Luggage sorting and loading method and system and storage medium

Abstract

The invention relates to the technical field of logistics luggage package sorting, in particular to a luggage sorting and loading method and system and a storage medium. According to the method, the mechanical arm is adopted on the luggage sorting turntable to sort the luggage, and when the luggage is picked up, the action consumption when the luggage is sorted is calculated according to the position of a luggage target trailer, the current position of each piece of luggage, the current position of the mechanical arm, the running speed of the luggage on the turntable and the moving speed of the mechanical arm; and calculating a numerical value by multiplying the action consumption, the sorting deadline and the sorting priority of the luggage by respective coefficients, and taking the luggage corresponding to the minimum numerical value as a priority sorting object. According to the method, an original manual sorting and carrying mode is replaced, the sorting efficiency is improved, and the labor intensity of workers is relieved; and the luggage can be sorted by comprehensively considering the energy consumption, the efficiency and the luggage sorting deadline according to requirements, so that the luggage sorting system has the characteristics of being flexible and changeable and meeting different requirements of users.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics baggage and parcel sorting, and in particular to a baggage sorting and loading method, system and storage medium. Background Art

[0002] With the development of social economy and the large-scale construction of airports in my country, people's travel is becoming more and more convenient, and more and more passengers choose to travel by plane. At various domestic airports, the growing number of passengers brings more and more checked baggage. These large amounts of baggage need to be sorted in time according to the destination airport, flight number, and flight departure time. Flights have relatively fixed departure times. In a limited time, how to sort, pack, load and transfer a large amount of baggage to the aircraft has become a problem that all civil aviation airports need to consider.

[0003] At present, many domestic airports have begun to actively explore intelligent baggage sorting and handling technology, and how to gradually transform the traditional manual handling of outbound baggage through automation technology into intelligent ones, effectively reducing the work pressure of front-line positions. The comparative document CN111331607B provides an airport outbound baggage handling system based on robot technology, but it lacks a robot scheduling strategy, is not the optimal baggage sorting method, and does not have the problem of loading baggage reconfirmation and transfer handover. When there are baggage from multiple flights on the baggage sorting carousel at the same time, how to efficiently and accurately complete the sorting, loading, reconfirmation, and transfer handover of baggage needs to be solved. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a baggage sorting and loading method, system and storage medium, which give priority to picking up the optimal picking target during baggage sorting, thereby achieving efficient and accurate baggage sorting.

[0005] The present invention discloses a baggage sorting and loading method through an embodiment, comprising:

[0006] Obtaining the current position of each bag to be sorted by the robot arm, the sorting cut-off time of each bag, the sorting priority of each bag, the position of the destination trailer of each bag, the current position of the robot arm, the running speed of the baggage carousel and the moving speed of the robot arm;

[0007] According to the acquired current position of each bag, the position of the destination trailer of each bag, the current position of the mechanical arm, the running speed of the baggage carousel and the moving speed of the mechanical arm, the operation parameter value of the mechanical arm picking up each bag to the corresponding destination trailer is calculated respectively, and the operation parameter value is used to characterize the action consumption of sorting the baggage;

[0008] The objective function value is calculated based on the operation parameter value of each bag, the sorting cut-off time of each bag, the sorting priority of each bag and the pre-configured optimization target weight parameter of each bag and the following rules:

[0009] J=α*M1+β*M2+ε*M3

[0010] Wherein, M1 represents the operation parameter value of the baggage to the corresponding destination trailer, α represents the value corresponding to M1 in the optimization target weight parameter pre-configured for the baggage, M2 represents the sorting cut-off time of the baggage, β represents the value corresponding to M2 in the optimization target weight parameter pre-configured for the baggage, M3 represents the sorting priority of the baggage, ε represents the value corresponding to M3 in the optimization target weight parameter pre-configured for the baggage, and J represents the objective function value corresponding to the baggage;

[0011] The minimum value of the objective function values ​​corresponding to all the luggage is used as the optimally picked target luggage, and the robot arm is used to pick up the target luggage to the corresponding destination trailer.

[0012] Furthermore, the operation parameter value includes energy consumption and / or time consumption of the robot arm picking up the luggage to the corresponding destination trailer.

[0013] Furthermore, the operation parameter values ​​are calculated by the following rules:

[0014] M1=γ*N+δ*T

[0015] Wherein, N represents the energy consumption of the robot arm picking up the baggage to the corresponding destination trailer, γ represents the value corresponding to N in the optimization target weight parameter pre-configured for the baggage, T represents the time taken by the robot arm to pick up the baggage to the corresponding destination trailer, and δ represents the value corresponding to T in the optimization target weight parameter pre-configured for the baggage.

[0016] Furthermore, the energy consumption N is proportional to the moving distance of the robot arm, which can be expressed as:

[0017] N=p*L

[0018] Among them, L is the moving distance of the robot arm, and p is the power consumption of the robot arm moving a unit distance;

[0019] The time consumption T can be expressed as:

[0020]

[0021] Among them, S1 represents the moving distance of the luggage on the carousel relative to the ground, V1 represents the running speed of the luggage carousel, S2 represents the moving distance of the luggage on the robotic arm, and V2 represents the moving speed of the robotic arm.

[0022] Furthermore, when the robot arm sorts the target luggage, it is also necessary to confirm whether the target luggage matches the destination trailer information after the robot arm picks up the target luggage. If they match, the target luggage is grabbed to the corresponding destination trailer and the information of the grabbed target luggage is counted. If they do not match, the target luggage is put back to its original place. An RFID identification device can be installed on the clamp of the robot arm, and the RFID on the luggage is identified again after picking up the luggage to confirm that the luggage matches the destination trailer.

[0023] In order to achieve the above-mentioned object, the present invention further provides a baggage sorting and loading system, which includes at least one mechanical arm and a baggage destination trailer, a turntable, a priority configuration device and a controller, wherein the controller is used to control the mechanical arm to sort the baggage on the turntable to the destination trailer, the priority configuration device is used to set the sorting priority and optimization target weight parameter of each baggage, and the controller is configured with the aforementioned baggage sorting and loading method.

[0024] In order to achieve the above object, the present invention further provides a storage medium storing a plurality of computer instructions for executing the above baggage sorting and loading method.

[0025] The technical principle of the present invention is as follows: a mechanical arm is used to sort baggage on a baggage sorting carousel, and the action consumption when sorting each baggage is calculated according to the position of the baggage destination trailer, the current position of each baggage, the current position of the mechanical arm, the running speed of the baggage on the carousel and the moving speed of the mechanical arm. Then, a value is calculated by multiplying the action consumption, the sorting deadline and the sorting priority of the baggage by respective coefficients, and the baggage corresponding to the smallest value is selected as the priority sorting object.

[0026] Compared with the prior art, the present invention has the following beneficial effects: the baggage sorting strategy can be flexibly adjusted according to the baggage sorting situation. When the baggage sorting volume is large and the time is tight, the working efficiency of the robot arm (i.e., short time consumption) can be used as the optimization target, and more attention is paid to the variable of short time consumption. The robot arm will actively move to pick up the baggage; when the baggage sorting volume is small and the time is sufficient, the moving distance (i.e., low energy consumption) is used as the optimization target, and more attention is paid to the variable of low energy consumption. The robot arm will be more inclined to move to the destination trailer position to wait for the baggage rather than move to pick up, so as to meet the green and energy-saving operation requirements; when a certain type of baggage needs to be urgently classified or a certain type of baggage needs to be sorted within a certain period of time, this type of baggage can be set as a priority for priority picking, and more attention is paid to the variable of baggage sorting deadline or priority. It replaces the original form of manual sorting and handling, improves sorting efficiency, and reduces the labor intensity of personnel; it can also sort baggage according to the needs by comprehensively considering energy consumption, efficiency and baggage sorting deadline, which is flexible and can meet the different needs of users. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solution of the present invention and facilitate further understanding of the technical effects, technical features and purposes of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings. The accompanying drawings constitute an essential part of the specification and are used together with the embodiments of the present invention to illustrate the technical solution of the present invention, but do not constitute a limitation to the present invention.

[0028] Figure 1 A flow chart of the method described in the present invention;

[0029] Figure 2 This is a flow chart of the robot arm confirming the luggage to be picked up and stacking in the method embodiment of the present invention;

[0030] Figure 3 It is a flow chart of injecting baggage into a baggage sorting carousel in an embodiment of the method of the present invention;

[0031] Figure 4 It is a flow chart of the entire sorting process recorded in the embodiment of the method of the present invention;

[0032] Figure 5 It is a schematic diagram of the main components of the baggage sorting and loading system described in the present invention;

[0033] Figure 6 This is a schematic diagram of the arrangement of the baggage sorting and loading system described in the present invention;

[0034] Figure 7 This is a schematic diagram of the installation of the RFID identification device of the baggage sorting and loading system described in the present invention on the clamp of the mechanical arm. DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. Of course, the specific embodiments described below are only intended to explain the technical solutions of the present invention, rather than to limit the present invention. In addition, the parts described in the embodiments or the accompanying drawings are only examples of the relevant parts of the present invention, rather than the entirety of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art should naturally belong to the protection scope of the present invention.

[0036] Embodiment 1

[0037] like Figure 1 As shown, the present invention proposes a baggage sorting and loading method through the following embodiments, including: obtaining the current position of each baggage to be sorted by the mechanical arm, the sorting cut-off time of each baggage, the sorting priority of each baggage, the position of the destination trailer of each baggage, the current position of the mechanical arm, the running speed of the baggage carousel and the moving speed of the mechanical arm;

[0038] According to the acquired current position of each bag, the position of the destination trailer of each bag, the current position of the mechanical arm, the running speed of the baggage carousel and the moving speed of the mechanical arm, the operation parameter value of the mechanical arm picking up each bag to the corresponding destination trailer is calculated respectively, and the operation parameter value is used to characterize the action consumption of sorting the baggage;

[0039] The objective function value is calculated based on the operation parameter value of each bag, the sorting cut-off time of each bag, the sorting priority of each bag and the pre-configured optimization target weight parameter of each bag and the following rules:

[0040] J=α*M1+β*M2+ε*M3

[0041] Wherein, M1 represents the operation parameter value of the baggage to the corresponding destination trailer, α represents the value corresponding to M1 in the optimization target weight parameter pre-configured for the baggage, M2 represents the sorting cut-off time of the baggage, β represents the value corresponding to M2 in the optimization target weight parameter pre-configured for the baggage, M3 represents the sorting priority of the baggage, ε represents the value corresponding to M3 in the optimization target weight parameter pre-configured for the baggage, and J represents the objective function value corresponding to the baggage;

[0042] The minimum value of the objective function values ​​corresponding to all the luggage is used as the optimally picked target luggage, and the robot arm is used to pick up the target luggage to the corresponding destination trailer.

[0043] When calculating the objective function value J, if the operating parameter value of a bag is 13, the sorting cut-off time is 12 minutes, the priority is level 1, α, β and ε are 1, 0.5 and 1 respectively, then the objective function value is:

[0044] J = 1*13+0.5*12+1*1=20

[0045] The objective function values ​​of other luggage calculated by the above method are 22, 34, 51, 31, 44 and 38 respectively. Then the robot arm preferentially selects the luggage with the objective function value of 20 as the target luggage to be picked up first.

[0046] In this embodiment, the operation parameter value includes the energy consumption and time consumption of the robot arm picking up the luggage to the corresponding destination trailer.

[0047] In this embodiment, the operation parameter value is calculated according to the following rules:

[0048] M1=γ*N+δ*T

[0049] Among them, N represents the energy consumption of the robot arm picking up the luggage to the corresponding destination trailer, γ represents the value corresponding to N in the optimization target weight parameter pre-configured by Li, T represents the time consumed by the robot arm picking up the luggage to the corresponding destination trailer, and δ represents the value corresponding to T in the optimization target weight parameter pre-configured by Li.

[0050] In this embodiment, the energy consumption is proportional to the moving distance of the robot arm, which can be expressed as:

[0051] N=p*L

[0052] Among them, L is the moving distance of the robot arm, and p is the power consumption of the robot arm moving a unit distance;

[0053] The time consumption can be expressed as:

[0054]

[0055] Among them, S1 represents the moving distance of the luggage on the carousel relative to the ground, V1 represents the running speed of the luggage carousel, S2 represents the moving distance of the luggage on the robotic arm, and V2 represents the moving speed of the robotic arm.

[0056] In this embodiment, the overall layout of the entire baggage sorting system is as follows: Figure 5 , 6 The baggage sorting system is shown in Figure 1. Figure 6 As shown, the encoder is installed on the drive shaft of the turntable motor for real-time positioning of the turntable, the initialization photoelectric is installed to initialize the encoder positioning value every time the turntable rotates, and the injection photoelectric is installed to determine the baggage injection conditions. Two sets of robotic arms are arranged on the left and right sides of the turntable. The robotic arms cover 1-4 trailers (1-4 flights) through the movement of the ground rail. The system can sort and load up to 16 flights of luggage at the same time (the configuration can be adjusted according to the size of the turntable). Robotic arm system configuration: The stacking camera is installed about three meters above the luggage trailer. Each trailer is installed in a 2×2 matrix grid format. The trailer is accurately positioned through visual stitching technology, and the three-dimensional size of the stacked luggage on the luggage trailer is detected in real time. A robotic arm with a 3.5m arm span and a load of 120KG is installed on the ground rail. The end is connected to a fixture that can handle 50KG airport luggage. The fixture mechanism of the robotic arm is shown in 7. The integrated RFID identification device is used to reconfirm the flight information of the picked-up luggage. The average movement speed of the robotic arm on the ground rail is 1m / s. An identification device is configured on the upstream conveyor of the baggage injection carousel to identify the flight of the baggage to be injected, and a pickup camera is configured at the entrance of the robot arm working area to obtain the size and posture information of the baggage to be picked up. The baggage sorting carousel is about 80m long and the rotation speed is set to 0.4m / s. It is divided into 100 windows with each window of 0.8m as the starting point of the injection photoelectric. The baggage A to be injected passes through the identification device, and the system identifies the flight number of baggage A and writes it into the queue of the baggage data to be injected. After the injection photoelectric determines that window 1 is empty, baggage A is injected into window 1, and the flight number, destination and other information of baggage A are written into window 1. According to the encoder positioning information, the baggage information bound to the virtualized window is passed forward by one window every time the turntable moves 0.8m (2s). The encoder data is calibrated by initializing the photoelectric every time the turntable rotates one circle.

[0057] like Figure 2 , 3 As shown in Figure 4, the following example takes the case where the robot arm first moves to the position of a destination trailer for a piece of luggage, waits for the luggage to move to the destination trailer position, and then picks up the luggage. Note that at this time, the time consumption is used as the optimization target, and the optimization target weight parameters of other items of luggage are pre-configured to be 0. At the same time, the picking strategy is only that the robot arm first moves to the destination trailer position, and then waits for the luggage to move to the destination trailer position before picking up the luggage.

[0058] The baggage sorting scenario at this time is the sorting of checked baggage before the departure of the airport flight. Assume that there are only 4 flights on the current baggage sorting carousel, namely flights 1, 2, 3, and 4, corresponding to trailers 1, 2, 3, and 4 respectively; there are a total of 100 baggage placement windows on the baggage sorting carousel, and the positions of each baggage placement window remain unchanged in space. Assume that a piece of luggage is currently at the position of window 5. After the baggage sorting carousel moves forward by one window position, the luggage is now at the position of window 6. Each time the luggage placement window of the luggage carousel moves forward by one window position, it is recorded as one unit of time. After the robot arm places a piece of luggage on trailer 2, the robot arm is located at the loading point of trailer 2, corresponding to the position of carousel window 30, and the calculation of the next optimally picked target luggage begins at this time. The distribution of the robot arm, trailers and baggage to be sorted is as follows: it takes 3 units of moving time for the robot arm to move to the loading points of trailer 1 (located at turntable window 27) and trailer 3 (located at turntable window 33) through the ground rail, and 6 units of moving time to move to the loading point of trailer 4 (located at turntable window 36); the current positions of the baggage to be sorted on the baggage carousel are [flight 1, baggage to be sorted is in windows 3, 8, 20, 50], [flight 2, baggage to be sorted is in windows 5, 10, 25, 55], [flight 3, baggage to be sorted is in windows 7, 12, 30, 60], [flight 4, baggage to be sorted is in windows 9, 14, 35, 65]. Subtract the robot arm movement time, and calculate the time it takes for the robot arm to move to the trailer position and wait for the luggage to move to its corresponding destination trailer position: Flight 1, 30-[3, 8, 20, 50]-3=27-[3, 8, 20, 50]=D1[24, 19, 7, -23]. A negative value is equivalent to the luggage sorting carousel needing to make one more turn, which requires +100. Finally, the time required to complete the sorting of the luggage of Flight 1 is [24, 19, 7, 77] unit times respectively. Similarly, the time required to complete the sorting of the luggage of flight 2 is calculated to be D2[25, 20, 5, 75], the time required to complete the sorting of the luggage of flight 3 is D3[20, 15, 97, 67], and the time required to complete the sorting of the luggage of flight 4 is D4[15, 10, 89, 59]. The luggage corresponding to the time Min[D1, D2, D3, D4] for completing the sorting of each luggage of each flight is the optimal target luggage, that is, the robot arm will first pick up the third luggage of flight 2. The luggage currently located at window 25 should be moved to the position of trailer 2 to wait for the arrival of the luggage. Of course, this only takes the sorting time of all luggage as the optimization target. If time is urgent and flight 1 needs to take off as soon as possible, the luggage of flight 1 can be picked up first, and the luggage of flight 1 can be picked up first.

[0059] Of course, in other practical applications, the robot arm may first pick up the luggage and then move the luggage to the corresponding destination trailer. In this case, the optimal target luggage is comprehensively calculated based on the energy consumption, time consumption and / or luggage sorting deadline of the robot arm picking up each luggage to the corresponding destination trailer as variables.

[0060] Of course, in some other embodiments, when calculating the operation parameter value of each baggage, multiple operation parameter values ​​when each baggage is picked up with different picking strategies can be calculated first, and the smallest operation parameter value is selected from the multiple operation parameter values ​​to compare with the smallest operation parameter values ​​corresponding to other baggage, and the smallest operation parameter value is selected to calculate the target baggage that the robot arm picks up first, and the target baggage is picked up in a corresponding manner. Of course, it is worth noting that if this method is used to pick up baggage, the picking strategy of each baggage is not necessarily the same when it is picked up. For example, a baggage may be first moved to the destination trailer position by the robot arm, wait for the arrival of the baggage, and then picked up, while another baggage may be first actively moved to the baggage position by the robot arm, grab the baggage, and then transport the baggage to the destination trailer position.

[0061] In this embodiment, the minimum operating parameter value of each baggage is calculated using the following steps to calculate multiple operating parameter values ​​when picking up with different picking strategies:

[0062] Calculate a first operation parameter value for the robot arm to first move to the destination trailer position, and then wait for the luggage to move to the destination trailer position before picking up the luggage;

[0063] Calculate a second operation parameter value for the robot arm to first move to the location of the luggage, then pick up the luggage, and then move to the destination trailer;

[0064] A third operation parameter value is calculated in which the robot arm waits for the luggage to move to the position of the robot arm, then picks up the luggage, and then moves it to the destination trailer.

[0065] The smallest operating parameter value among the operating parameter values ​​is determined in the following manner: the smaller one among the first operating parameter value, the second operating parameter value and the third operating parameter value is selected as the minimum operating parameter value.

[0066] In this embodiment, calculating the second operation parameter value of the robot arm first moving to the location of the luggage, then picking up the luggage, and then moving to the destination trailer includes:

[0067] Calculating a fourth operation parameter value for the robot arm and the luggage to move to the luggage position in a manner of moving towards each other, picking up the luggage, and then moving the luggage to the corresponding destination trailer position;

[0068] Calculate a fifth operation parameter value for the robot arm to move to the location of the luggage in the same direction as the luggage, pick up the luggage, and then move the luggage to the corresponding destination trailer location;

[0069] The smaller one of the fourth operating parameter value and the fifth operating parameter value is selected as the second operating parameter value.

[0070] The calculation methods of the first operating parameter value, the second operating parameter value, the third operating parameter value, the fourth operating parameter value and the fifth operating parameter value are all calculated by the weighted sum of the energy consumption and the time consumption of the robot arm picking up the luggage to the corresponding destination trailer, and are all calculated by the above-mentioned method for calculating the operating parameter value, that is:

[0071] M1=γ*N+δ*T

[0072] N=p*L

[0073]

[0074] Among them, N represents the energy consumption of the robot arm picking up the luggage to the corresponding destination trailer, γ represents the value corresponding to N in the optimization target weight parameter pre-configured by Li, T represents the time consumed by the robot arm to pick up the luggage to the corresponding destination trailer, δ represents the value corresponding to T in the optimization target weight parameter pre-configured by Li, L is the moving distance of the robot arm, p is the power consumption of the robot arm moving a unit distance, S1 represents the moving distance of the luggage on the carousel relative to the ground, V1 represents the running speed of the luggage carousel, S2 represents the moving distance of the luggage on the robot arm, and V2 represents the moving speed of the robot arm.

[0075] In this embodiment, if Figure 2 As shown, when the robot arm sorts the target luggage, it is also necessary to confirm whether the target luggage matches the destination trailer information after the robot arm picks up the target luggage. If they match, the target luggage is grabbed to the corresponding destination trailer and the information of the grabbed target luggage is counted. If they do not match, the target luggage is put back to its original place. Figure 7 As shown, an RFID identification device can be installed on the clamp of the robot arm, and the RFID on the luggage can be identified again after picking up the luggage to confirm that the luggage matches the destination trailer.

[0076] like Figure 2 As shown, when the trailer reaches the maximum load or a certain category of luggage is picked up, the luggage needs to be handed over. The information of the grabbed target luggage counted by the RFID identification device installed on the clamp of the robot arm will be exported one by one to form a handover list.

[0077] In order to achieve the above purpose, Figure 5 , 6As shown, the present invention also provides a baggage sorting and loading system, which includes multiple mechanical arms and a baggage destination trailer, a turntable, a priority configuration device and a controller, wherein the controller is used to control the mechanical arms to sort the baggage on the turntable to the destination trailer, the priority configuration device is used to set the sorting priority and optimization target weight parameter of each baggage, and the controller is configured with the aforementioned baggage sorting and loading method.

[0078] like Figure 3 As shown, the baggage sorting and loading system also includes a baggage injection device. The baggage sorting carousel is used to circulate the baggage and wait for the robot arm to pick up the baggage. At the same time, the baggage injection device injects the baggage into the vacant window on the baggage sorting carousel and enters the flight number and destination information of the baggage. Since the position of each baggage placement window on the baggage sorting carousel remains unchanged in space, each time the baggage sorting carousel moves forward by one window position, the flight number and destination information of each baggage on the carousel needs to be transferred to the next window to ensure that the baggage body and its information are relative to avoid errors.

[0079] On the other hand, in order to achieve the above-mentioned purpose, the present invention further provides a storage medium storing a number of computer instructions for executing the above-mentioned baggage sorting and loading method.

[0080] It should be noted that the above embodiments are only for more clearly illustrating the technical solutions of the present invention. Those skilled in the art will understand that the implementation methods of the present invention are not limited to the above contents, and obvious changes, replacements or substitutions based on the above contents do not exceed the scope of the technical solutions of the present invention; other implementation methods will naturally fall within the scope of the present invention without departing from the concept of the present invention.

Claims

1. A baggage sorting and loading method, characterized in that: include: Obtaining the current position of each bag to be sorted by the robot arm, the sorting cut-off time of each bag, the sorting priority of each bag, the position of the destination trailer of each bag, the current position of the robot arm, the running speed of the baggage carousel and the moving speed of the robot arm; According to the acquired current position of each bag, the position of the destination trailer of each bag, the current position of the mechanical arm, the running speed of the baggage carousel and the moving speed of the mechanical arm, the operation parameter value of the mechanical arm picking up each bag to the corresponding destination trailer is calculated respectively, and the operation parameter value is used to characterize the action consumption of sorting the baggage; The objective function value is calculated based on the operation parameter value of each bag, the sorting cut-off time of each bag, the sorting priority of each bag and the pre-configured optimization target weight parameter of each bag and the following rules: J=α*M1+β*M2+ε*M3 Wherein, M1 represents the operation parameter value of the baggage to the corresponding destination trailer, α represents the value corresponding to M1 in the optimization target weight parameter pre-configured for the baggage, M2 represents the sorting cut-off time of the baggage, β represents the value corresponding to M2 in the optimization target weight parameter pre-configured for the baggage, M3 represents the sorting priority of the baggage, ε represents the value corresponding to M3 in the optimization target weight parameter pre-configured for the baggage, and J represents the objective function value corresponding to the baggage; The minimum value of the objective function values ​​corresponding to all the luggage is used as the optimally picked-up target luggage, and the mechanical arm is used to pick up the target luggage to the corresponding destination trailer.

2. The baggage sorting and loading method according to claim 1, characterized in that: The operation parameter value includes the energy consumption and / or time consumption of the robot arm picking up the luggage to the corresponding destination trailer.

3. The baggage sorting and loading method according to claim 2, characterized in that: The operating parameter values ​​are calculated according to the following rules: M1=γ*N+δ*T Among them, N represents the energy consumption of the robot arm picking up the luggage to the corresponding destination trailer, γ represents the value corresponding to N in the optimization target weight parameter pre-configured by Li, T represents the time consumed by the robot arm picking up the luggage to the corresponding destination trailer, and δ represents the value corresponding to T in the optimization target weight parameter pre-configured by Li.

4. The baggage sorting and loading method according to claim 3, characterized in that: The energy consumption N is proportional to the moving distance of the robot arm and can be expressed as: N=p*L Wherein, L is the moving distance of the robot arm, and p is the power consumption of the robot arm moving a unit distance; The time consumption T can be expressed as: Among them, S1 represents the moving distance of the luggage on the carousel relative to the ground, V1 represents the running speed of the luggage carousel, S2 represents the moving distance of the luggage on the robotic arm, and V2 represents the moving speed of the robotic arm.

5. The baggage sorting and loading method according to claim 1, characterized in that: Also includes: After the robot arm picks up the target luggage, it confirms whether the target luggage matches the destination trailer information. If they match, the robot arm grabs the target luggage to the corresponding destination trailer and counts the information of the grabbed target luggage. If they do not match, the robot arm puts the target luggage back to its original place.

6. A baggage sorting and loading system, the system comprising at least one mechanical arm and a baggage destination trailer, a turntable, a priority configuration device and a controller, the controller being used to control the mechanical arm to sort the baggage on the turntable to the destination trailer, characterized in that: The priority configuration device is used to set the sorting priority and optimization target weight parameter of each baggage, and the controller is configured to execute the baggage sorting and loading method according to any one of claims 1-5.

7. A storage medium, characterized in that: A plurality of computer instructions are stored for executing a baggage sorting and loading method according to any one of claims 1 to 5.

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