Automatic empty luggage basket recovery system

Abstract

An automatic empty luggage basket recycling system comprises an integrated dispatching system, a wireless communication module, a composite robot and a first AMR transport vehicle. The integrated dispatching system is in communication connection with the composite robot and the first AMR transport vehicle through the wireless communication module; the composite robot comprises a visual camera, a pickup device, a second AMR transport vehicle and a collaborative robot, and the collaborative robot is installed on the second AMR transport vehicle; the visual camera and the pickup device are respectively mounted on an end effector of the collaborative robot; the first AMR transport vehicle and the second AMR transport vehicle are each provided with a bearing table. Through the coordination command of the integrated dispatching system, the composite robot and the AMR transport vehicle are used for picking, stacking and transporting empty baskets, and the empty basket recovery operation is automatically completed. And manual repeated heavy physical labor is replaced, the human resource cost is greatly reduced, and the empty luggage basket recycling efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of empty luggage basket recovery devices, in particular to an automatic empty luggage basket recovery system. Background Art

[0002] In large or super-large hub airports, the airport baggage claim hall is usually large, and there are usually dozens of baggage claim carousels, which are divided into domestic and international arrival passenger baggage claim areas, so that passengers can quickly get their luggage on the corresponding claim carousels. With the rapid growth of the number of flights and passengers, the airport has invested huge manpower and material resources in this regard to improve the passengers' experience in the baggage claim process; in the actual operation process, ground service personnel place the unloaded luggage on the baggage loading platform and transmit it to the baggage claim carousel in the baggage claim hall through the conveyor system, and passengers take the luggage away by themselves; but in order to prevent some small bags, soft bags and other non-standard luggage from being blocked during the conveyor transmission process, causing transmission failures, causing delays in passengers' luggage collection and affecting the passenger experience, ground service personnel put such luggage into special empty luggage baskets and import them into the conveyor system to upload them to the baggage claim carousel. After the passengers take the luggage away, the empty luggage baskets are collected by the hall service staff, and then returned to the baggage back hall or transported to the check-in counter through a special system for recycling.

[0003] Currently, the entire process of empty basket recycling relies entirely on manual operation. The service staff in the collection hall need to manually remove the empty baskets from the circular collection turntable, place them on the transfer cart, and push them to the designated location to unload the baskets. The hall service staff then pushes the transfer cart to the next collection turntable to perform the next cycle operation. The entire process of empty baggage basket recycling has problems such as high labor demand, high labor intensity, cumbersome management, high operating costs, and low recycling efficiency. Utility Model Content

[0004] In order to solve the deficiencies in the prior art, the purpose of the utility model is to provide an automatic luggage empty basket recovery system to pick up, stack and transport the empty baskets and complete the empty basket recovery operation.

[0005] To achieve the above-mentioned purpose, the utility model provides an automatic baggage empty basket recovery system, comprising: an integrated dispatching system, a wireless communication module, a composite robot, and a first AMR transport vehicle;

[0006] The integrated scheduling system is communicatively connected with the composite robot and the first AMR transport vehicle via the wireless communication module;

[0007] The composite robot comprises: a visual camera, a picking device, a second AMR transport vehicle, and a collaborative robot, wherein:

[0008] The collaborative robot is installed on the second AMR transport vehicle;

[0009] The visual camera and the picking device are respectively mounted on the end effector of the collaborative robot;

[0010] The first AMR transport vehicle and the second AMR transport vehicle are both provided with a carrying platform.

[0011] Furthermore, the picking device is a suction cup or a mechanical clamping device.

[0012] Furthermore, the bearing platform is provided with a lifting mechanism and a rotating mechanism.

[0013] Furthermore, the first AMR transport vehicle and the second AMR transport vehicle are both equipped with laser radar, visual cameras, clearance light strips and safety edge touch modules.

[0014] Furthermore, the wireless communication module includes: a main router and a plurality of wireless access points connected thereto.

[0015] Compared with the prior art, the automatic luggage basket recovery system of the utility model has the following beneficial effects:

[0016] Through the coordinated command of the integrated scheduling system, composite robots and AMR transport vehicles pick up, stack and transport empty baskets, automatically completing the empty basket recycling operation; replacing and significantly reducing repetitive heavy physical labor, greatly reducing human resource costs, and improving the efficiency of empty baggage basket recycling.

[0017] Other features and advantages of the present invention will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 This is a schematic diagram of the structure of an automatic luggage empty basket recovery system according to an embodiment of the utility model;

[0020] Figure 2 A schematic diagram of the structure of a composite robot according to an embodiment of the utility model;

[0021] Figure 3 It is a schematic structural diagram of an AMR transport vehicle according to an embodiment of the utility model. DETAILED DESCRIPTION

[0022] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0023] The embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0024] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more". "Plurality" should be understood as two or more.

[0025] It should be understood that although the terms "first", "second", etc. may be used herein to describe various modules, these modules should not be limited by these terms. These terms are used only to distinguish one feature from another. For example, without departing from the scope of the exemplary embodiments, a first feature may be referred to as a second feature, and similarly, a second feature may be referred to as a first feature.

[0026] In the description of the present invention, it should be understood that the terms "upper", "lower", "one side", "top", "inside", "front", "two ends" and the like that may be mentioned to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and 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, and therefore cannot be understood as a limitation on the present invention.

[0027] In the present utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and the like 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 an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0028] In order to make the purpose, technical solution and advantages of the present invention more clear, the implementation mode of the present invention will be further described in detail below with reference to the accompanying drawings.

[0029] Figure 1 FIG. 1 is a schematic diagram of the structure of an automatic luggage basket recovery system according to an embodiment of the utility model. Figure 1 As shown, the automatic baggage empty basket recovery system of the present invention includes: an integrated scheduling system 10, a wireless communication module 20, a composite robot 30 and a first AMR transport vehicle 40.

[0030] The integrated dispatching system 10 dispatches the compound robot 30 through the wireless communication module 20; the integrated dispatching system 10 is used to receive flight baggage information and completion information of the baggage loading platform to form a baggage empty basket recovery task, and at the same time collects the operation status, task status and other information of the compound robot 30 and the first AMR transport vehicle 40 through the dedicated wireless communication module 20, and forms a task instruction based on this and dispatches it to the compound robot 30 and the first AMR transport vehicle 40, so that they arrive at the designated position of the designated baggage claim carousel to perform the empty baggage basket picking and stacking work; the compound robot 30 is mainly responsible for the empty baggage basket identification, picking and stacking functions, and at the same time has a load-bearing platform for placing the empty baggage basket 50, and can also perform the empty basket transportation and unloading tasks when the first AMR transport vehicle 40 is fully occupied; the first AMR transport vehicle 40 performs the empty basket transportation and unloading tasks, reducing the transportation workload of the compound robot 30 to improve the empty baggage basket recovery efficiency.

[0031] In the embodiment of the present invention, the first AMR transport vehicle 40 may be an AMR transport vehicle cluster. AMR is the abbreviation of Automatic Mobile Robot, an autonomous mobile robot, generally a wheeled or humanoid robot, carrying various sensors and having an autonomous mobile function.

[0032] In the embodiment of the utility model, the integrated scheduling system 10 and the wireless communication module 20 are connected by optical fiber; the wireless communication module 20 includes a main router 21 and multiple wireless access points 22 (APs) connected thereto; the wireless communication module 20 and the composite robot 30 and the AMR transport vehicle 40 are connected via a dedicated WIFI network.

[0033] In the embodiment of the utility model, the integrated scheduling system 10 has an information interface, which can receive data such as port and shipping flight information, baggage unloading information, and baggage upload completion information on the baggage loading platform as the basis for task scheduling. According to the operating rules of the baggage collection hall and the formulation of scheduling strategies, the task allocation scheduling, path planning, charging management and traffic management of the composite robot cluster during operation are automatically realized; the task of empty basket recovery is assigned to the composite robot 30 and the AMR transport vehicle (33, 40) through the wireless communication module 20, and they are instructed to arrive at the designated position of the task extraction turntable in advance to prepare for the empty basket recovery operation, and after completing the extraction turntable operation, they are instructed to transport to the designated location to unload the basket or run to the next turntable to perform the empty basket recovery operation; at the same time, the integrated scheduling system 10 collects the speed, position, direction, environmental information, task status, battery status and other information of the composite robot 30 and the AMR transport vehicle (33, 40) for supervision.

[0034] In the embodiment of the utility model, the wireless communication module 20 is responsible for two-way communication between the compound robot 30, the AMR transport vehicle 40 (or the AMR transport vehicle cluster) and the integrated scheduling system 10, uploading the speed, position, direction, environmental information, task status and other information of the compound robot 30 and the AMR transport vehicle cluster to the integrated scheduling system 10, and at the same time sending the command and dispatch instructions, supervision instructions, etc. issued by the integrated scheduling system 10 to each compound robot 30 and AMR transport vehicle 40.

[0035] Figure 2 FIG. 1 is a schematic diagram of the structure of a composite robot according to an embodiment of the utility model. Figure 2 As shown, the composite robot 30 of this embodiment includes: a visual camera 31, a picking device 32, a second AMR transport vehicle 33, and a collaborative robot 34;

[0036] The collaborative robot 34 is installed on the support platform 331 of the second AMR transport vehicle 33, and a visual camera 31 (eye-on-hand mode) and a picking device 32 (a mechanical clamping structure is used in this embodiment) are installed at the end (actuator) of the collaborative robot 34.

[0037] In this embodiment, the compound robot 30 is composed of a second AMR transport vehicle 33 with an autonomous navigation function, a collaborative robot 34 with 6 degrees of freedom, a visual camera 31 and a picking device 32 for an empty basket 50. The compound robot 30 runs in a circular manner at a designated position of the baggage claim carousel. The visual camera 31 captures and identifies the position, placement angle and movement state of the empty basket 50, guides the collaborative robot 34 to move to complete the picking of the empty basket 50, and preferentially stacks the empty baskets 50 on the load-bearing platform 42 of the first AMR transport vehicle 40. After a certain number of empty baskets are stacked, the first AMR transport vehicle 40 transports the empty baskets 50 to a designated location for unloading. At this time, the integrated scheduling system 10 schedules an idle AMR transport vehicle 40 to take over the empty baskets 50 picked up by the compound robot 30, or when there is no idle AMR transport vehicle 40, the compound robot 30 stacks the empty baskets on its own load-bearing platform (i.e., the load-bearing platform of the second AMR transport vehicle 33). After a certain number of empty baskets are stacked, the empty basket transportation is also performed.

[0038] In the embodiment of the utility model, the collaborative robot 34 is provided with a collision detection module. If a collision occurs with the surrounding environment, the compound robot 30 will quickly stop moving to reduce the collision damage; a suction cup or a mechanical clamping device is installed at the end of the collaborative robot 34 to realize the grabbing operation of the empty luggage basket, and a visual camera 31 is installed at this end position to realize the detection and identification of the position, placement angle and movement state of the static or moving empty basket on the extraction turntable, guide the collaborative robot 34 to complete the grabbing of the empty basket and stack the empty basket on the load-bearing platform of the compound robot 30 itself or the load-bearing platform of the first AMR transport vehicle 40, so as to realize the automatic moving and stacking of the empty luggage basket.

[0039] Figure 3 FIG. 1 is a schematic diagram of the structure of an AMR transport vehicle according to an embodiment of the utility model. Figure 3 As shown, the AMR transport vehicle 40 of the present invention includes a main body 41 , a groove-shaped carrying platform 42 is provided on the top of the main body 41 , an autonomous robot system is built in the main body 41 , and wheels 43 are installed on the bottom of the main body 41 .

[0040] In this embodiment, the first AMR transport vehicle 40 and the second AMR transport vehicle 33 both adopt existing AMR transport vehicles, which are provided with lifting and rotating mechanisms to realize the lifting and rotating functions, and can unload baskets in piles on the basket unloading shelf or transfer them in piles; the compound robot 30 and the AMR transport vehicle 40 are provided with multiple safety configurations such as laser radar, visual camera, clearance light strip, safety edge contact module, etc., to realize functions such as regional shielding, safe speed limit, safety protection parking, and system emergency parking, which can ensure that the compound robot 30 and the AMR transport vehicle 40 can stably transport empty luggage baskets in a mixed human-machine operation environment; a dynamic obstacle avoidance module is also provided to realize the dynamic obstacle avoidance function and fully avoid collision accidents.

[0041] In this embodiment, the AMR transport vehicle itself has the functions of simultaneous positioning and mapping. It can position itself, move in the environment, complete the construction of the scene map, plan the path according to the current position and task destination, and dynamically avoid obstacles while moving, thereby achieving autonomous driving. Its carrying platform has the functions of lifting and rotating, which meets the functional requirements of quickly stacking and unloading baskets.

[0042] Compared with the existing manual recycling operation, the beneficial effects of the utility model are as follows:

[0043] (1) The recycling operation is automated, requiring only a small amount of personnel for maintenance and auxiliary work;

[0044] (2) Under the coordination and command of the integrated scheduling system, the composite robot and AMR transport vehicle automatically complete the picking, stacking and automatic transportation of empty baskets. With the support of automatic navigation, automatic obstacle avoidance, path planning, cluster scheduling, collision detection and other technologies, the composite robot and AMR transport vehicle can operate safely and stably in a mixed human-machine operation environment and automatically complete the empty basket recovery operation;

[0045] (3) Replace and significantly reduce repetitive heavy manual labor to complete empty basket operation;

[0046] (4) Do not occupy the space around the baggage claim carousel for a long time, do not damage the original environment, and do not add additional equipment;

[0047] (5) Robot clusters have high operating efficiency and flexible deployment;

[0048] (6) Strong adaptability and flexible layout. It can be applied to other airport activities by only changing the program without changing the hardware configuration.

[0049] Those skilled in the art can understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic baggage empty basket recovery system, characterized in that: include: Integrated dispatching system, wireless communication module, composite robot, and the first AMR transporter; The integrated scheduling system is communicatively connected with the composite robot and the first AMR transport vehicle via the wireless communication module; The composite robot comprises: a visual camera, a picking device, a second AMR transport vehicle, and a collaborative robot, wherein: The collaborative robot is installed on the second AMR transport vehicle; The visual camera and the picking device are respectively mounted on the end effector of the collaborative robot; The tops of the first AMR transport vehicle and the second AMR transport vehicle are both provided with a carrying platform for placing empty luggage baskets.

2. The automatic baggage empty basket recovery system according to claim 1, characterized in that: The picking device is a suction cup or a mechanical clamping structure.

3. The automatic baggage empty basket recovery system according to claim 1, characterized in that: The first AMR transport vehicle and the second AMR transport vehicle both adopt existing AMR transport vehicles provided with a lifting mechanism and a rotating mechanism.

4. The automatic baggage empty basket recovery system according to claim 1, characterized in that: The first AMR transport vehicle and the second AMR transport vehicle are both equipped with laser radar, visual cameras, clearance light strips and safety touch edge modules.

5. The automatic baggage empty basket recovery system according to claim 1, characterized in that: The wireless communication module includes: a main router and a plurality of wireless access points connected thereto.

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