characterized in that: The auxiliary device (2) is an auxiliary vehicle or an auxiliary drone.

10. The luggage cart traction system according to claim 9, characterized in that: The auxiliary drone is provided with an adsorption mechanism, which can enable the auxiliary drone to be adsorbed on a luggage cart (5) or a tractor (1), and the adsorption mechanism is connected to a first control system.

11. The luggage cart traction system according to claim 1, characterized in that: The tractor (1) is provided with a second control system, a second communication module, a second guidance module (4) and a second target recognition module (3); the second target recognition module (3) is used to obtain environmental conditions around the tractor (1) and the luggage; the second communication module, the second guidance module (4) and the second target recognition module (3) are respectively connected to the second control system; the second communication module is connected to the control center; the tractor (1) is also provided with a towing mechanism, and the towing mechanism is used to dock with a luggage cart (5).

12. The luggage cart traction system according to claim 11, characterized in that: The second target recognition module (3) is provided with a visual recognition mechanism and / or a radar recognition mechanism, and the second target recognition module (3) is used to assist the towing mechanism in docking with the luggage cart (5).

13. The luggage cart traction system according to claim 11, characterized in that: The tractor (1) is provided with a monitoring module, the monitoring module is connected to the second control system, the monitoring module is provided with a mechanical sensor, and the monitoring module is used to monitor whether the force of the tractor (1) pulling the luggage cart (5) is within a preset range.

14. The luggage cart traction system according to claim 11, characterized in that: The tractor (1) is provided with a second anti-collision mechanism, the second anti-collision mechanism is connected to a second control system, and the second anti-collision mechanism is used to cause emergency braking of the tractor (1).

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