Method and apparatus for separating and recycling luggage trays, robot and storage medium

Abstract

The application discloses a luggage tray separation and recovery method, a tray recovery device, a robot and a nonvolatile computer readable storage medium. The luggage tray separation and recovery method comprises collecting point cloud information of luggage and a tray to distinguish contour information of the tray; determining a pose difference value based on the contour information and a preset pose; adjusting a pose of the robot according to the pose difference value, and guiding the robot to clamp the tray during tray travel; in the case that the robot clamps the tray, controlling the robot to overturn the tray to separate the luggage from the tray; in the case that the luggage and the tray are separated, controlling the robot to keep clamping the tray and moving the tray to a preset recovery position; and in the case that the number of the trays at the preset recovery position reaches a preset number, controlling a carrying device to transfer the trays to a preset storage position. The application controls the robot to separate the tray and the luggage, and to stack the trays, and then controls the carrying device to transport the stacked trays, so as to complete recovery of the trays.

Description

Technical Field

[0001] This application relates to the field of pallet recycling technology, and more specifically, to a method for separating and recycling luggage pallets, a pallet recycling device, a robot, and a non-volatile computer-readable storage medium. Background Technology

[0002] Airport baggage systems have undergone multiple iterations and upgrades, and now have an automated logistics framework. However, when sorting baggage with trays, the separation and recycling of trays are all done manually. This not only results in low tray recycling efficiency, but also reduces baggage transport speed and affects baggage sorting efficiency. Summary of the Invention

[0003] This application provides a method for separating and recycling luggage trays, a tray recycling device, a robot, and a non-volatile computer-readable storage medium.

[0004] The method for separating and retrieving a luggage tray according to embodiments of this application includes collecting point cloud information of the luggage and the tray to distinguish the contour information of the tray; determining a pose difference based on the contour information and a preset pose; adjusting the pose of a robot according to the pose difference and guiding the robot to grip the tray during its movement; controlling the robot to flip the tray while it is gripping the tray so that the luggage is separated from the tray; controlling the robot to maintain gripping the tray while it is separated from the tray and moving the tray to a preset retrieval position; and controlling a handling device to transfer the tray to a preset storage position when the number of trays at the preset retrieval position reaches a preset number.

[0005] The pallet recycling device according to this application includes a differentiation module, a determination module, an adjustment module, a flipping module, a moving module, and a transfer module. The differentiation module collects point cloud information of the luggage and the pallet to distinguish the contour information of the pallet. The determination module determines a pose difference based on the contour information and a preset pose. The adjustment module adjusts the robot's pose according to the pose difference and guides the robot to grip the pallet during its movement. The flipping module controls the robot to flip the pallet while it is gripping it, so that the luggage is separated from the pallet. The moving module controls the robot to maintain its grip on the pallet and move the pallet to a preset recycling position when the luggage and pallet are separated. The transfer module controls a handling device to transfer the pallet to a preset storage position when the number of pallets at the preset recycling position reaches a preset number.

[0006] The robot according to this application includes a detection device and a processor. The detection device is used to collect point cloud information of luggage and a tray. The processor is used to distinguish the contour information of the tray based on the point cloud information, determine the pose difference based on the contour information and a preset pose, adjust the robot's pose according to the pose difference, and guide the robot to grip the tray during the tray's movement. When the robot grips the tray, the processor controls the robot to flip the tray so that the luggage is separated from the tray. When the luggage and the tray are separated, the processor controls the robot to maintain gripping the tray and move the tray to a preset recycling position. And when the number of trays at the preset recycling position reaches a preset number, the processor controls a handling device to transfer the trays to a preset storage position.

[0007] The computer-readable storage medium of this application includes a computer program that, when executed by a processor, causes the processor to perform a method for separating and retrieving the luggage tray. The method includes acquiring point cloud information of the luggage and the tray to distinguish the contour information of the tray; determining a pose difference based on the contour information and a preset pose; adjusting the pose of a robot according to the pose difference and guiding the robot to grip the tray during its movement; controlling the robot to flip the tray while it is gripping it, so that the luggage is separated from the tray; controlling the robot to maintain gripping the tray and move the tray to a preset retrieval position while the luggage and the tray are separated; and controlling a handling device to transfer the tray to a preset storage position when the number of trays at the preset retrieval position reaches a preset number.

[0008] The luggage tray separation and retrieval method, tray retrieval device, robot, and computer-readable storage medium of this application collect point cloud information of luggage and trays to distinguish the contour information of the trays. By using the difference between the contour information of the trays and the preset pose, the robot's pose is adjusted so that the robot's posture can match the tray, allowing the robot to accurately grip the tray during its movement. After gripping the tray, the robot flips the tray to empty the luggage inside, thus separating the luggage from the tray. The luggage can continue to be transported via a conveyor belt, while the trays are moved by the robot to a preset retrieval position. When the number of trays at the preset retrieval position reaches a preset number, the handling equipment is controlled to transfer the trays to a preset storage position to quickly achieve tray separation and retrieval. This completely replaces and biomimizes the manual operation of luggage tray separation and retrieval in an online state. Compared with manual separation and retrieval of trays and luggage, it improves the tray retrieval efficiency, allowing luggage to be transported at a faster speed, thereby improving luggage sorting efficiency.

[0009] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0010] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0011] Figure 1 This is a flowchart illustrating the method for separating and recycling a luggage tray according to certain embodiments of this application;

[0012] Figure 2 This is a schematic diagram of a method for separating and recycling a luggage tray according to certain embodiments of this application;

[0013] Figure 3 This is a flowchart illustrating the method for separating and recycling a luggage tray according to certain embodiments of this application;

[0014] Figure 4 This is a flowchart illustrating the method for separating and recycling a luggage tray according to certain embodiments of this application;

[0015] Figure 5 This is a flowchart illustrating the method for separating and recycling a luggage tray according to certain embodiments of this application;

[0016] Figure 6 This is a flowchart illustrating the method for separating and recycling a luggage tray according to certain embodiments of this application;

[0017] Figure 7This is a schematic diagram of the structure of a luggage tray according to a method for separating and recycling luggage trays according to certain embodiments of this application;

[0018] Figure 8 This is a flowchart illustrating the method for separating and recycling a luggage tray according to certain embodiments of this application;

[0019] Figure 9 This is a schematic diagram of a pallet recycling device according to certain embodiments of this application;

[0020] Figure 10 This is a schematic diagram illustrating the connection state of a non-volatile computer-readable storage medium and a processor in certain embodiments of this application. Detailed Implementation

[0021] The embodiments of this application are described in detail below. Examples of the 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 the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0022] Please see Figure 1 and Figure 2 This application provides a method for separating and recycling a luggage tray, used to recycle a luggage-carrying tray S1. The method for separating and recycling a luggage tray includes:

[0023] Step 011: Collect point cloud information of luggage and tray S1 to distinguish the outline information of tray S1;

[0024] Specifically, during baggage transportation, some stages involve placing baggage on tray S1 for transport. Therefore, after transportation, the baggage and tray S1 need to be separated. Currently, manual operation is commonly used to separate the baggage and tray S1. However, to facilitate sorting of tray S1 and baggage, they are usually transported on conveyor belt D1. After a worker separates the baggage from tray S1, tray S1 has already moved to another location with conveyor belt D1. At this point, another worker needs to specifically remove and retrieve tray S1 from conveyor belt D1. Thus, the separation and retrieval of tray S1 need to be completed in two separate actions, resulting in low retrieval efficiency. To solve the above problems, this application uses robot 100 to complete the separation and retrieval of tray S1 in one location. To determine the pose of tray S1, point cloud information of baggage and tray S1 can be collected to distinguish the contour information of tray S1, thereby facilitating targeted control of robot 100 to adjust its pose and improving the accuracy of robot 100 in gripping tray S1.

[0025] Step 012: Determine the pose difference based on the contour information and the preset pose;

[0026] Specifically, when the robot 100 is gripping the tray S1, one pose of the robot 100 corresponds to one pose of the tray S1, and a predetermined pose of the robot 100 corresponds to a preset pose of the tray S1. However, the pose of the tray S1 after transportation is uncertain. Therefore, it is necessary to obtain the pose difference between the current pose and the preset pose of the tray S1 in order to adjust the pose of the robot 100 accordingly. The current pose of the tray S1 can be obtained from the contour information. Therefore, after distinguishing the contour information of the tray S1, the pose difference can be determined based on the contour information and the preset pose.

[0027] Step 013: Adjust the pose of robot 100 according to the pose difference value, and guide robot 100 to hold tray S1 during the movement of tray S1;

[0028] Specifically, after determining the pose difference, the pose of the robot 100 can be adjusted according to the pose difference, and then the robot 100 can be guided to grip the tray S1 during its movement to achieve precise gripping of the tray S1. For example, if the contour information of the tray S1 shows that the current pose of the tray S1 is 10 cm above the preset pose, the pose of the robot 100 can be moved upward by 10 cm, thus enabling the robot 100 to accurately grip the tray S1.

[0029] Step 014: With the robot 100 holding the tray S1, control the robot 100 to flip the tray S1 so that the luggage is separated from the tray S1;

[0030] Specifically, after the robot 100 grips the tray S1, in order to separate the luggage from the tray S1, the robot 100 is controlled to flip the tray S1, causing the luggage to fall out of the tray S1.

[0031] Furthermore, to prevent damage to luggage during the flipping of tray S1 by robot 100, the flipping angle can be set to be relatively small. For example, the luggage can be rotated at a flipping angle of less than 90° with the long side of tray S1 as the axis and the short side as the rotation diameter. This ensures that the luggage and tray S1 are separated at a small flipping angle, reducing damage to the luggage. After the luggage is removed, tray S1 remains in a handleable state, making it easy to move tray S1 to the preset recycling position H1. In addition, compared to manual operation, which may involve rough handling and damage to luggage, robot 100 flips tray S1 at a smaller angle, resulting in a lower damage rate and improving the user experience.

[0032] Step 015: With the luggage and tray S1 separated, the control robot 100 maintains its grip on the tray S1 and moves the tray S1 to the preset recycling position H1.

[0033] Specifically, after the luggage and tray S1 are separated, the robot 100 can be controlled to move the tray S1 to the preset recycling position H1 to complete the recycling of the tray S1. In this way, the robot 100 can continuously complete the separation and recycling of the tray S1.

[0034] Furthermore, after the pallet S1 is separated from the luggage, the robot 100 will flip the pallet S1 back to its original position, that is, the opening facing upwards, so as to facilitate the pallet S1 being stacked, and move the pallet S1 to the preset recycling position H1 so as to facilitate the recycling of the pallet S1.

[0035] Step 016: When the number of pallets S1 at the preset recycling location H1 reaches the preset quantity, control the handling equipment to transfer the pallets S1 to the preset storage location H2.

[0036] Specifically, to facilitate the recycling and storage of pallets S1 for reuse, a designated storage location H2 for pallets S1 is provided within the site. When the number of pallets S1 at the designated recycling location H1 reaches a predetermined quantity, the handling equipment can be controlled to transfer the pallets S1 to the designated storage location H2. Thus, by having the robot 100 stack pallets S1 at the designated recycling location H1 and the handling equipment transfer the stacked pallets S1 to the designated storage location H2, the orderly collection and transfer of pallets S1 can be ensured.

[0037] The method for separating and retrieving the luggage tray S1 according to the embodiments of this application collects point cloud information of the luggage and the tray S1 to distinguish the contour information of the tray S1. By using the difference between the contour information of the tray S1 and the preset pose, the pose of the robot 100 is adjusted so that the posture of the robot 100 can match that of the tray S1, so that the robot 100 can accurately grip the tray S1 during its movement. After gripping the tray S1, the robot 100 flips the tray S1 to empty the luggage inside, thereby separating the luggage from the tray S1. The luggage can then be transported... The conveyor continues to transport the luggage, while the robot 100 moves the pallet S1 to the preset recycling position H1. When the number of pallets S1 at the preset recycling position H1 reaches the preset quantity, the robot controls the handling equipment to transfer the pallets S1 to the preset storage position H2, so as to quickly separate and recycle the pallets S1. This completely replaces and mimics the manual operation of separating and recycling luggage pallets S1 in an online state. Compared with the manual separation and recycling of pallets S1 and luggage, the recycling efficiency of pallets S1 is improved. At this time, luggage can be transported at a faster speed, thereby improving the luggage sorting efficiency.

[0038] Please see Figure 2 and Figure 3 In some implementations, step 011: collecting point cloud information of luggage and tray S1 to distinguish the contour information of tray S1, including:

[0039] Step 0111: Distinguish the outer contour of the luggage and the outer contour of the tray S1 based on a preset neural network model;

[0040] Step 0112: Determine the contour information based on the outer contour of tray S1.

[0041] Specifically, to accurately distinguish the contour information of tray S1, a neural network model can be set up based on the features of the outer contours of the luggage and tray S1. After collecting the point cloud information of the luggage and tray S1, the features of the luggage and tray S1 can be distinguished based on the preset neural network model, thereby differentiating the outer contours of the luggage and tray S1. After distinguishing the outer contour of tray S1, the contour information can be determined based on the outer contour of tray S1. In this way, through the point cloud information of luggage and tray S1 and the preset neural network model, the outer contours of the luggage and tray S1 can be distinguished, thereby determining the contour information of tray S1. This allows for targeted adjustment of the robot 100's pose based on the contour information of tray S1, improving the accuracy of gripping tray S1.

[0042] Furthermore, staff are susceptible to being affected by their work status during operations, which may lead to situations such as violently separating luggage from the tray S1 or making work errors, resulting in abnormalities in the luggage, such as damage, loss, or misdirection. After collecting point cloud information from the luggage and tray S1, the appearance of the luggage within the tray S1 can be obtained based on the point cloud information, allowing for timely feedback of luggage logistics information and providing crucial traceability data for abnormal situations. This is especially important for luggage with special transportation needs, where timely feedback on the luggage's true condition is essential. For example, if damaged luggage is detected, it can be considered an abnormality. When tracing the damage to verify the location and time of the damage, the collected point cloud information can be used as the basis for tracing.

[0043] Please see Figure 2 and Figure 4 In some embodiments, the contour information includes the length coordinate range, width coordinate range, height coordinate range, and orientation angle of the tray S1, and the pose difference includes the position difference and the attitude difference. Step 012: Determine the pose difference based on the contour information and the preset pose, including:

[0044] Step 0121: Determine the position difference based on the length coordinate range, width coordinate range, height coordinate range, and preset position coordinates;

[0045] Step 0122: Determine the attitude difference based on the orientation angle;

[0046] Step 013: Adjust the pose of robot 100 according to the pose difference value, and guide robot 100 to grip tray S1 during the movement of tray S1, including:

[0047] Step 0131: Adjust the pose of robot 100 according to the position difference and posture difference so that robot 100 can grip tray S1.

[0048] Specifically, the contour information includes the length coordinate range, width coordinate range, height coordinate range, and orientation angle of tray S1. The length coordinate range of tray S1 is the coordinate range of all point clouds corresponding to the long side of tray S1. The width coordinate range of tray S1 is the coordinate range of all point clouds corresponding to the short side of tray S1. The height coordinate range of tray S1 is the distance between the coordinates of the point cloud corresponding to the top of tray S1 and the coordinates of the reference plane of the preset pose. The orientation angle is the angle between the central axis Z1 of the current tray S1 and the central axis Z1 of tray S1 at the preset position coordinates. The central axis Z1 of tray S1 at the preset pose is a line formed by connecting the midpoints of the head and tail of the tray S1 at the preset pose. Similarly, the central axis Z1 of the current tray S1 is formed by connecting the midpoints of the head and tail of the current tray S1. At this point, the coordinates of the center point of the tail of the tray S1 in the preset pose are determined as the preset position coordinates, where the height of the preset position coordinates is the reference height between the preset central axis origin and the reference plane.

[0049] After acquiring the contour information of the current tray S1, the origin coordinates of the central axis of the current tray S1 are determined based on the length, width, and height coordinate ranges in the contour information. These origin coordinates are the coordinates of the center point of the tail of the current tray S1. Then, the position difference is determined based on the preset position coordinates and the origin coordinates of the central axis of the current tray S1, and the attitude difference is determined based on the orientation angle. After determining the position and attitude differences, the pose of the robot 100 can be adjusted to ensure that the robot 100 grips the tray S1. In this way, the position and attitude differences can be determined based on the contour information, and the pose of the robot 100 can be adjusted accordingly, thereby improving the accuracy of the robot 100 gripping the tray S1.

[0050] Furthermore, to facilitate the determination of preset position coordinates by robot 100 and to adjust robot 100 based on position and attitude differences, robot 100 will also establish a robot 100 coordinate system, which contains coordinates corresponding to the preset position coordinates, such as O. R (x0, y0, z0, θ0). After obtaining the position difference and attitude difference of the current pallet S1, the position difference and attitude difference of the current pallet S1 can be converted into differences in the robot's 100 coordinate system, such as ΔO. d (x d y d , z d θ d The difference is then output to robot 100, which adjusts its pose based on the preset position coordinates and the difference, enabling it to grip the object located at O. F (x0+x d y0+y d ,z0+z d ,θ0+θ d The tray S1 is the current tray S1. In this way, by establishing the robot 100 coordinate system, the clamping posture of the robot 100 can be determined according to the preset coordinate position and pose difference, thereby improving the clamping efficiency of the robot 100.

[0051] Please see Figure 2 and Figure 5 In some embodiments, the robot 100 includes a gripper 10, which includes a first gripping arm 11 and a second gripping arm 12, the first gripping arm 11 and the second gripping arm 12 being opposite to each other. Step 013: Adjusting the pose of the robot 100 according to the pose difference value and guiding the robot 100 to grip the tray S1 during its movement, further includes:

[0052] Step 0132: Adjust the position of the clamp 10 according to the position difference value so that the first clamping arm 11 and the second clamping arm 12 clamp the tray S1.

[0053] Specifically, the robot 100 includes a gripper 10, which includes a first gripping arm 11 and a second gripping arm 12. The first gripping arm 11 and the second gripping arm 12 are opposite each other and can move closer together to grip a tray S1 and move the tray S1 to a preset retrieval position H1. After determining the pose difference value, the pose of the gripper 10 can be adjusted according to the pose difference value, and then the first gripping arm 11 and the second gripping arm 12 can be controlled to move closer together to grip the tray S1. In this way, the tray can be gripped by a gripping method, thereby improving the gripping stability of the tray.

[0054] Furthermore, to facilitate the gripper 10 in holding the pallet S1, the gripper 10 is generally installed at the end of the robot 100, for example, on the flange surface of the sixth axis of the robot 100. In addition, the pallet S1 is not a standard product, and the appropriate force for each pallet S1 may differ. Therefore, to ensure that the force applied to the pallet S1 by the robot 100 when gripping the pallet S1 is not excessive and causes physical deformation of the pallet S1, the gripper 10 uses a pneumatic drive as the driving method for gripping the pallet S1, and a reasonable gripping force of the robot 100 is set to ensure that the gripping force is moderate, for example, ensuring that the gripping force is below 200 Newtons (N), so that the robot 100 does not damage the pallet S1 during the process of gripping and flipping the pallet S1, thereby reducing the breakage rate of the pallet S1 and improving the recycling rate of the pallet S1.

[0055] Please see Figure 2 and Figure 6 In some embodiments, the robot 100 further includes a proximity sensor 20, which is used to detect whether the tray S1 is located within the clamping range of the first clamping arm 11 and the second clamping arm 12. The proximity sensor 20 is disposed on a first surface opposite to the first clamping arm 11 and the second clamping arm 12, and / or a second surface opposite to the second clamping arm 11. The method for separating and retrieving the luggage tray further includes:

[0056] Step 017: When the tray S1 enters the clamping range, control the first clamping arm 11 and the second clamping arm 12 to move closer to each other and lift them up to clamp the tray S1.

[0057] Specifically, to ensure timely clamping of the tray S1, the robot 100 is equipped with a proximity sensor 20. The proximity sensor 20 is located on a first surface opposite the first clamping arm 11 and the second clamping arm 12, and / or a second surface opposite the second clamping arm 12 and the first clamping arm 11, to detect whether the tray S1 is within the clamping range of the first clamping arm 11 and the second clamping arm 12. When the tray S1 enters the clamping range, the first clamping arm 11 and the second clamping arm 12 are controlled to move closer together and rise to clamp the tray S1. After the first clamping arm 11 and the second clamping arm 12 have clamped the tray S1, the first clamping arm 11 and the second clamping arm 12 are controlled to flip the tray S1, separating the luggage from the tray S1. Thus, by setting up the proximity sensor 20, the robot can ensure timely clamping of the tray S1 when it enters the clamping range of the first clamping arm 11 and the second clamping arm 12, preventing some trays S1 and luggage from remaining attached, which could affect subsequent transportation processes.

[0058] Furthermore, the proximity sensor 20 can be of various types. For example, the proximity sensor 20 can be an infrared sensor, which continuously emits infrared light in the direction of material arrival of the tray S1. When the tray S1 enters the clamping range, the tray S1 or the bag on the tray S1 will reflect the infrared light emitted by the proximity sensor 20, and the intensity of the infrared light is greater than a preset intensity. Therefore, the proximity sensor 20 determines whether the tray S1 has entered the clamping range based on the intensity of the reflected light. Alternatively, the proximity sensor 20 can be a camera, which takes images in the direction of material arrival of the tray S1. When the size of the tray S1 in the image is larger than a preset size, it can be determined that the tray S1 has entered the clamping range.

[0059] Please see Figure 2 and Figure 7 In some embodiments, the tray S1 includes a first mating part S11, and the clamp 10 includes a second mating part 13. When the clamp 10 clamps the tray S1, the first mating part S11 and the second mating part 13 abut against each other.

[0060] Specifically, to facilitate clamping the tray S1 by the clamp 10, the tray S1 includes a first mating part S11, and the clamp 10 includes a second mating part 13. When the clamp 10 clamps the tray S1, the first mating part S11 and the second mating part 13 abut against each other to clamp the tray S1. In this way, the clamping stability can be further improved by abutting the first mating part S11 and the second mating part 13. During the process of lifting and flipping the tray S1, the combined action of clamping the tray S1 and abutting the first mating part S11 and the second mating part 13 can be used to exert force to improve the stability of the clamp 10 clamping the tray S1 during the process of lifting and flipping the tray S1.

[0061] Please see Figure 2 and Figure 8 In some embodiments, the tail of the tray S1 includes a first mating part S11. Step 013: The guide robot 100 clamps the tray S1 during its movement, and further includes:

[0062] Step 0133: The guide clamp 10 clamps the tail of the pallet S1 during its movement. With the clamp 10 clamping the tail of the pallet S1, the first mating part S11 is supported by the second mating part 13.

[0063] Specifically, to facilitate the drop of luggage from the tray S1 during the flipping process, the clamp 10 grips the tail of the tray S1. If the robot 100 grips the middle of the tray S1, it will prevent the tray S1 from falling. Therefore, when the clamp 10 grips the tray S1, it grips the tray S1 by gripping the tail. When the clamp 10 grips the tail of the tray S1, the first mating part S11 is supported by the second mating part 13 to enhance the gripping effect of the clamp 10.

[0064] Furthermore, the clamping position of the fixture 10 can also be determined according to the actual situation. If the side plates near the head of the pallet S1 are of uniform height, the fixture 10 can clamp the side plate of the pallet S1 near the head, which can also ensure that the robot 100 can stably clamp and flip the pallet S1.

[0065] Please see Figure 2 In some embodiments, the handling equipment may be a conveyor belt D1 or an automated guided vehicle (AGV) with baggage loading and movement functions. If the handling equipment cannot complete zoned movement, for example, when the conveyor belt D1 starts, the entire conveyor belt D1 will rotate. When there are many pallets S1, the number of pallets S1 at the preset recycling position H1 will quickly reach the preset number, requiring the conveyor belt D1 to be started to transport the pallets S1 at the preset recycling position H1 to the preset storage position H2. However, while the conveyor belt D1 is starting, the pallets S1 will also continuously enter the clamping range of the clamp 10. If no interception measures are taken on the conveyor belt D1, as the clamp 10 continuously puts the pallets S1 into the conveyor belt D1, the pallets S1 will move with the conveyor belt D1, resulting in many pallets S1 that have not reached the preset number moving on the conveyor belt D1, causing chaos in the transportation management of the pallets S1. Therefore, a safety valve H3 needs to be installed on the conveyor belt D1 to prevent the pallets S1 at the preset recycling position H1 from moving with the conveyor belt D1. When the preset number of pallets S1 at the preset recycling location H1 is reached, the safety valve H3 is opened and the conveyor belt D1 is started. After the pallets S1 at the preset recycling location H1 pass through the safety valve H3, the safety valve H3 is immediately closed. At this time, the robot 100 can continue to place the pallets S1 on the preset recycling location H1. In this way, by setting the safety valve H3, spatial isolation is achieved for the collection and transfer of pallets S1. This ensures that while the conveyor belt D1 is moving, only the pallets S1 that need to be transported to the preset storage location H2 can move with the conveyor belt D1. The pallets S1 inside the safety valve H3 cannot move. This ensures the safety of the collection and transfer of pallets S1 on the one hand, and allows the robot 100 to continue pallet stacking while the pallets S1 are being transferred on the other hand, ensuring uninterrupted operation of pallet S1 recycling during peak baggage logistics periods.

[0066] Please see Figure 9 To facilitate better implementation of the luggage tray separation and recycling method of this application, this application also provides a tray recycling device 30. The tray recycling device 30 includes a differentiation module 31, a determination module 32, an adjustment module 33, a flipping module 34, a moving module 35, and a transfer module 36. The differentiation module 31 is used to collect point cloud information of the luggage and the tray S1 to distinguish the contour information of the tray S1; the determination module 32 is used to determine the pose difference based on the contour information and a preset pose; the adjustment module 33 is used to adjust the pose of the robot 100 according to the pose difference and guide the robot 100 to grip the tray S1 during its movement; the flipping module 34 is used to control the robot 100 to flip the tray S1 when it is gripping it, so that the luggage and the tray S1 are separated. The moving module 35 is used to control the robot 100 to maintain gripping the tray S1 and move the tray S1 to a preset recycling position H1 when the luggage and the tray S1 are separated. The transfer module 36 is used to control the handling equipment to transfer the pallets S1 to the preset storage location H2 when the number of pallets S1 at the preset recycling location H1 reaches the preset quantity.

[0067] The differentiation module 31 is specifically used to differentiate the outer contour of luggage and the outer contour of tray S1 based on a preset neural network model; and to determine the contour information based on the outer contour of tray S1.

[0068] The determination module 32 is specifically used to determine the position difference based on the length coordinate range, the width coordinate range, the height coordinate range, and the preset position coordinates; and to determine the attitude difference based on the orientation angle.

[0069] The adjustment module 33 is specifically used to adjust the position and orientation of the robot 100 according to the position difference and orientation difference, so that the robot 100 can grip the tray S1.

[0070] The adjustment module 33 is specifically used to adjust the position of the clamp 10 according to the position difference, so that the first clamping arm 11 and the second clamping arm 12 clamp the tray S1.

[0071] The adjustment module 33 is specifically used to control the first clamping arm 11 and the second clamping arm 12 to move closer to each other and lift up when the tray S1 enters the clamping range, so as to clamp the tray S1.

[0072] The adjustment module 33 is specifically used to guide the clamp 10 to clamp the tail of the pallet S1 during the movement of the pallet S1. When the clamp 10 clamps the tail of the pallet S1, the first mating part S11 is supported by the second mating part 13.

[0073] Please see Figure 2The robot 100 of this application includes a detection device 40 and a processor 50. The detection device 40 is used to collect point cloud information of luggage and tray S1. The processor 50 is used to distinguish the contour information of tray S1 based on the point cloud information, determine the pose difference based on the contour information and the preset pose, adjust the pose of the robot 100 according to the pose difference, and guide the robot 100 to grip tray S1 during the movement of tray S1. When the robot 100 grips tray S1, it controls the robot 100 to flip tray S1 so that the luggage is separated from tray S1. When the luggage and tray S1 are separated, it controls the robot 100 to maintain gripping tray S1 and move tray S1 to a preset recycling position H1. And when the number of trays S1 at the preset recycling position H1 reaches a preset number, it controls the handling equipment to transfer tray S1 to a preset storage position H2.

[0074] Alternatively, the processor 50 can also be used to execute the luggage tray separation and recycling method of any of the above embodiments, which will not be described in detail here for the sake of brevity.

[0075] Please see Figure 10 This application also provides a non-volatile computer-readable storage medium 200 storing a computer program 210. When the computer program 210 is executed by the processor 50, it implements the steps of the luggage tray separation and recycling method of any of the above embodiments. For the sake of brevity, these steps will not be described in detail here.

[0076] In the description of this specification, the references to terms such as "some embodiments," "in one example," "exemplarily," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0077] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0078] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for separating and recycling luggage trays, characterized in that, The luggage is carried on the tray, and the separation and recycling method includes: The point cloud information of the luggage and the tray is collected to distinguish the outline information of the tray; The pose difference is determined based on the contour information and the preset pose. The robot's pose is adjusted based on the pose difference, and the robot is guided to grip the tray during the tray's movement. With the robot holding the tray, the robot is controlled to flip the tray so that the luggage is separated from the tray; When the luggage and the tray separate, the robot is controlled to maintain its grip on the tray and move the tray to a preset recycling position; and When the number of pallets at the preset recycling location reaches a preset quantity, the control device will transfer the pallets to the preset storage location.

2. The method for separating and recycling luggage trays according to claim 1, characterized in that, The step of collecting point cloud information of the luggage and the tray to distinguish the outline information of the tray includes: The outer contours of the luggage and the tray are distinguished based on a preset neural network model; The contour information is determined based on the outer contour of the tray.

3. The method for separating and recycling luggage trays according to claim 1 or 2, characterized in that, The contour information includes the length coordinate range, width coordinate range, height coordinate range, and orientation angle of the tray. The pose difference includes position difference and posture difference. Determining the pose difference based on the contour information and a preset pose includes: The position difference is determined based on the length coordinate range, width coordinate range, and height coordinate range, as well as the preset position coordinates; The attitude difference is determined based on the orientation angle; Adjusting the robot's pose based on the pose difference to enable the robot to grip the tray includes: The robot's pose is adjusted based on the position difference and the posture difference so that the robot can grip the tray.

4. The method for separating and recycling luggage trays according to claim 3, characterized in that, The robot includes a gripper, which includes a first gripping arm and a second gripping arm, the first gripping arm and the second gripping arm being opposite each other. Adjusting the robot's pose according to the pose difference value so that the robot grips the tray includes: The position of the clamp is adjusted according to the position difference value so that the first clamping arm and the second clamping arm clamp the tray.

5. The method for separating and recycling luggage trays according to claim 4, characterized in that, The robot further includes a proximity sensor for detecting whether the tray is within the gripping range of the first and second gripping arms. The proximity sensor is disposed on a first surface opposite to the first and second gripping arms, and / or a second surface opposite to the second gripping arm. The method for separating and retrieving the luggage tray further includes: When the tray enters the clamping range, the first clamping arm and the second clamping arm are controlled to move closer to each other and rise to clamp the tray.

6. The method for separating and recycling luggage trays according to claim 4, characterized in that, The tray includes a first mating part, and the clamp includes a second mating part. When the clamp holds the tray, the first mating part and the second mating part abut against each other.

7. The method for separating and recycling luggage trays according to claim 6, characterized in that, The tail of the tray includes a first mating part, and the method of guiding the robot to clamp the tray during its movement includes: The clamp guides the pallet to grip the tail of the pallet during its movement, and when the clamp grips the tail of the pallet, the first mating part is supported by the second mating part.

8. A pallet recycling device, characterized in that, include: The differentiation module is used to collect point cloud information of luggage and the tray to differentiate the outline information of the tray; The determination module is used to determine the pose difference based on the contour information and the preset pose. An adjustment module is used to adjust the robot's pose based on the pose difference and guide the robot to grip the tray during the tray's movement. A flipping module is used to control the robot to flip the tray while the robot is holding the tray, so as to separate the luggage from the tray; A mobile module is used to control the robot to maintain grip on the tray and move the tray to a preset recycling position when the luggage and the tray are separated. The transfer module is used to control the handling equipment to transfer the pallets to the preset storage location when the number of pallets at the preset recycling location reaches a preset quantity.

9. A robot, characterized in that, The system includes a detection device and a processor. The detection device is used to collect point cloud information of luggage and a tray. The processor is used to distinguish the contour information of the tray based on the point cloud information of the luggage and the tray; determine a pose difference based on the contour information and a preset pose; adjust the pose of a robot according to the pose difference and guide the robot to grip the tray during the tray's movement; when the robot grips the tray, control the robot to flip the tray so that the luggage is separated from the tray; when the luggage and the tray are separated, control the robot to maintain gripping the tray and move the tray to a preset recycling position; and when the number of trays at the preset recycling position reaches a preset number, control a handling device to transfer the trays to a preset storage position.

10. A non-volatile computer-readable storage medium comprising a computer program, which, when executed by a processor, causes the processor to perform the method for separating and retrieving a luggage tray as described in any one of claims 1-7.

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