A luggage sorting and loading method, system and storage medium

Abstract

The present application relates to the technical field of logistics luggage package sorting, and particularly relates to a luggage sorting and loading method and system and a storage medium. In the method, a mechanical arm is used to sort luggage on a luggage sorting turntable. When the luggage is picked up, the action consumption for sorting each piece of luggage is calculated according to the position of the luggage destination 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. Then, a value is calculated by multiplying the action consumption, the sorting deadline and the sorting priority of the luggage by respective coefficients. The luggage corresponding to the minimum value is the priority sorting object. This method replaces the original manual sorting and handling form, improves the sorting efficiency and reduces the labor intensity. In addition, the luggage can be sorted according to the demand, the energy consumption, the efficiency and the luggage sorting deadline, and has the characteristics of flexibility and variability, meeting different user demands.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics luggage parcel sorting, in particular to a luggage sorting and loading method and system and a storage medium. BACKGROUND

[0002] With the development of social economy and the large number of airport constructions in China, people's travel is becoming more and more convenient, and the number of passengers choosing to travel by plane is also increasing. In various domestic airports, the increasing number of passengers brings more and more checked luggage, and these large amounts of luggage need to be sorted in time according to the destination airport, flight number and flight departure time. Flights have relatively fixed departure times, and within a limited time, how to sort, pack and load a large number of luggage and transfer them to the plane becomes a problem that needs to be considered by each civil aviation airport.

[0003] Currently, many domestic airports have begun to actively explore intelligent luggage sorting and handling technology, and how to gradually transform the traditional departure luggage manual handling business into intelligent through automation technology and effectively alleviate the work pressure of the front-line post. The comparison file CN111331607B provides an airport departure luggage handling system based on robot technology, but lacks a scheduling strategy for robots, is not the optimal luggage sorting method, and does not solve the problem of re-confirmation and transfer of loaded luggage. When there are multiple flights of luggage on the luggage sorting carousel at the same time, how to efficiently and accurately complete the sorting, loading, re-confirmation and transfer of luggage remains to be solved. SUMMARY

[0004] In view of the deficiencies in the prior art, the present application provides a luggage sorting and loading method, system and storage medium, which preferentially picks up the optimal pickup target during luggage sorting, achieving efficient and accurate luggage sorting.

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

[0006] obtaining the current position of each luggage to be sorted by the mechanical arm, the sorting deadline of each luggage, the sorting priority of each luggage, the position of the destination trailer of each luggage, the current position of the mechanical arm, the running speed of the luggage carousel and the moving speed of the mechanical arm;

[0007] According to the obtained current position of each luggage, the position of the destination trailer of each luggage, the current position of the mechanical arm, the running speed of the luggage carousel and the moving speed of the mechanical arm, the operation parameter value of the mechanical arm picking up each luggage to the corresponding destination trailer is calculated respectively, and the operation parameter value is used to represent the action consumption of the sorted luggage;

[0008] Based on the operation parameter value of each luggage, the sorting deadline of each luggage, the sorting priority of each luggage and the optimization target weight parameter pre-configured for each luggage, a target function value is calculated by using the following rules:

[0009] J = a * M1 + b * M2 + e * M3

[0010] wherein M1 represents the operation parameter value of the luggage to the corresponding destination trailer, a represents the value corresponding to M1 in the optimization target weight parameter pre-configured for the luggage, M2 represents the sorting deadline of the luggage, b represents the value corresponding to M2 in the optimization target weight parameter pre-configured for the luggage, M3 represents the sorting priority of the luggage, e represents the value corresponding to M3 in the optimization target weight parameter pre-configured for the luggage, and J represents the target function value corresponding to the luggage.

[0011] The minimum value among the target function values corresponding to all the luggage is taken as the optimal picked target luggage, and the target luggage is picked up to the corresponding destination trailer by using the mechanical arm.

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

[0013] Further, the operation parameter value is calculated by using the following rules:

[0014] M1 = g * N + d * T

[0015] wherein N represents the energy consumption of the mechanical arm picking up the luggage to the corresponding destination trailer, g represents the value corresponding to N in the optimization target weight parameter pre-configured for the luggage, T represents the time consumption of the mechanical arm picking up the luggage to the corresponding destination trailer, and d represents the value corresponding to T in the optimization target weight parameter pre-configured for the luggage.

[0016] Further, the energy consumption N is proportional to the moving distance of the mechanical arm, and can be represented as:

[0017] N = p * L

[0018] wherein L is the moving distance of the mechanical arm, and p is the power consumption of the mechanical arm moving one unit distance.

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

[0020]

[0021] wherein S1 represents the moving distance of the luggage on the turntable relative to the ground, V1 represents the running speed of the luggage turntable, S2 represents the moving distance of the luggage on the mechanical arm, and V2 represents the moving speed of the mechanical arm.

[0022] Further, when the mechanical arm sorts the target baggage, it is also necessary to confirm whether the target baggage matches the destination trailer information after the mechanical arm picks up the target baggage, if it matches, the target baggage is grabbed to the corresponding destination trailer and the information of the grabbed target baggage is counted, if it does not match, the target baggage is put back to the original place. An RFID identification device can be installed on the gripper of the mechanical arm, and after picking up the baggage, the RFID on the baggage is identified again to confirm that the baggage and the destination trailer match.

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

[0024] In order to achieve the above-mentioned purpose, the present application also provides a storage medium which stores a plurality of computer instructions for executing the aforementioned baggage sorting and loading method.

[0025] The technical principle of the present application is that a mechanical arm is used to sort baggage on a baggage sorting turntable, 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 turntable and the moving speed of the mechanical arm, and a value is calculated by multiplying the action consumption, the sorting deadline and the sorting priority of the baggage by their respective coefficients, and the baggage corresponding to the minimum value is the priority sorting object.

[0026] Compared with the prior art, the present application has the following beneficial effects: the baggage sorting strategy can be flexibly adjusted according to the baggage sorting situation, when the baggage sorting amount is large and the time is tight, the mechanical arm working efficiency (i.e. short time consumption) is taken as the optimization target, more attention is paid to the time consumption variable, and the mechanical arm will actively move to pick up the baggage; when the baggage sorting amount is small and the time is sufficient, the moving distance (i.e. small energy consumption) is taken as the optimization target, more attention is paid to the energy consumption variable, and the mechanical arm will tend to move to the destination trailer position to wait for the baggage rather than moving to pick up, so as to meet the green and energy-saving operation requirements; when a certain type of baggage needs to be sorted urgently or a certain type of baggage needs to be sorted within a certain time, this type of baggage can be set to be picked up preferentially, and more attention is paid to the baggage sorting deadline or priority variable. The original manual sorting and carrying form is replaced, the sorting efficiency is improved, and the labor intensity of personnel is reduced; the baggage can also be sorted according to the demand by comprehensively considering the energy consumption, efficiency and baggage sorting deadline, which has the characteristics of flexibility, variability and meeting different user demands. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the present application, facilitate further understanding of the technical effects, technical features and purposes of the present application, the present application will be described in detail below in conjunction with the drawings, which constitute an integral part of the description and serve to illustrate the technical solutions of the present application together with the embodiments of the present application, but do not constitute a limitation of the present application.

[0028] Figure 1 Flow chart of the method described in the present application;

[0029] Figure 2 Flow chart of the mechanical arm confirming the luggage to be picked up and stacking in the embodiment of the method of the present application;

[0030] Figure 3 Flow chart of injecting luggage into the luggage sorting carousel in the embodiment of the method of the present application;

[0031] Figure 4 Flow chart of the entire sorting process described in the embodiment of the method of the present application;

[0032] Figure 5 Main structure schematic diagram of the luggage sorting and loading system described in the present application;

[0033] Figure 6 Swing schematic diagram of the luggage sorting and loading system described in the present application;

[0034] Figure 7 Installation schematic diagram of the RFID identification device of the luggage sorting and loading system described in the present application on the clamp of the mechanical arm. DETAILED DESCRIPTION

[0035] The present application will be further described in detail below in conjunction with the drawings and embodiments. Of course, the following specific embodiments described are only to explain the technical solutions of the present application, but not to limit the present application. In addition, the parts expressed in the embodiments or drawings are only illustrative of the relevant parts of the present application, but not the whole of the present application. At the same time, all other embodiments obtained by those skilled in the art based on the embodiments of the present application shall of course belong to the protection scope of the present application.

[0036] Embodiment one

[0037] As shown in Figure 1 , the present application proposes a luggage sorting and loading method by the following embodiments, which comprises: obtaining the current position of each luggage to be sorted by the mechanical arm, the sorting deadline of each luggage, the sorting priority of each luggage, the position of the destination trailer of each luggage, the current position of the mechanical arm, the running speed of the luggage carousel and the moving speed of the mechanical arm;

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

[0039] Based on the operation parameter value of each luggage, the sorting deadline of each luggage, the sorting priority of each luggage and the pre-configured optimization target weight parameter of each luggage, and by using the following rules, the target function value is calculated:

[0040] J = α * M1 + β * M2 + ε * M3

[0041] Wherein, M1 represents the operation parameter value of the luggage to the corresponding destination trailer, α represents the value corresponding to M1 in the pre-configured optimization target weight parameter of the luggage, M2 represents the sorting deadline of the luggage, β represents the value corresponding to M2 in the pre-configured optimization target weight parameter of the luggage, M3 represents the sorting priority of the luggage, ε represents the value corresponding to M3 in the pre-configured optimization target weight parameter of the luggage, and J represents the target function value corresponding to the luggage.

[0042] The minimum value of the target function value corresponding to all the luggage is taken as the optimal picking target luggage, and the mechanical arm is used to pick up the target luggage to the corresponding destination trailer.

[0043] In the calculation of the target function value J, if the operation parameter value of a certain luggage is 13, the sorting deadline is 12 minutes, the priority is 1, and α, β and ε are 1, 0.5 and 1 respectively, then the target function value is:

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

[0045] The target function values of other luggage are calculated by the above method respectively as 22, 34, 51, 31, 44 and 38, and the mechanical arm preferentially selects the luggage with the target function value of 20 as the priority picking target luggage.

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

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

[0048] M1 = γ * N + δ * T

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

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

[0051] N = p * L

[0052] Where L is the distance the robotic arm moves, and p is the power consumption of the robotic arm moving one unit distance;

[0053] The time consumed can be expressed as:

[0054]

[0055] Where S1 represents the distance the luggage moves relative to the ground on the carousel, V1 represents the operating speed of the luggage carousel, S2 represents the distance the luggage moves 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 As shown in the diagram, the baggage sorting system consists of the following components: Figure 6 As shown, an encoder is installed on the turntable motor drive shaft for real-time turntable positioning. An initialization photoelectric sensor is installed to initialize the encoder positioning value every turn of the turntable. An injection photoelectric sensor is installed to determine baggage injection conditions. Two sets of robotic arms are arranged on each side of the turntable. The robotic arms cover 1-4 trolleys (1-4 flights) by moving along the ground rail. The system can simultaneously sort and load baggage from up to 16 flights (configuration can be adjusted according to the turntable size). The robotic arm system configuration includes: a palletizing camera installed approximately three meters above the baggage trolleys, with each trolley installed in a 2×2 matrix grid. Visual stitching technology accurately positions the trolleys and detects the three-dimensional dimensions of the stacked baggage on the trolleys in real time. A 3.5m reach, 120KG load robotic arm is installed on the ground rail, with a gripper at the end capable of handling 50KG airport baggage. The gripper mechanism of the robotic arm is shown in Figure 7, integrating an RFID identification device for reconfirmation of baggage flight information. The average movement speed of the robotic arm on the ground rail is 1m / s. An identification device is installed on the upstream conveyor of the baggage sorting carousel to identify the flight of the baggage to be sorted. A pickup camera is installed at the entrance of the robotic arm's working area to acquire the size and orientation 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. Divided into 100 virtual windows with each window spaced 0.8m apart, starting from the injection photoelectric sensor, baggage A to be sorted passes through the identification device. The system identifies the flight number of baggage A and writes it into the baggage data queue. After the injection photoelectric sensor 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, every time the carousel moves 0.8m (2s), the baggage information bound to the virtual window is passed forward to one window. Every time the carousel rotates, the encoder data is calibrated by initializing the photoelectric sensor.

[0057] As Figure 2 , 3 , 4, the following is an example of moving the robot arm to the position of the destination trailer first, waiting for the luggage to move to the destination trailer position, and then picking up the luggage. Please note that at this time, the time-consuming is the optimization goal, and the optimization goal weight parameter of other items of luggage is 0. At the same time, the picking strategy is only to move the robot arm to the destination trailer position first, and then wait for the luggage to move to the destination trailer position before picking up the luggage.

[0058] The current baggage sorting scene is the sorting of the to-be-transported baggage before the departure of the airport flight. It is assumed that there are only 4 flights on the current baggage sorting carousel, namely flights 1, 2, 3 and 4, which correspond to trolleys 1, 2, 3 and 4 respectively; there are 100 baggage placing windows on the baggage sorting carousel, the positions of the various baggage placing windows remain unchanged in space, it is assumed that a certain baggage is currently at the position of window 5, after the baggage sorting carousel moves forward by one window position, the baggage is at the position of window 6, and the baggage placing window of the baggage carousel moves forward by one window position, which is recorded as one unit of time. After the mechanical arm places a certain baggage on the trolley 2, the mechanical arm is located at the trolley 2 loading point, corresponding to the position of the carousel window 30, at this time the next optimal pickup target baggage is calculated. The distribution of the mechanical arm, the trolley and the to-be-sorted baggage is as follows: the mechanical arm needs 3 units of movement time to move to the trolley 1 (located at the carousel window 27) and the trolley 3 (located at the carousel window 33) loading points, and 6 units of movement time to move to the trolley 4 (located at the carousel window 36) loading point; the current to-be-sorted baggage on the baggage carousel is [flight 1, to-be-sorted baggage at window 3, 8, 20, 50], [flight 2, to-be-sorted baggage at window 5, 10, 25, 55], [flight 3, to-be-sorted baggage at window 7, 12, 30, 60], [flight 4, to-be-sorted baggage at window 9, 14, 35, 65]. Subtract the mechanical arm movement time, calculate the time when the mechanical arm moves to the trolley position and waits for the baggage to move to its corresponding destination trolley position: flight 1, 30-[3, 8, 20, 50]-3=27-[3, 8, 20, 50]=D1[24, 19, 7, -23], the negative value corresponds to the need for the baggage sorting carousel to turn one more circle, at this time +100 is needed, and finally the time required for the baggage of flight 1 to complete sorting is [24, 19, 7, 77] units of time. Similarly, the time required for the baggage of flight 2 to complete sorting is D2[25, 20, 5, 75], the time required for the baggage of flight 3 to complete sorting is D3[20, 15, 97, 67], and the time required for the baggage of flight 4 to complete sorting is D4[15, 10, 89, 59]. The baggage corresponding to the minimum [D1, D2, D3, D4] of the time required for each baggage of each flight to complete sorting is the optimal target baggage, that is, the mechanical arm should first move to the position of the trolley 2 to wait for the arrival of the baggage. Of course, this is only to take the sorting time of all baggage as the optimization target, if the time is urgent and flight 1 needs to take off as soon as possible, the baggage of flight 1 can be the priority pickup object, and the baggage of flight 1 is preferentially picked up.

[0059] Of course, in other practical applications, the mechanical arm can first pick up the luggage and then move the luggage to the corresponding destination trailer position. At this time, according to the energy consumption, time consumption and / or sorting deadline of the luggage when the mechanical arm picks up each luggage to the corresponding destination trailer, the optimal target luggage is calculated comprehensively.

[0060] Of course, in some other embodiments, when calculating the operation parameter value of each luggage, the operation parameter values of each luggage in different picking strategies can be calculated first, the minimum operation parameter value is selected from the operation parameter values, and the minimum operation parameter value is compared with the minimum operation parameter value corresponding to other luggage. The minimum operation parameter value is selected to calculate the target luggage which is preferentially picked up by the mechanical arm, and the target luggage is picked up by the corresponding method. Of course, it is worth mentioning that if this method is used to pick up the luggage, the strategy of picking up each luggage is not necessarily the same. For example, a luggage can be moved to the destination trailer position by the mechanical arm first, and then the luggage is picked up after the luggage arrives. Another luggage can be moved to the position of the luggage by the mechanical arm first, and then the luggage is picked up and transported to the destination trailer position.

[0061] In the embodiment, the minimum operation parameter value of each luggage is calculated by calculating the operation parameter values of different picking strategies as follows:

[0062] The first operation parameter value of the mechanical arm moving to the destination trailer position first, and then picking up the luggage after the luggage moves to the destination trailer position;

[0063] The second operation parameter value of the mechanical arm moving to the position of the luggage first, picking up the luggage, and then moving to the destination trailer;

[0064] The third operation parameter value of the mechanical arm waiting for the luggage to move to the position of the mechanical arm, picking up the luggage, and then moving to the destination trailer.

[0065] The minimum operation parameter value is determined by selecting the smaller one from the first operation parameter value, the second operation parameter value and the third operation parameter value as the minimum operation parameter value.

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

[0067] The fourth operation parameter value of the mechanical arm and the luggage moving to the position of the luggage in the opposite direction to pick up the luggage, and then moving the luggage to the corresponding destination trailer position;

[0068] The fifth operation parameter value of the mechanical arm and the luggage moving to the position of the luggage in the same direction to pick up the luggage, and then moving the luggage to the corresponding destination trailer position.

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

[0070] The calculation methods of the first operation parameter value, the second operation parameter value, the third operation parameter value, the fourth operation parameter value and the fifth operation parameter value all include the weights of the energy consumption and the time consumption of the mechanical arm picking up the luggage to the corresponding destination trailer, and all use the above-mentioned method of calculating the operation parameter value, that is:

[0071] M1 = γ * N + δ * T

[0072] N = p * L

[0073]

[0074] Wherein, N represents the energy consumption of the mechanical 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 consumption of the mechanical arm picking 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 mechanical arm, p is the power consumption of the mechanical arm moving one unit distance, S1 represents the moving distance of the luggage on the turntable relative to the ground, V1 represents the running speed of the luggage turntable, S2 represents the moving distance of the luggage on the mechanical arm, and V2 represents the moving speed of the mechanical arm.

[0075] In the embodiment, as shown in Figure 2 , when the mechanical arm sorts the target luggage, it also needs to confirm whether the target luggage matches the destination trailer information after picking up the target luggage, and if it matches, it will pick up the target luggage to the corresponding destination trailer and count the information of the picked target luggage, and if it does not match, it will put the target luggage back to the original place. As shown in Figure 7 , an RFID identification device can be installed on the clamp of the mechanical arm, and the RFID on the luggage is identified again after picking up the luggage to confirm that the luggage and the destination trailer match.

[0076] As shown in Figure 2 , when the trailer reaches the maximum loading capacity or the picking of a certain type of luggage is completed, the handover of the luggage needs to be completed, and the information of the picked target luggage counted by the RFID identification device installed on the clamp of the mechanical arm will be exported one by one to form a handover list.

[0077] In order to achieve the above-mentioned purposes, as shown in Figure 5 , 6As shown, the present invention also provides a baggage sorting and loading system, which includes multiple robotic arms, baggage destination trailers, turntables, priority configuration devices, and controllers. The controller is used to control the baggage on the robotic arm sorting turntable to the destination trailers. The priority configuration device is used to set the sorting priority and optimization target weight parameters for each baggage. 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 baggage, waiting for the robotic arm to pick it up. Simultaneously, the baggage injection device injects baggage into empty windows on the baggage sorting carousel and records the baggage's flight number and destination information. Since the positions of each baggage placement window on the baggage sorting carousel remain spatially constant, each time the carousel moves forward one window position, the flight number and destination information of each piece of baggage on the carousel must be passed to the next window to ensure that the baggage itself and its information are aligned and to prevent errors.

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

[0080] It should be noted that the above embodiments are only for more clearly illustrating the technical solution of the present invention. Those skilled in the art will understand that the implementation of the present invention is not limited to the above content. Any obvious changes, substitutions or replacements made based on the above content do not exceed the scope of the technical solution of the present invention. Other implementations will naturally fall within the scope of the present invention without departing from the concept of the present invention.

Claims

1. A method for sorting and loading luggage, characterized in that, include: The system acquires the current position of each piece of luggage to be sorted by the robotic arm, the sorting deadline for each piece of luggage, the sorting priority of each piece of luggage, the position of the destination trailer for each piece of luggage, the current position of the robotic arm, the running speed of the luggage carousel, and the moving speed of the robotic arm. Based on the current location of each piece of luggage, the location of the destination trailer for each piece of luggage, the current location of the robotic arm, the running speed of the luggage carousel, and the moving speed of the robotic arm, the operation parameter values ​​for the robotic arm to pick up each piece of luggage to the corresponding destination trailer are calculated. The operation parameter values ​​are used to characterize the action consumption of sorting luggage. The objective function value is calculated based on the operational parameter values, sorting deadline, sorting priority, and pre-configured optimization target weight parameters for each baggage, using the following rules: J = α*M1 + β*M2 + ε*M3 Where M1 represents the operation parameter value of the luggage to the corresponding destination trailer, α represents the value of M1 in the pre-configured optimization target weight parameter of the luggage, M2 represents the luggage sorting deadline, β represents the value of M2 in the pre-configured optimization target weight parameter of the luggage, M3 represents the luggage sorting priority, ε represents the value of M3 in the pre-configured optimization target weight parameter of the luggage, and J represents the objective function value of the luggage. The minimum value among all the objective function values ​​corresponding to the luggage is taken as the optimal target luggage to pick up, and the robotic arm is used to pick up the target luggage and place it on the corresponding destination trailer.

2. The baggage sorting and loading method as described in claim 1, characterized in that: The operating parameter values ​​include the energy consumption and / or time consumed by the robotic arm in picking up luggage and transferring it to the corresponding destination trailer.

3. The baggage sorting and loading method as described in claim 2, characterized in that, The operating parameter values ​​are calculated according to the following rules: M1=γ*N+δ*T Where N represents the energy consumption of the robotic arm picking up luggage to the corresponding destination trailer, γ represents the value of N in the pre-configured optimization target weight parameters, T represents the time taken for the robotic arm to pick up luggage to the corresponding destination trailer, and δ represents the value of T in the pre-configured optimization target weight parameters.

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

5. The baggage sorting and loading method as described in claim 1, characterized in that, Also includes: After the robotic arm picks up the target luggage, it confirms whether the target luggage matches the destination trailer information. If they match, the robotic 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 robotic arm puts the target luggage back in its original place.

6. A baggage sorting and loading system, the system comprising at least one robotic arm and baggage destination trolleys, a turntable, a priority configuration device, and a controller, the controller being used to control the baggage on the robotic arm sorting turntable to the destination trolley, characterized in that: The priority configuration device is used to set the sorting priority and optimization target weight parameters for each piece of baggage, and the controller is configured to execute the baggage sorting and loading method as described in any one of claims 1-5.

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

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