A loading method, loading device, computer storage medium and program product

Abstract

The present invention discloses a loading method, a loading device, a computer storage medium and a program product, including: determining the size of a target product on a conveying device; determining the position and size of a target space in a loading space; according to a picking strategy, a driving unit drives a conveying unit and a pushing unit to move to a position corresponding to the conveying unit and the conveying device to receive the target product, and determining that the pushing unit is located on the left or right side of the target product along the width direction of the conveying unit; determining a loading strategy according to the size of the target product and the position and size of the target space; according to the loading strategy, driving at least one of the driving unit, the pushing unit and the conveying unit to load the target product into the target space. The present invention can realize automated baggage handling, improve efficiency and reduce costs, and can select and complete corresponding picking and loading strategies according to the size of the baggage and the distribution of baggage already loaded in the container, so that the baggage distribution is reasonable and the space utilization rate is improved.

Description

Technical Field

[0001] The present invention relates to the field of baggage sorting, and in particular to a loading method, a loading device, a computer storage medium and a program product. Background Art

[0002] Civil aviation passenger transport has not only reshaped people's travel habits, but also promoted the integration of the global economy. With the continuous development of science and technology and the popularization of environmental protection concepts, my country's future civil aviation passenger transport is expected to develop in a more environmentally friendly, intelligent and efficient direction.

[0003] After passengers complete the check-in procedures at the airport, the baggage handling system, including conveying and sorting, has been automated. However, before the baggage is sent to the aircraft, the outbound baggage must be loaded into air containers. In my country, most passenger air containers (Aircraft Container AKE) loading work still relies on manual handling, which is inefficient. This long-term and frequent baggage handling work is prone to muscle damage for workers and is highly dangerous. At the same time, with the rising labor costs and workers' expectations for the working environment, recruitment will face more challenges. Summary of the invention

[0004] The purpose of the present invention is to solve the current problems of high labor cost, low efficiency and high risk of luggage handling. The present invention provides a loading method, a loading device, a computer storage medium and a program product, which can realize automatic luggage handling, improve efficiency and reduce costs, and can select and complete corresponding picking and loading strategies according to the size of the luggage and the distribution of the luggage loaded in the container, so that the luggage distribution is reasonable and the space utilization rate is improved.

[0005] In order to solve the above technical problems, an embodiment of the present invention discloses a loading method, which is applied to a loading system, wherein the loading system comprises a conveying device, a loading device and a loading part, wherein the loading device comprises a conveying part, a pushing part and a driving part, wherein the conveying part is used to convey a target product along a length direction of the conveying part, wherein the pushing part is used to convey the target product along a width direction of the conveying part, wherein the driving part is used to simultaneously drive the conveying part and the pushing part to move, wherein the loading part comprises a loading space, wherein the loading space is used to accommodate the target product, and wherein the loading method comprises:

[0006] determining a size of a target product on the conveying device;

[0007] determining a position and a size of a target space in the loading space, the target space being used to accommodate the target product;

[0008] determining a picking strategy according to the position of the target space in the loading space;

[0009] According to the picking strategy, the driving unit drives the conveying unit and the pushing unit to move to a position where the conveying unit corresponds to the conveying device to receive the target product, and determines that the pushing unit is located on the left or right side of the target product along the width direction of the conveying unit;

[0010] Determining a loading strategy according to the size of the target product and the position and size of the target space;

[0011] According to the loading strategy, at least one of the driving part, the pushing part and the conveying part is driven to load the target product into the target space.

[0012] By adopting the above technical solution, the position of the target space in the loading space is detected by a camera, a laser measuring instrument, a scanner or an image recognition system to determine the picking strategy, and the picking strategy is transmitted to the loading device. The driving unit drives the conveying unit and the pushing unit to move to the position corresponding to the conveying unit and the conveying device according to the received picking strategy, so that the target product on the conveying device can be conveyed to the conveying unit. At the same time, the pushing unit moves to the left or right side of the target product along the width direction of the conveying unit according to the received picking strategy.

[0013] The size of the target product (i.e., the luggage to be loaded) on the conveying device is detected by a camera, a laser measuring instrument, a scanner or an image recognition system, and the position and size of the target space in the loading space are detected by a camera, a laser measuring instrument, a scanner or an image recognition system, so as to determine the loading strategy, and transmit the loading strategy to the loading device. The loading device selects to drive at least one component among the driving part, the pushing part and the conveying part according to the loading strategy to load the target product into the target space.

[0014] The above-mentioned loading method determines the picking strategy by detecting and determining the position of the target space, and then determines the loading strategy by detecting and determining the position and size of the target product and the position of the target space, so as to place the target product in the target space. The entire process is completed by the loading device, and no manual handling is required, which saves labor costs and improves efficiency. At the same time, it can accurately judge the position and size of the target product and the position of the target space, so as to use the loading space more efficiently, make the luggage assembly more reasonable, and improve its space utilization.

[0015] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining a picking strategy according to the position of the target space in the loading space comprises:

[0016] It is detected that the position of the target space is located on the left side of the loading space, and the driving part is driven to drive the conveying part and the pushing part to move to the position where the conveying part corresponds to the conveying device, the conveying part receives the target product, and drives the pushing part to be located on the right side of the target product along the width direction of the conveying part.

[0017] By adopting the above technical solution, when it is detected that the position of the target space is located on the left side of the loading space, the driving part drives the conveying part and the pushing part to move to the position corresponding to the conveying part and the conveying device, so that the target product on the conveying device can be conveyed to the conveying part, and the conveying part receives the target product. At the same time, the pushing part moves to the right side of the target product along the width direction of the conveying part according to the received picking strategy.

[0018] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining a picking strategy according to the position of the target space in the loading space comprises:

[0019] It is detected that the position of the target space is located on the right side of the loading space, and the driving part is driven to drive the conveying part and the pushing part to move to the position where the conveying part corresponds to the conveying device, the conveying part receives the target product, and drives the pushing part to be located on the left side of the target product along the width direction of the conveying part.

[0020] By adopting the above technical solution, when it is detected that the position of the target space is located on the right side of the loading space, the driving part drives the conveying part and the pushing part to move to the position corresponding to the conveying part and the conveying device, so that the target product on the conveying device can be conveyed to the conveying part, and the conveying part receives the target product. At the same time, the pushing part moves to the left side of the target product along the width direction of the conveying part according to the received picking strategy.

[0021] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining a picking strategy according to the position of the target space in the loading space comprises:

[0022] It is detected that the position of the target space is located on the opening side of the loading space, and the driving part is driven to drive the conveying part and the pushing part to move to the position where the conveying part corresponds to the conveying device, the conveying part receives the target product, and drives the pushing part to be located on the right side of the target product along the width direction of the conveying part.

[0023] By adopting the above technical solution, when it is detected that the position of the target space is located on the opening side of the loading space, the driving part drives the conveying part and the pushing part to move to the position corresponding to the conveying device, so that the target product on the conveying device can be conveyed to the conveying part, and the conveying part receives the target product. At the same time, the pushing part moves to the right side of the target product along the width direction of the conveying part according to the received picking strategy.

[0024] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0025] It is detected that the position of the target space is located on the left side of the loading space, the size of the target space is larger than the size of the target product, and no products are loaded on both sides of the target space, the loading device is driven to be in the same plane as the target space and located in front of it, and the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

[0026] By adopting the above technical solution, it is detected that the position of the target space is located on the left side of the loading space. According to the above picking strategy, the target product is placed on the conveying part at this time, and the pushing part is located on the right side of the target product. When it is detected that the size of the target space is larger than the size of the target product and no products are loaded on both sides of the target space, the loading strategy is determined, and the loading device receives the loading strategy and moves to the same plane as the target space and in front of it. That is to say, at this time, the target product on the conveying part is facing the target space, and the conveying part is driven to move along the length direction of the conveying part and in the direction close to the target space, so that the target product is loaded into the target space, thereby completing the loading of the target product.

[0027] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0028] It is detected that the position of the target space is located on the left side of the loading space, the size of the target space is larger than the size of the target product, and the right side of the target space is loaded with products, the loading device is driven to be in the same plane as the target space and located in front of it, the pushing part moves along the width direction of the conveying part and toward the target space until the outer edge of the target product is flush with the outer edge of the conveying part, and then the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

[0029] By adopting the above technical solution, it is detected that the position of the target space is located on the left side of the loading space. According to the above picking strategy, the target product is placed on the conveying part at this time, and the pushing part is located on the right side of the target product. At the same time, when it is detected that the size of the target space is larger than the size of the target product and the right side of the target space is loaded with a product, the loading strategy is determined, and the loading device receives the loading strategy and moves to be in the same plane as the target space and in front of it. That is to say, at this time, the target product on the conveying part is facing the target space, and the pushing part moves along the width direction of the conveyor belt and toward the target space until the outer edge of the target product is flush with the outer edge of the conveying part, so as to limit the target product and prevent it from being displaced or deflected on the conveying part along the width direction of the conveying part, resulting in a position deviation when it finally falls into the target space, and the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space, thereby completing the loading of the target product.

[0030] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0031] It is detected that the position of the target space is located on the left side of the loading space, the size of the target space is larger than the size of the target product, and products are loaded on both sides of the target space, the loading device is driven to be located above the target space, the driving part is driven to move along the length direction of the conveying part and in a direction away from the target space, and the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

[0032] By adopting the above technical solution, it is detected that the position of the target space is located on the left side of the loading space. According to the above picking strategy, the target product is placed on the conveying part at this time, and the pushing part is located on the right side of the target product. At the same time, when it is detected that the size of the target space is larger than the size of the target product, and both sides of the target space are loaded with products, the loading strategy is determined, and the loading device receives the loading strategy and moves to above the target space. That is to say, at this time, the target product on the conveying part is above the target space, and the driving part is driven to move along the length direction of the conveying part and away from the target space, and the conveying part is driven to move along the length direction of the conveying part and close to the target space, so that the target product is loaded into the target space. At this time, the position of the target product has a small displacement along the length direction of the conveying part, so that the target product can fit and adapt to the target space when it falls into the target space, thereby completing the loading of the target product.

[0033] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0034] It is detected that the position of the target space is located on the left side of the loading space, the size of the target space is equal to the size of the target product, and products are loaded on both sides of the target space, the loading device is driven to be located above the target space, the driving part is driven to move along the width direction of the conveying part and in a direction away from the target space, and the pushing part is driven to move along the width direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

[0035] By adopting the above technical solution, it is detected that the position of the target space is located on the left side of the loading space. According to the above picking strategy, the target product is placed on the conveying part at this time, and the pushing part is located on the right side of the target product. At the same time, it is detected that the size of the target space is equal to the size of the target product. When both sides of the target space are loaded with products, the loading strategy is determined, and the loading device receives the loading strategy and moves to above the target space. That is to say, at this time, the target product on the conveying part is above the target space, and the driving part is driven to move along the length direction of the conveying part and away from the target space, and the pushing part is driven to move along the width direction of the conveying part and close to the target space, so that the target product is loaded into the target space. At this time, with the target space as the reference system, the position of the target product does not move relative to the target space, so that the target product can fit and adapt to the target space when it falls accurately into the target space, so that the target product can be separated from the loading device when it is stationary, thereby completing the loading of the target product.

[0036] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0037] It is detected that the position of the target space is located on the left side of the loading space, the size of the target space is larger than the size of the target product, and no product is loaded on the right side of the target space, the loading device is driven to be located on the right side of the target space, and the pushing part is driven to move along the width direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

[0038] By adopting the above technical solution, it is detected that the position of the target space is located on the left side of the loading space. According to the above picking strategy, the target product is placed on the conveying part at this time, and the pushing part is located on the right side of the target product. At the same time, when it is detected that the size of the target space is larger than the size of the target product and there is no product loaded on the right side of the target space, the loading strategy is determined, and the loading device receives the loading strategy and moves to the right side of the target space with the target space. That is to say, at this time, the target product on the conveying part is facing the target space, and the left side of the target product is the target space. The pushing part is driven to move along the width direction of the conveying part and close to the target space, so that the target product is loaded into the target space, thereby completing the loading of the target product.

[0039] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0040] It is detected that the position of the target space is located on the opening side of the loading space, and the front side of the target space is loaded with products, the size of the target product is larger than the size of the loaded product, the loading device is driven to be located outside the loading space and in the same plane as the target space, the driving part is rotated so that the long side of the target product is parallel to the target space, and the pushing part is driven to move along the width direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

[0041] By adopting the above technical solution, it is detected that the position of the target space is located on the opening side of the loading space. According to the above picking strategy, the target product is placed on the conveying part at this time, and the pushing part is located on the right side of the target product. At the same time, it is detected that the size of the target product is larger than the size of the loaded product, and the front side of the target space is loaded with products. The driving loading device is located outside the loading space and is in the same plane as the target space. The driving part is rotated to make the long side of the target product parallel to the target space, and the pushing part is driven to move along the width direction of the conveying part and in the direction close to the target space to complete the loading of the target product.

[0042] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0043] It is detected that the position of the target space is located on the right side of the loading space, the size of the target space is larger than the size of the target product, and no products are loaded on both sides of the target space, the loading device is driven to be in the same plane as the target space and located in front of it, and the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

[0044] By adopting the above technical solution, it is detected that the position of the target space is located on the right side of the loading space. According to the above picking strategy, the target product is placed on the conveying part at this time, and the pushing part is located on the left side of the target product. When it is detected that the size of the target space is larger than the size of the target product and no products are loaded on both sides of the target space, the loading strategy is determined, and the loading device receives the loading strategy and moves to the same plane as the target space and in front of it. That is to say, at this time, the target product on the conveying part is facing the target space, and the conveying part is driven to move along the length direction of the conveying part and in the direction close to the target space, so that the target product is loaded into the target space, thereby completing the loading of the target product.

[0045] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0046] It is detected that the position of the target space is located on the right side of the loading space, the size of the target space is larger than the size of the target product, and the left side of the target space is loaded with products, the loading device is driven to be in the same plane as the target space and located in front of it, the pushing part moves along the width direction of the conveying part and toward the target space until the outer edge of the target product is flush with the outer edge of the conveying part, and then the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

[0047] By adopting the above technical solution, it is detected that the position of the target space is located on the right side of the loading space. According to the above picking strategy, the target product is placed on the conveying part at this time, and the pushing part is located on the left side of the target product. At the same time, when it is detected that the size of the target space is larger than the size of the target product and the left side of the target space is loaded with a product, the loading strategy is determined, and the loading device receives the loading strategy and moves to be in the same plane as the target space and in front of it. That is to say, at this time, the target product on the conveying part is facing the target space, and the pushing part moves along the width direction of the conveyor belt and toward the target space until the outer edge of the target product is flush with the outer edge of the conveying part, so as to limit the target product and prevent it from being displaced or deflected on the conveying part along the width direction of the conveying part, resulting in a position deviation when it finally falls into the target space, and the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space, and the loading of the target product is completed.

[0048] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0049] It is detected that the position of the target space is located on the right side of the loading space, the size of the target space is larger than the size of the target product, and products are loaded on both sides of the target space, the loading device is driven to be located above the target space, the driving part is driven to move along the length direction of the conveying part and in a direction away from the target space, and the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

[0050] By adopting the above technical solution, the position of the target space is measured to be located on the right side of the loading space. According to the above picking strategy, the target product is placed on the conveying part at this time, and the pushing part is located on the left side of the target product. At the same time, it is detected that the size of the target space is larger than the size of the target product. When both sides of the target space are loaded with products, the loading strategy is determined, and the loading device receives the loading strategy and moves to above the target space. That is to say, at this time, the target product on the conveying part is above the target space, and the driving part is driven to move along the length direction of the conveying part and away from the target space, and the conveying part is driven to move along the length direction of the conveying part and close to the target space, so that the target product is loaded into the target space. At this time, the position of the target product has a small displacement along the length direction of the conveying part, so that the target product can fit and adapt to the target space when it falls into the target space, thereby completing the loading of the target product.

[0051] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0052] It is detected that the position of the target space is located on the right side of the loading space, the size of the target space is equal to the size of the target product, and products are loaded on both sides of the target space, the loading device is driven to be located above the target space, the driving part is driven to move along the width direction of the conveying part and in a direction away from the target space, and the pushing part is driven to move along the width direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

[0053] By adopting the above technical solution, it is detected that the position of the target space is located on the right side of the loading space. According to the above picking strategy, the target product is placed on the conveying part at this time, and the pushing part is located on the left side of the target product. At the same time, it is detected that the size of the target space is equal to the size of the target product. When both sides of the target space are loaded with products, the loading strategy is determined, and the loading device receives the loading strategy and moves to above the target space. That is to say, at this time, the target product on the conveying part is above the target space, and the driving part is driven to move along the length direction of the conveying part and away from the target space, and the pushing part is driven to move along the width direction of the conveying part and close to the target space, so that the target product is loaded into the target space. At this time, with the target space as the reference system, the position of the target product does not move relative to the target space, so that the target product can fit and adapt to the target space when it falls into the target space accurately, so that the target product can be separated from the loading device when it is stationary, thereby completing the loading of the target product.

[0054] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method, wherein determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0055] It is detected that the position of the target space is located on the right side of the loading space, the size of the target space is larger than the size of the target product, and no product is loaded on the left side of the target space, the loading device is driven to be in the same plane as the target space and on its left side, and the pushing part is driven to move along the width direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

[0056] By adopting the above technical solution, it is detected that the position of the target space is located on the right side of the loading space. According to the above picking strategy, the target product is placed on the conveying part at this time, and the pushing part is located on the left side of the target product. At the same time, when it is detected that the size of the target space is larger than the size of the target product and no product is loaded on the left side of the target space, the loading strategy is determined, and the loading device receives the loading strategy and moves to the same plane as the target space and to its left side. That is to say, at this time, the target product on the conveying part is facing the target space, and the right side of the target product is the target space. The pushing part is driven to move along the width direction of the conveying part and in the direction close to the target space, so that the target product is loaded into the target space, thereby completing the loading of the target product.

[0057] The embodiment of the present invention further discloses a loading device, comprising:

[0058] A conveying portion, the conveying portion being used to convey the target product along the length direction of the conveying portion;

[0059] a pushing portion, the pushing portion being located above the conveying portion and being connected to the conveying portion in a manner movable along a width direction of the conveying portion so as to convey the target product along the width direction of the conveying portion;

[0060] The driving part is used to drive the conveying part and the pushing part to move at the same time. Along the length direction of the conveying part, one side of the driving part is connected to the conveying part, and the other side is connected to an external device.

[0061] According to another specific embodiment of the present invention, the embodiment of the present invention discloses a loading device, wherein the conveying part is a conveyor belt, the pushing part is a slide plate, and the driving part is a base.

[0062] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading device, wherein the conveying part is controlled by a frequency converter, and the pushing part is controlled by a servo controller.

[0063] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading device, wherein the driving part is perpendicular to the conveying part, along the length direction of the conveying part, the length of the conveying part is greater than the length of the driving part, along the width direction of the conveying part, the width of the conveying part is not greater than the width of the driving part, and along the height direction of the conveying part, the height of the conveying part is less than the height of the driving part.

[0064] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading device, wherein the pushing part is perpendicular to the conveying part, along the length direction of the conveying part, the length of the conveying part is not less than the length of the pushing part, along the width direction of the conveying part, the width of the conveying part is greater than the width of the pushing part, and along the height direction of the conveying part, the height of the conveying part is less than the height of the pushing part.

[0065] An embodiment of the present invention further discloses a computer storage medium, including a memory and a processor, wherein the memory is suitable for storing computer instructions, and the processor is suitable for executing the loading method described in any one of the above embodiments when running the computer instructions.

[0066] An embodiment of the present invention further discloses a computer program product, including a computer program / instruction, wherein when the computer program / instruction is executed by a processor, the loading method described in any one of the above embodiments is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1A A front view of a loading portion provided by an embodiment of the present invention is shown;

[0068] Figure 1BA three-dimensional diagram showing a loading portion provided by an embodiment of the present invention;

[0069] Figure 2 A three-dimensional schematic diagram showing a loading device provided by an embodiment of the present invention;

[0070] Figure 2A A control schematic block diagram of a loading device provided by an embodiment of the present invention is shown;

[0071] Figure 3 A schematic diagram showing the structure of a loading system provided by an embodiment of the present invention is shown;

[0072] Figure 4 A flow chart showing a loading method provided by an embodiment of the present invention;

[0073] FIG. 4A to FIG. 4C A flowchart showing a picking strategy provided by an embodiment of the present invention;

[0074] FIG. 4D to FIG. 4H A flow chart showing a loading strategy provided by an embodiment of the present invention, wherein a first picking strategy is adopted;

[0075] Fig. 4I A flow chart showing a loading strategy provided by an embodiment of the present invention, wherein the third picking strategy is adopted;

[0076] Figures 4J to 4N A flow chart showing a loading strategy provided by an embodiment of the present invention, wherein a second picking strategy is adopted;

[0077] Figure 5 The following illustrates a loading environment to which the first loading strategy provided by an embodiment of the present invention is applicable;

[0078] Figure 5A A schematic diagram showing a process of a first picking strategy provided by an embodiment of the present invention;

[0079] Figure 5B A schematic diagram showing a process of a first loading strategy provided by an embodiment of the present invention from a top-down perspective;

[0080] Figure 5C A schematic diagram showing the process of the first loading strategy provided by an embodiment of the present invention in a side view;

[0081] Figure 6 The following illustrates a loading environment to which the second loading strategy provided by an embodiment of the present invention is applicable;

[0082] Fig. 6A A schematic diagram showing a process of a second loading strategy provided by an embodiment of the present invention from a top-down perspective;

[0083] Figure 6BA schematic diagram showing the process of the second loading strategy provided by an embodiment of the present invention in a side view;

[0084] Figure 7 The following illustrates a loading environment to which the third loading strategy provided by an embodiment of the present invention is applicable;

[0085] Fig. 7A A schematic diagram showing a process of the third loading strategy provided by an embodiment of the present invention from a top view perspective;

[0086] Figure 7B A schematic diagram showing the process of the third loading strategy provided by an embodiment of the present invention in a side view;

[0087] Figure 8 The fourth loading strategy provided by the embodiment of the present invention is applicable to the loading environment;

[0088] Fig. 8A A schematic diagram showing a process of a fourth loading strategy provided by an embodiment of the present invention from a top-down perspective;

[0089] Figure 8B A schematic diagram showing the process of the fourth loading strategy provided by an embodiment of the present invention in a side view;

[0090] Fig. 9 The fifth loading strategy provided by the embodiment of the present invention is applicable to the loading environment;

[0091] Fig. 9A A schematic diagram showing a process of the fifth loading strategy provided by an embodiment of the present invention from a top view;

[0092] Fig. 10A The figure shows a loading environment applicable to the second picking strategy provided by the embodiment of the present invention;

[0093] Fig. 10B A schematic diagram showing a process of a second picking strategy provided by an embodiment of the present invention;

[0094] Fig.11A The loading environment to which the third picking strategy provided by the embodiment of the present invention is applicable is shown;

[0095] Fig. 11B A schematic diagram showing a process of a third picking strategy provided by an embodiment of the present invention;

[0096] Fig.12 A block diagram of an electronic device provided by an embodiment of the present invention is shown;

[0097] Fig.13 A block diagram of a system on chip (SoC) provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0098] The following specific embodiments illustrate the implementation of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may extend based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0099] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0100] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0101] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0102] In the description of this embodiment, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0103] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0104] The embodiment of the present invention discloses a loading method, which is applied to a loading system, referring to Figures 1A to 3, the loading system includes a conveying device (i.e., the front conveyor belt 500 described later), a loading device 10 and a loading part (i.e., the air container 400 described later). Exemplarily, the conveying device is, for example, the front conveyor belt 500, and the loading device 10 includes a conveying part (i.e., the conveyor belt 100 described later), a pushing part (i.e., the slide plate 200 described later) and a driving part (i.e., the base 300 described later). The conveying part is used to convey the target product along the length direction of the conveying part, the pushing part is located above the conveying part, and is connected to the conveying part in a movable manner along the width direction of the conveying part, the pushing part is used to convey the target product along the width direction of the conveying part, and the driving part is used to drive the conveying part and the pushing part to move at the same time. Along the length direction of the conveying part, one side of the driving part is connected to the conveying part, and the other side is connected to an external device (e.g., the robot end effector 301 described later). The loading part includes a loading space (i.e., area A and area B), and the loading space (i.e., area A and area B) is used to accommodate the target product.

[0105] Exemplarily, the driving portion is perpendicular to the conveying portion and extends along the length direction of the conveying portion (i.e. Figure 2 X direction as shown), the length of the conveying part (i.e. Figure 2 The pr line segment shown) is greater than the length of the driving part (i.e. Figure 2 nl line segment shown), along the width direction of the conveying section (i.e. Figure 2 Y direction as shown), the width of the conveying part (i.e. Figure 2 rs line segment shown) is not greater than the width of the driving portion (i.e. Figure 2 lm line segment shown), along the height direction of the conveying part (i.e. Figure 2 The Z direction shown), the height of the conveying part (i.e. Figure 2 The qr line segment shown in the figure) is smaller than the height of the driving part (i.e. Figure 2 no line segment shown).

[0106] Exemplarily, the pushing portion is perpendicular to the conveying portion and extends along the length direction (i.e. Figure 2 X direction as shown), the length of the conveying part (i.e. Figure 2 The pr line segment shown in the figure) is not less than the length of the driving part (i.e. Figure 2 hi line segment shown), along the width direction of the conveying part (i.e. Figure 2 Y direction as shown), the width of the conveying part (i.e. Figure 2 rs line segment shown) is larger than the width of the push portion (i.e. Figure 2 hk line segment shown), along the height direction of the conveying part (i.e. Figure 2 The Z direction shown), the height of the conveying part (i.e. Figure 2 The qr line segment shown) is smaller than the height of the pusher (i.e. Figure 2 hj line segment shown).

[0107] For example, taking the loading part as an aviation container 400 as an example, the appearance of the aviation container 400 can be as follows: Figure 1A and Figure 1B As shown, along the Z direction, the top of the air container 400 is completely closed, and the luggage 900 can only be moved along the X direction through the Figure 1B The container is shown as entering from the front. The container is divided into two areas, A and B. Along the X direction, the front of area A is open, and the front of area B has a baffle. Along the Y direction, area A is connected to area B, so the baggage 900 can only enter area A first and then enter area B from the side. In addition, along the Z direction, the bottom of area A is flat, which is reflected in Figure 1A , that is, the main view of the bottom surface of area A is straight line ab, which is parallel to the Y direction, and the bottom surface of area B is an inclined plane, which is reflected in Figure 1A , that is, the main view of the bottom surface of area A is the oblique line ac, and the oblique line ac is set at an angle with the Y direction.

[0108] Depend on Figure 1A or Figure 1B It can be clearly seen that the area of ​​area A is much larger than that of area B. Specifically, the length ab of area A is larger than the length ef of area B, and the width bd of area A is equal to the width ae of area B. However, since area B is an irregular shape, a part of its bottom is missing along the Z direction, so the overall area of ​​area A is larger than that of area B. In addition, the front and rear ends of area B are closed along the X direction, and luggage can only be loaded into area B from the side of area A. Therefore, automatic loading in the narrow area B is a big challenge, which increases the difficulty of loading 900 luggage in place and space utilization.

[0109] For example, reference Figure 2 and Figure 2A , taking the target product as luggage 900 as an example, the conveying part is the conveyor belt 100, which is the main part for receiving the luggage 900. Driven by the conveyor belt 100, the luggage 900 can move along the +X or -X direction. The driving part is the base 300, and the module flange of the robot is installed on the base 300. The transmission mechanism, cable connector, etc. on the end effector 301 (also called the gripper) of the robot are arranged inside the base 300. The pushing part is the slide plate 200, which is precisely controlled by the servo motor and can move along the +Y and -Y directions to realize the pushing function of the luggage 900. The slide plate 200 and the conveyor belt 100 cooperate with each other to realize the picking and loading actions of the luggage 900 described later.

[0110] A typical block diagram of motion control of a robot end effector 301 during luggage 900 loading is shown in FIG. Figure 2A, the robot program drives the robot end effector 301 to move through the servo controller 1-6, so that the robot end effector 301 can achieve six degrees of freedom (usually including shoulder rotation, shoulder lifting, elbow bending, wrist rotation, wrist bending and wrist swinging). Specifically, each servo controller controls a joint of the robot, and through precise positioning, complex arm and body movements can be achieved. In situations where multi-joint coordinated movement is required, multiple servo motors can work synchronously to ensure the smoothness and accuracy of the robot's movements. By accurately controlling these degrees of freedom, the servo controller enables the robot to perform a variety of complex tasks, from simple point-to-point movement to complex path planning and dynamic balance control.

[0111] For example, reference Figure 2A and Figure 3 , the slide plate 200 on the end effector 301 is driven by the servo controller 7. For example, when the industrial computer 70 described later receives the signal transmitted by the first camera 60 and the second camera 800 and determines that the loading strategy that requires the slide plate 200 to work should be adopted at this time, such as the steps S602, S604, S605 described later, the industrial computer 70 controls the servo controller 7 to start, and drives the slide plate 200 to move, so as to achieve the loading work of the luggage 900. Similarly, the movement of the conveyor belt 100 on the end effector 301 is controlled by the inverter. For example, when the industrial computer 70 described later receives the signal transmitted by the first camera 60 and the second camera 800 and determines that the loading strategy that requires the conveyor belt 100 to work should be adopted at this time, such as the steps S601, S602, S603 described later, the industrial computer 70 controls the inverter to start, and drives the conveyor belt 100 to move, so as to achieve the loading work of the luggage 900.

[0112] It should be noted that the embodiment of the present application does not limit the specific structure of the loading device 10, which may be composed of the above three structures (i.e., the above conveyor belt 100, the slide plate 200 and the base 300), and other structures may be added, such as a reducer, etc. Figure 2A It is just one of the ways. Under the premise that the control mode remains basically unchanged, local adjustment of the specific mode of control or the number of robot axes should be regarded as within the protection scope of the present invention. The driving part can also be controlled by an AC motor as long as the function of picking up and loading luggage 900 can be realized.

[0113] For example, refer to Figures 3 to 4N , the loading method of the embodiment of the present application includes the following steps. Figure 4 In steps S100 and S200, corresponding picking strategies and loading strategies can be determined.

[0114] refer to FIG. 4A to FIG. 4C There are three picking strategies, see Figure 4A , under the first picking strategy, along the Y direction, the slide plate 200 is located on the right side of the luggage 900 (see Figure 5A ),refer to Figure 4B , under the second picking strategy, along the Y direction, the slide plate 200 is located on the left side of the luggage 900 (see Fig. 10B ),refer to Figure 4C , under the third picking strategy, along the Y direction, the slide plate 200 is located on the right side of the luggage 900 (see Fig. 11B ).

[0115] refer to FIG. 4D to FIG. 4H , Under the first picking strategy, there are five loading strategies, refer to Figure 4D , when the loading environment of the loading space (i.e., area A and area B) is as follows Figure 5 In the state shown, the first loading strategy is selected. Under the first loading strategy, only the conveyor belt 100 is loaded along the length direction of the conveyor belt 100 (i.e. Figure 5B The luggage 900 moves in the direction close to the target space E1 until the luggage 900 is loaded into the target space E1, while the other structures (the slide plate 200 and the base 300) remain stationary (see Figure 5B ).

[0116] refer to Figure 4E , when the loading environment of the loading space (i.e., area A and area B) is as follows Figure 6 In the state shown, the second loading strategy is selected. Under the second loading strategy, the slide plate 200 first pushes the luggage 900 along the Y direction until it is flush with the outer edge of the conveyor belt 100, and then the conveyor belt 100 moves along the length direction of the conveyor belt 100 (i.e. Fig. 6A The base 300 moves in the direction close to the target space E2 until the luggage 900 is loaded into the target space E2, while the base 300 remains stationary (see Fig. 6A ).

[0117] refer to Figure 4F , when the loading environment of the loading space (i.e., area A and area B) is as follows Figure 7 In the state shown, the third loading strategy is selected. Under the third loading strategy, the conveyor belt 100 is loaded along the length direction of the conveyor belt 100 (i.e. Fig. 7A The base 300 moves along the length direction of the conveyor belt 100 (ie, the X direction shown in FIG. 1 ) and in the direction close to the target space E3. Fig. 7A The slide plate 200 moves in the direction away from the target space E3 until the luggage 900 is loaded into the target space E3, while the slide plate 200 remains stationary (see Fig. 7A ).

[0118] refer to Figure 4G , when the loading environment of the loading space (i.e., area A and area B) is as follows Figure 8 In the state shown, the fourth loading strategy is selected. Under the fourth loading strategy, the slide plate 200 is moved along the width direction of the conveyor belt 100 (i.e. Fig. 8A While moving in the direction of the target space E4, the base 300 moves along the width direction of the conveyor belt 100 (ie, Fig. 8A The conveyor belt 100 moves in the Y direction (as shown) and away from the target space E4 until the luggage 900 is loaded into the target space E4, while the conveyor belt 100 remains stationary (see Fig. 8A ).

[0119] refer to Figure 4H , when the loading environment of the loading space (i.e., area A and area B) is as follows Fig. 9 In the state shown, the fifth loading strategy is selected. Under the fifth loading strategy, only the slide plate 200 is moved along the width direction of the conveyor belt 100 (i.e. Fig. 9A The conveyor belt 100 and the base 300 are moved in the Y direction (as shown) and in the direction close to the target space E5 until the baggage 900 is loaded into the target space E5, while the other structures (the conveyor belt 100 and the base 300) remain stationary (see Fig. 9A ).

[0120] Under the second picking strategy, there are five loading strategies, refer to Figures 4J to 4N , these five loading strategies are FIG. 4D to FIG. 4H The only difference between the five loading strategies is the relative position of the slide plate 200 and the luggage 900. FIG. 4D to FIG. 4H In the five loading strategies, the slide plate 200 is located on the right side of the luggage. Figures 4J to 4N In the five loading strategies described above, the slide plate 200 is located on the left side of the luggage.

[0121] Under the third picking strategy, there is a loading strategy, refer to Fig. 4I When the loading environment of the loading space (i.e., area A and area B) is Fig.11A In the state shown, the sixth loading strategy is selected. Under the sixth loading strategy, the loading device 10 is driven to be located outside the loading space (i.e., area A and area B) and in the same plane as the target space E7, the base 300 is rotated so that the long side of the luggage 900 is parallel to the target space E7, and the slide plate 200 is driven to move along the width direction of the conveyor belt 100 and in the direction close to the target space E7 (i.e., Fig.11A The conveyor belt 100 and the base 300 are moved in the X1 direction as shown in the figure, so that the baggage 900 is loaded into the target space E7, while the other structures (the conveyor belt 100 and the base 300) remain stationary (see Fig. 9A ).

[0122] The specific picking strategy and loading strategy will be described in detail below with reference to the accompanying drawings.

[0123] S100: Determine the size of the target product on the conveying device.

[0124] Specifically, refer to Figure 3 and Figure 4 , taking the conveying device as the front conveyor belt 500 as an example, the first camera 60 is arranged above the front conveyor belt 500. The first camera 60 takes a picture of the luggage 900 placed on the front conveyor belt 500, obtains the photographed image of the luggage 900 and is electrically connected to the industrial computer 70. The first camera 60 detects the size of the luggage 900 on the front conveyor belt 500 and determines the size of the luggage 900, for example, 24-inch luggage, but not limited thereto. The size of the luggage 900 is determined according to the actual situation, for example, 20 inches, 21 inches, etc. The signal is transmitted to the industrial computer 70. The embodiment of the present application does not limit the detection device, which can be the first camera 60 shown in the embodiment of the present application, or a laser measuring instrument, a scanner, or an image recognition system, etc.

[0125] S200: Determine the position and size of a target space in the loading space (ie, area A and area B), where the target space is used to accommodate a target product.

[0126] Specifically, refer to Figure 3 and Figure 4 , the second camera 800 is arranged at the front side of the air container 400. The second camera 800 takes a picture of the state inside the air container 400, obtains the situation of the luggage loaded inside the air container 400, and obtains the distribution of the space without luggage loaded, so as to determine the position of the target space and electrically connect it to the industrial computer 70. For example, when the loading situation of area A of the air container 400 is as follows: Figure 1A As shown, Figure 1A The loading situation shown is: along the Z direction, the bottom of area A is filled with luggage I, that is, along the Z direction, luggage I fills the gb segment of area A. In this way, the target space is selected at Figure 1A When the luggage is not loaded in the area E of the air container 400, or when the luggage is not loaded in the area A of the air container 400, that is, the loading condition of the air container 400 is as follows: Figure 5 As shown, at this time, the target space is selected as Figure 5 The area E1 shown, that is, the luggage 900 conveyed by the front conveyor belt 500 needs to be placed in the area E1, that is, the target space E1 is used to accommodate the luggage 900.

[0127] The position of the target space in the loading space (ie, area A and area B) is detected by the second camera 800, and the position of the target space is determined. For example, the target space is located on the left side of area A in the loading space (ie, area A and area B), and the reference Figure 5 , to load the center line of area A in the space (i.e. area A and area B) (i.e. Figure 5The dotted line CD shown in the figure is used as the reference, that is, the loading space at both ends of the center line CD (i.e., area A and area B) is symmetrical, and the center line CD passes through the midpoint of the line segment ab. The target space (i.e. Figure 5 The target space E1 is located on the left side of the center line CD, and there is no luggage loaded on both sides of the target space E along the Y direction, and the above signal is transmitted to the industrial computer 70. That is to say, the industrial computer 70 receives that the target space E1 is located on the left side of the loading space (i.e., the A area and the B area), and there is no luggage loaded on the spaces on both sides along the Y direction, that is, there is enough space on both sides of the target space, and the loading device 10 can be placed on both sides of the target space.

[0128] The embodiment of the present application does not limit the detection device, which can be the second camera 800 shown in the embodiment of the present application, or a laser measuring instrument, a scanner, or an image recognition system.

[0129] At the same time, the second camera 800 detects the size of the target space E1 and determines its size, for example, 25 inches, and transmits the size signal to the industrial computer 70 .

[0130] S300: Determine a picking strategy according to the position of the target space in the loading space (ie, area A and area B).

[0131] Specifically, refer to Figures 3 to 4A , the industrial computer 70 receives the signal, that is, the target space E1 is located on the left side of the A area in the loading space (see Figure 5 ), to determine that the picking strategy is the first picking strategy, and transmit the signal to the loading device 10.

[0132] S400: According to the above-mentioned picking strategy, the driving unit drives the conveying unit (i.e., the above-mentioned conveyor belt 100) and the pushing unit (i.e., the above-mentioned slide 200) to move to the position corresponding to the conveying unit and the conveying device (i.e., the above-mentioned front conveyor belt 500) to receive the target product, and determine that the pushing unit is located on the left or right side of the target product along the width direction of the conveying unit.

[0133] Specifically, refer to Figure 4 and Figure 4A When it is determined in the above step S200 that the position of the target space is located on the left side of the A area in the loading space, proceed to the following step S401.

[0134] S401: It is detected that the position of the target space is located on the left side of area A in the loading space, and the driving unit drives the conveying unit (i.e. the above-mentioned conveyor belt 100) and the pushing unit (i.e. the above-mentioned slide 200) to move to the position corresponding to the conveying unit and the conveying device (i.e. the above-mentioned front conveyor belt 500) to receive the target product, and determine that the pushing unit is located on the right side of the target product along the width direction of the conveying unit.

[0135] Specifically, refer to Figure 5A , the base 300 drives the conveyor belt 100 and the slide plate 200 to move to the position corresponding to the front conveyor belt 500 according to the received picking strategy, so that the luggage 900 on the front conveyor belt 500 can be transported to the conveyor belt 100. That is, at this time, the length direction of the conveyor belt 100 (i.e. Figure 5A The X direction shown in the figure is in the same direction as the length direction of the front conveyor belt 500, and the conveyor belt 100 is in contact with the front conveyor belt 500. At the same time, the slide plate 200 moves along the width direction (i.e., Figure 5A The front conveyor belt 500 moves the luggage 900 along the X1 direction (in the Y direction shown in FIG. 1 ) to the right side of the luggage 900. Then, the front conveyor belt 500 conveys the luggage 900 along the X1 direction until the luggage 900 is conveyed onto the conveyor belt 100.

[0136] S500: Determine a loading strategy according to the size of the target product and the position and size of the target space.

[0137] Specifically, refer to Figures 4 to 5 Combined with Figure 2 The industrial computer 70 determines that the loading strategy is the first loading strategy based on the received signal, that is, the target space E1 is located on the left side of the A area in the loading space, the size of the luggage 900 is 24 inches, the size of the target space E1 is 25 inches, and there is no luggage 900 loaded on both sides of the target space E1, and transmits the signal (i.e., adopting the first loading strategy) to the loading device 10.

[0138] S600: According to the loading strategy, at least one of the driving part (ie, the base 300 ), the pushing part (ie, the slide 200 ) and the conveying part (ie, the conveyor belt 100 ) is driven to load the target product (ie, the luggage 900 ) into the target space.

[0139] Specifically, refer to Figure 4 and Figure 4D When the loading strategy is determined to be the first loading strategy in the above step S500, proceed to the following step S601.

[0140] S601: It is detected that the position of the target space (i.e., the area E1 mentioned above) is located on the left side of area A in the loading space, the size of the target space E1 is larger than the size of the target product (i.e., the luggage 900), and no products are loaded on both sides of the target space E1. The loading device 10 is driven to be in the same plane as the target space E1 and located at the front side of the target space. The conveyor belt 100 is driven to move along the length direction of the conveyor belt 100 and in the direction close to the target space E1, so that the target product (i.e., the luggage 900) is loaded into the target space E1.

[0141] In other words, the loading environment at this time is Figure 5 As shown, the target space E1 is located on the left side of the loading space (ie, area A and area B), the size of the target space E1 (and the aforementioned 25 inches) is larger than the size of the luggage 900 (ie, the aforementioned 24 inches), and no products are loaded on both sides of the target space E1.

[0142] Specifically, refer to Figures 5 to 5C , it is detected that the position of the target space E1 is located on the left side of the area A in the loading space, the size of the target space E1 (and the above-mentioned 25 inches) is larger than the size of the luggage 900 (i.e. the above-mentioned 24 inches), and there are no products loaded on both sides of the target space E1, and the loading device 10 is driven to be in the same plane as the target space E1 and along Figure 5 The X direction shown is located at the front side of the target space E, that is, along the Z direction, the bottom end of the conveyor belt 100 and the bottom end of the target space E1 are located on the same plane along the X direction, and there is no height difference in the Z direction. Figure 5B The X direction shown in the figure) and the direction close to the target space E1 (i.e. Figure 5B X1 direction) movement, by Figure 5B The state shown in (5a) is transformed into the state shown in (5c). As the conveyor belt 100 moves, the luggage 900 on the conveyor belt 100 moves accordingly, and finally the luggage 900 is loaded into the target space E1, that is, Figure 5C Status shown.

[0143] That is, under the first loading strategy, only the conveyor belt 100 in the loading device 10 is loaded along the length direction of the conveyor belt 100 (i.e. Figure 5B The slide 200 and the base 300 move in the X direction (as shown) and in a direction close to the target space E1 until the luggage 900 is loaded into the target space E1, while the other structures (the slide 200 and the base 300) remain stationary.

[0144] The above-mentioned loading method determines the picking strategy by detecting and determining the position of the target space, and then determines the loading strategy by detecting and determining the position and size of the target product and the position of the target space, so as to place the target product in the target space. The whole process is completed by the loading device, and no manual handling is required, which saves labor costs and improves efficiency. At the same time, the position and size of the target product and the position of the target space can be accurately determined to more efficiently utilize the loading space (i.e., area A and area B), so that the luggage 900 can be assembled more reasonably and its space utilization rate can be improved.

[0145] When the above loading environment changes, it is necessary to select a different loading strategy accordingly. Figure 5 The loading environment changes shown are Figure 6When loading the environment shown, the loading strategy will be determined by Figure 4D The first loading strategy shown transforms into Figure 4E The second loading strategy shown below will be combined with Figures 6 to 6B The second loading strategy is described in detail.

[0146] S500: Determine a loading strategy according to the size of the target product and the position and size of the target space.

[0147] refer to Figure 6 , when the above step S200 detects that the right side of the target space E2 is loaded with luggage F, the center line of the A area (i.e., the A area and the B area) in the loading space (i.e., the B area) is Figure 6 The dotted line CD shown in the figure is used as the reference, that is, the loading space at both ends of the center line CD (i.e., area A and area B) is symmetrical, and the center line CD passes through the midpoint of the line segment ab. The target space (i.e. Figure 6 The target space E2 is located on the left side of the center line CD, and the right side of the target space E2 is loaded with luggage F, and the above signal is transmitted to the industrial computer 70. That is, the industrial computer 70 receives that the target space E2 is located on the left side of the A area in the loading space, and along the Y direction, the space on the right side thereof is loaded with luggage F, that is, there is enough space on the left side of the target space, and the loading device 10 can be placed on the left side of the target space.

[0148] Specifically, refer to Figure 4 , Figure 6 Combined with Figure 2 The industrial computer 70 receives the signal, that is, the loading environment at this time is as follows Figure 6 As shown, the target space E2 is located on the left side of the A area in the loading space, the size of the luggage 900 is 24 inches, the size of the target space E2 is 25 inches, and the right side of the target space E2 is loaded with luggage F, so as to determine that the picking loading strategy is the second loading strategy, and transmit the signal to the loading device 10.

[0149] S600: According to the loading strategy, at least one of the driving part (ie, the base 300), the pushing part (ie, the slide 200) and the conveying part (ie, the conveyor belt 100) is driven to load the target product (ie, the luggage 900) into the target space.

[0150] Specifically, refer to Figure 4 and Figure 4E When the loading strategy is determined to be the second loading strategy in the above step S500, proceed to the following step S602.

[0151] S602: It is detected that the position of the target space (i.e., the area E2 mentioned above) is located on the left side of area A in the loading space, and the size of the target space E2 is larger than the size of the target product (i.e., the luggage 900), and the right side of the target space E2 is loaded with a product (i.e., the luggage F), the loading device 10 is driven to be in the same plane as the target space E2 and located in front of it, the pushing part (i.e., the slide plate 200) moves along the width direction of the conveyor belt 100 and toward the target space E2 until the outer edge of the target product (i.e., the luggage 900) is flush with the outer edge of the conveying part (i.e., the conveying belt 100), and then the conveying part (i.e., the conveying belt 100) is driven to move along the length direction of the conveying part and in the direction close to the target space E2, so that the target product (i.e., the luggage 900) is loaded into the target space E2.

[0152] Specifically, refer to Figures 6 to 6B , it is detected that the position of the target space E2 is located on the left side of the area A in the loading space, the size of the target space E2 (and the above-mentioned 25 inches) is larger than the size of the luggage 900 (that is, the above-mentioned 24 inches), and along Figure 6 In the Y direction shown in FIG. 1 , the right side of the target space E2 is loaded with luggage F, and the driving loading device 10 is in the same plane as the target space E2 and along the Figure 6 The X direction shown is located at the front side of the target space E2, that is, along the X direction, the bottom end of the conveyor belt 100 and the bottom end of the target space E1 are located on the same plane along the X direction, and there is no height difference in the Z direction. Fig. 6A The Y direction shown in the figure) and the direction of the target space E2 (i.e. Fig. 6A The luggage 900 moves in the Y1 direction as shown in the figure until the outer edge of the luggage 900 is flush with the outer edge of the conveyor belt 100, that is, Fig. 6A The state shown in (6a) moves to the state shown in (6b), thereby limiting the position of the luggage 900. Compared with the first loading strategy, the final landing position of the luggage 900 is more accurate.

[0153] Then the conveyor belt 100 is driven along the length direction (i.e. Fig. 6A The X direction shown in the figure) and the direction close to the target space E2 (i.e. Fig. 6A X1 direction) movement, by Fig. 6A The state shown in (6b) moves to the state shown in (6c). As the conveyor belt 100 moves, the luggage 900 on the conveyor belt 100 moves accordingly, and finally the luggage 900 is loaded into the target space E2, that is, Figure 6B Status shown.

[0154] That is, under the second loading strategy, the slide plate 200 and the conveyor belt 100 move, while the base 300 remains stationary.

[0155] When the above loading environment changes, it is necessary to select a different loading strategy accordingly. Figure 6 The loading environment shown changes to Figure 7 When loading the environment shown, the loading strategy will be determined by Figure 4E The second loading strategy shown transforms into Figure 4F The third loading strategy shown below will be combined with Figures 7 to 7B The third loading strategy is described in detail.

[0156] S500: Determine a loading strategy according to the size of the target product and the position and size of the target space.

[0157] refer to Figure 7 , when the above step S200 detects that luggage is loaded on both sides of the target space E3, the center line of the loading space (i.e., area A and area B) in area A (i.e., Figure 7 The dotted line CD shown in the figure is used as the reference, that is, the loading space at both ends of the center line CD (i.e., area A and area B) is symmetrical, and the center line CD passes through the midpoint of the line segment ab. The target space (i.e. Figure 7 The target space E3 is located on the left side of the center line CD, and the left side of the target space E3 is loaded with luggage G1, and the right side is loaded with luggage G2, and the above signal is transmitted to the industrial computer 70. That is, the industrial computer 70 receives that the target space E3 is located on the left side of the A area in the loading space, and along the Y direction, the left side of the target space E3 is loaded with luggage G1, and the right side is loaded with luggage G2, that is, there is not enough space on both sides of the target space E3 to place the loading device 10.

[0158] Specifically, refer to Figure 4 , Figure 7 Combined with Figure 2 The industrial computer 70 receives the signal, that is, the loading environment at this time is as follows Figure 7 As shown, the target space E3 is located on the left side of area A in the loading space (i.e., area A and area B), the size of the luggage 900 is 24 inches, the size of the target space E3 is 25 inches, and luggage is loaded on both sides of the target space E3, so as to determine that the picking loading strategy is the third loading strategy, and transmit the signal to the loading device 10.

[0159] S600: According to the loading strategy, at least one of the driving part (ie, the base 300), the pushing part (ie, the slide 200) and the conveying part (ie, the conveyor belt 100) is driven to load the target product (ie, the luggage 900) into the target space.

[0160] Specifically, refer to Figure 4 and Figure 4FWhen the loading strategy is determined to be the third loading strategy in the above step S500, proceed to the following step S603.

[0161] S603: It is detected that the position of the target space (i.e., the above-mentioned area E3) is located on the left side of area A in the loading space (i.e., area A and area B), and the size of the target space E3 is larger than the size of the target product (i.e., the luggage 900), and products are loaded on both sides of the target space E3, and the loading device 10 is driven to be located above the target space E3, and the driving part (i.e., the base 300) is driven to move along the length direction of the conveying part (i.e., the conveyor belt 100) and in a direction away from the target space E3, and the conveying part (i.e., the conveyor belt 100) is driven to move along the length direction of the conveying part and in a direction close to the target space E3, so that the target product (i.e., the luggage 900) is loaded into the target space E3.

[0162] Specifically, refer to Figures 7 to 7B , it is detected that the position of the target space E3 is located on the left side of the A area in the loading space (i.e., the A area and the B area), the size of the target space E3 (i.e., the above-mentioned 25 inches) is larger than the size of the luggage 900 (i.e., the above-mentioned 24 inches), and along Figure 7 In the Y direction shown in FIG. 1 , the left side of the target space E3 is loaded with luggage G1, and the right side is loaded with luggage G2. The loading device 10 is driven along Figure 7 The Z direction shown is located above the target space E3, and the driving base 300 is driven along the length direction of the conveyor belt 100 (i.e. Fig. 7A The X direction shown in the figure) and away from the direction of the target space E3 (i.e. Fig. 7A X2 direction) movement, by Fig. 7A The state shown in (7a) moves to the state shown in (7c), and at the same time drives the conveyor belt 100 along the length direction of the conveyor belt 100 (i.e. Fig. 7A The X direction shown in the figure) and the direction close to the target space E3 (i.e. Fig. 7A X1 direction) movement, by Fig. 7A The state shown in (7a) moves to the state shown in (7c). As the conveyor belt 100 and the base 300 move, the luggage 900 on the conveyor belt 100 moves along the Fig. 7A There will be a small amount of movement in the X direction as shown until the luggage 900 falls into the target space E3, i.e. Figure 7B In the state shown, the position of the luggage 900 after it falls has a small error with the target position.

[0163] That is, under the third loading strategy, the base 300 and the conveyor belt 100 move, while the slide plate 200 remains stationary.

[0164] When the above loading environment changes, it is necessary to select a different loading strategy accordingly. Figure 7The loading environment shown changes to Figure 8 When loading the environment shown, the loading strategy will be determined by Figure 4F The third loading strategy shown transforms into Figure 4G The fourth loading strategy shown below will be combined with Figures 8 to 8B The fourth loading strategy is described in detail.

[0165] S500: Determine a loading strategy according to the size of the target product and the position and size of the target space.

[0166] refer to Figure 8 , when the above step S200 detects that luggage is loaded on both sides of the target space E4, the center line of the loading space (i.e., area A and area B) in area A (i.e., Figure 8 The dotted line CD shown in the figure is used as the reference, that is, the loading space at both ends of the center line CD (i.e., area A and area B) is symmetrical, and the center line CD passes through the midpoint of the line segment ab. The target space (i.e. Figure 8 The target space E4 is located on the left side of the center line CD, and the left side of the target space E4 is loaded with luggage G1, and the right side is loaded with luggage G2, and the above signal is transmitted to the industrial computer 70. That is, the industrial computer 70 receives that the target space E4 is located on the left side of the area A in the loading space (i.e., area A and area B), and along the Y direction, the left side of the target space E4 is loaded with luggage G1, and the right side is loaded with luggage G2, that is, there is not enough space on both sides of the target space E4 to place the loading device 10.

[0167] Specifically, refer to Figure 4 , Figure 8 Combined with Figure 2 The industrial computer 70 receives the signal, that is, the loading environment at this time is as follows Figure 8 As shown, the target space E4 is located on the left side of area A in the loading space (i.e., area A and area B), the size of the luggage 900 is 24 inches, the size of the target space E4 is 24 inches, and luggage is loaded on both sides of the target space E4, so as to determine that the picking loading strategy is the fourth loading strategy, and transmit the signal to the loading device 10.

[0168] S600: According to the loading strategy, at least one of the driving part (ie, the base 300), the pushing part (ie, the slide 200) and the conveying part (ie, the conveyor belt 100) is driven to load the target product (ie, the luggage 900) into the target space.

[0169] Specifically, refer to Figure 4 and Figure 4G When the loading strategy is determined to be the fourth loading strategy in the above step S500, proceed to the following step S604.

[0170] S604: It is detected that the position of the target space (i.e., the above-mentioned area E4) is located on the left side of area A in the loading space (i.e., area A and area B), and the size of the target space E4 is equal to the size of the target product (i.e., the luggage 900), and both sides of the target space E4 are loaded with products, the loading device 10 is driven to be located above the target space E4, the driving part (i.e., the base 300) is driven to move along the width direction of the conveying part (i.e., the conveyor belt 100) and in a direction away from the target space E4, and the driving part (i.e., the slide plate 200) is driven to move along the width direction of the conveying part and in a direction close to the target space E4, so that the target product (i.e., the luggage 900) is loaded into the target space E4.

[0171] Specifically, refer to Figures 8 to 8B , it is detected that the position of the target space E4 is located on the left side of the A area in the loading space (i.e., the A area and the B area), the size of the target space E4 (i.e., the above-mentioned 24 inches) is equal to the size of the luggage 900 (i.e., the above-mentioned 24 inches), and along Figure 8 In the Y direction shown in FIG. 1 , the left side of the target space E4 is loaded with luggage G1, and the right side is loaded with luggage G2. The loading device 10 is driven along Figure 8 The Z direction shown is located above the target space E4, and the driving base 300 moves along the width direction of the conveyor belt 100 (ie Fig. 8A The Y direction shown in the figure) and away from the direction of the target space E3 (i.e. Fig. 8A or Figure 8B The Y2 direction shown in the figure is Fig. 8A The state shown in (8a) moves to the state shown in (8c), and at the same time drives the slide plate 200 along the width direction of the conveyor belt 100 (i.e. Fig. 8A The Y direction shown) and the direction close to the target space E3 (i.e. Fig. 8A or Figure 8B The Y1 direction shown in the figure is Fig. 8A or Figure 8B The state shown in (8a) moves to the state shown in (8c). With the movement of the slide plate 200 and the base 300, the luggage 900 on the conveyor belt 100 accurately falls to the target space E4, that is, Figure 8B Status shown.

[0172] That is, under the fourth loading strategy, the base 300 and the slide plate 200 move, while the conveyor belt 100 remains stationary.

[0173] When the above loading environment changes, it is necessary to select a different loading strategy accordingly. Figure 8 The loading environment changes shown are Fig. 9 When loading the environment shown, the loading strategy will be determined by Figure 4G The fourth loading strategy shown transforms into Figure 4HThe fifth loading strategy shown below will be combined with Figures 9 to 9A The fifth loading strategy is described in detail.

[0174] S500: Determine a loading strategy according to the size of the target product and the position and size of the target space.

[0175] refer to Fig. 9 , when the above step S200 detects that there is no luggage 900 loaded on the right side of the target space E5, and the target space E5 is located in the B area of ​​the aviation container 400, specifically, refer to Figure 4 , Fig. 9 Combined with Figure 2 The industrial computer 70 determines that the loading strategy is the fifth loading strategy based on the received signal, that is, the target space E5 is located on the left side of area A in the loading space (i.e., area A and area B), the size of the luggage 900 is 24 inches, the size of the target space E5 is 25 inches, and there is no luggage 900 loaded on the right side of the target space E5, and transmits the signal to the loading device 10.

[0176] S600: According to the loading strategy, at least one of the driving part (ie, the base 300), the pushing part (ie, the slide 200) and the conveying part (ie, the conveyor belt 100) is driven to load the target product (ie, the luggage 900) into the target space.

[0177] Specifically, refer to Figure 4 and Figure 4H When the loading strategy is determined to be the fifth loading strategy in the above step S500, proceed to the following step S605.

[0178] S605: It is detected that the position of the target space (i.e., the area E5 mentioned above) is located on the left side of the loading space (i.e., area A and area B), and the size of the target space E5 is larger than the size of the target product (i.e., the luggage 900), and no product is loaded on the right side of the target space E5. The loading device 10 is driven to be located on the right side of the target space E5 (i.e., located in area A), and the driving part (i.e., the slide plate 200) is driven to move along the width direction of the conveying part and in the direction close to the target space E5, so that the target product (i.e., the luggage 900) is loaded into the target space E5.

[0179] Specifically, refer to Figures 9 to 9A , the loading environment is detected as follows Fig. 9 As shown, the target space E5 is located on the left side of the loading space (i.e., the A area and the B area) (i.e., located in the B area), the size of the target space E5 (i.e., the aforementioned 25 inches) is larger than the size of the luggage 900 (i.e., the aforementioned 24 inches), and the right side of the target space E5 is not loaded with luggage 900. The loading device 10 is driven along Fig. 9The Y direction shown is located on the right side of the target space E5, and the driving slide 200 moves along the width direction of the conveyor belt 100 (i.e. Fig. 9A The Y direction shown in the figure) and the direction close to the target space E5 (i.e. Fig. 9A The Y1 direction shown in the figure is Fig. 9 or Fig. 9A The state shown in (9a) is transformed into the state shown in (9c). As the slide plate 200 moves, the baggage 900 on the conveyor belt 100 will be pushed to the target space E5 by the slide plate 200.

[0180] That is, under the fifth loading strategy, only the slide plate 200 moves, while the conveyor belt 100 and the base 300 remain stationary.

[0181] Since the slide 200 is controlled by a servo controller and the conveyor belt 100 is controlled by a frequency converter, the movement accuracy of the slide 200 is better than that of the conveyor belt 100. Therefore, the position accuracy finally achieved by the fifth loading strategy is better than that of the first loading strategy.

[0182] It should be clear to practitioners in this field that various changes can be made without departing from the basic concepts and methods of use of the present invention, such as adding new picking or luggage 900 loading strategies, or applying to non-robotic scenarios, and such changes should be considered within the scope of protection of the present invention.

[0183] When it is determined in the above step S200 that the position of the target space E6 is located on the right side of the loading space (ie, the A area and the B area), specifically, refer to Fig. 10A , to load the center line of area A in the space (i.e. area A and area B) (i.e. Fig. 10A The dotted line CD shown in the figure is used as the reference, that is, the loading space at both ends of the center line CD (i.e., area A and area B) is symmetrical, and the center line CD passes through the midpoint of the line segment ab. The target space (i.e. Fig. 10A The target area E6 shown in the figure is located on the right side of the center line CD, and the above signal is transmitted to the industrial computer 70. The industrial computer 70 determines that the picking strategy is the second picking strategy based on the received signal, that is, the target space E6 is located on the right side of the area A in the loading space (that is, the area A and the area B), and transmits the signal to the loading device 10, and continues to step S402 described later.

[0184] S402: It is detected that the position of the target space is located on the right side of area A in the loading space (i.e., area A and area B), and the driving part (i.e., the base 300) drives the conveying part (i.e., the conveyor belt 100) and the pushing part (i.e., the slide plate 200) to move to the position corresponding to the conveying part (i.e., the conveyor belt 100) and the conveying device (i.e., the front conveyor belt 500) to receive the target product (i.e., the luggage 900), and determines that the pushing part (i.e., the slide plate 200) is located on the left side of the target product (i.e., the luggage 900) along the width direction of the conveying part.

[0185] Specifically, refer to Fig. 10A and Fig. 10B Combined with Figure 2 , the base 300 drives the conveyor belt 100 and the slide plate 200 to move to the position corresponding to the front conveyor belt 500 according to the received picking strategy, so that the luggage 900 on the front conveyor belt 500 can be transported to the conveyor belt 100. That is, at this time, the length direction of the conveyor belt 100 (i.e. Figure 5A The X direction shown in the figure is in the same direction as the length direction of the front conveyor belt 500, and the conveyor belt 100 is in contact with the front conveyor belt 500. At the same time, the slide plate 200 moves along the width direction (i.e., Fig. 10B The front conveyor belt 500 moves the luggage 900 along the X1 direction (in the Y direction shown in FIG. 1 ) to the left side of the luggage 900. Then, the front conveyor belt 500 conveys the luggage 900 along the X1 direction until the luggage 900 is conveyed onto the conveyor belt 100.

[0186] Similarly, under the premise of the second picking strategy, the loading strategy also has the five strategies mentioned above, refer to Figures 4J to 4N , namely steps S601', S602', S603', S604', S605', the only difference is that the position of the slide plate 200 is on the left side of the luggage 900, and other specific operations are as described above and will not be repeated here.

[0187] When it is determined in the above step S200 that the position of the target space E7 is located at the opening side of the loading space (ie, the A and B regions) in the A region, Fig.11A , the target space (i.e. Fig.11A Area E7) along Fig.11A The X direction shown is located at the opening side of area A, and the front side of the target space E7 is loaded with luggage H, and the signal is transmitted to the industrial computer 70. The industrial computer 70 determines that the picking strategy is the third picking strategy based on the received signal, that is, the target space E7 is located at the opening side of area A in the loading space (i.e., area A and area B), and transmits the signal to the loading device 10, and proceeds to step S403 described later.

[0188] S403: It is detected that the position of the target space E7 is located at the opening side of area A in the loading space (i.e., area A and area B), and the driving part (i.e., the base 300) drives the conveying part (i.e., the conveyor belt 100) and the pushing part (i.e., the slide plate 200) to move to the position corresponding to the conveying part (i.e., the conveyor belt 100) and the conveying device (i.e., the front conveyor belt 500) to receive the target product (i.e., the luggage 900), and determines that the pushing part (i.e., the slide plate 200) is located on the right side of the target product (i.e., the luggage 900) along the width direction of the conveying part.

[0189] Specifically, refer to Fig.11A and Fig. 11B Combined with Figure 2 , the base 300 drives the conveyor belt 100 and the slide plate 200 to move to the position corresponding to the front conveyor belt 500 according to the received picking strategy, so that the luggage 900 on the front conveyor belt 500 can be transported to the conveyor belt 100. That is, at this time, the length direction of the conveyor belt 100 (i.e. Figure 5A The X direction shown in the figure is in the same direction as the length direction of the front conveyor belt 500, and the conveyor belt 100 is in contact with the front conveyor belt 500. At the same time, the slide plate 200 moves along the width direction (i.e., Fig. 10B The front conveyor belt 500 moves the luggage 900 along the X1 direction (in the Y direction shown in FIG. 1 ) to the right side of the luggage 900. Then, the front conveyor belt 500 conveys the luggage 900 along the X1 direction until the luggage 900 is conveyed onto the conveyor belt 100.

[0190] S500: Determine a loading strategy according to the size of the target product and the position and size of the target space.

[0191] Specifically, refer to Figure 4 , Fig.11A Combined with Figure 2 The industrial computer 70 receives the signal, that is, the loading environment at this time is as follows Fig.11A As shown, the target space E7 is located at the opening side of the A area of ​​the loading space (i.e., the A area and the B area), the size of the luggage 900 is 25 inches, the size of the target space E7 is 26 inches, and the edge of the target space E7 is 26 inches. Fig.11A The front side in the X direction is shown to be loaded with luggage H, so that the pick-up loading strategy is determined to be the sixth loading strategy, and the signal is transmitted to the loading device.

[0192] S600: According to the loading strategy, at least one of the driving part (ie, the base 300), the pushing part (ie, the slide 200) and the conveying part (ie, the conveyor belt 100) is driven to load the target product (ie, the luggage 900) into the target space.

[0193] Specifically, refer to Figure 4 and Fig. 4IWhen the loading strategy is determined to be the sixth loading strategy in the above step S500, proceed to the following step S606.

[0194] S606: It is detected that the position of the target space (i.e., the above-mentioned area E7) is located at the opening side of area A in the loading space (i.e., area A and area B), and a product (i.e., luggage H) is loaded on the front side of the target space E7. The size of the target product (i.e., luggage 900) is larger than the size of the loaded product (i.e., luggage H) (i.e., 24 inches). The loading device 10 is driven to be located outside the loading space (i.e., area A and area B) and in the same plane as the target space E7. The driving part (i.e., base 300) is rotated to make the long side of the target product (i.e., luggage 900) parallel to the target space E7. The pushing part (i.e., slide plate 200) is driven to move along the width direction of the conveying part (i.e., conveyor belt 100) and in the direction close to the target space (i.e., Fig.11A The target product (ie, the baggage 900) moves in the target space E7.

[0195] Specifically, refer to FIG. 11A to FIG. 11B , it is detected that the position of the target space E7 is located at the opening side of the A area of ​​the loading space (i.e., the A area and the B area), the size of the target space E7 (i.e., the aforementioned 26 inches) is larger than the size of the luggage 900 (i.e., the aforementioned 25 inches), and the edge of the target space E7 is Fig.11A The front side in the X direction shown in the figure is loaded with luggage H, and the size of the luggage 900 (i.e., the above-mentioned 25 inches) is larger than the size of the loaded luggage H (i.e., the above-mentioned 24 inches). The driving loading device 10 is located outside the loading space (i.e., area A and area B) and is in the same plane as the target space E7. That is, along the X direction, the bottom end of the conveyor belt 100 and the bottom end of the target space E7 are located in the same plane along the X direction, and there is no height difference in the Z direction. The base 300 is rotated so that the long side of the luggage 900 is parallel to the target space E7, and the sliding plate 200 is driven along the width direction of the conveyor belt 100 and the direction close to the target space E7 (i.e., Fig.11A The luggage 900 moves in the X1 direction as shown in the figure, so that the luggage 900 is loaded into the target space E7.

[0196] In addition, the present invention also provides a computer storage medium, including a memory and a processor, wherein the memory is suitable for storing computer instructions, and the processor is suitable for executing the loading method described in any of the above embodiments when running the computer instructions.

[0197] Reference now Fig.12, shown is a block diagram of an electronic device 600 according to an embodiment of the present application. The electronic device 600 is, for example, a smart mobile terminal. The electronic device 600 may include one or more processors 601 coupled to a controller hub 603. For at least one embodiment, the controller hub 603 communicates with the processor 601 via a multi-branch bus such as a front-side bus (FSB), a point-to-point interface such as a QuickPath Interconnect (QPI), or a similar connection. The processor 601 executes instructions that control general types of data processing operations. In one embodiment, the controller hub 603 includes, but is not limited to, a graphics memory controller hub (GMCH, Graphics & Memory Controller Hub) (not shown) and an input / output hub (IOH, Input Output Hub) (which may be on a separate chip) (not shown), wherein the GMCH includes a memory and a graphics controller and is coupled to the IOH.

[0198] The electronic device 600 may also include a coprocessor 602 and a memory 604 coupled to a controller hub 603. Alternatively, one or both of the memory and the GMCH may be integrated within the processor, with the memory 604 and the coprocessor 602 directly coupled to the processor 601 and the controller hub 603, with the controller hub 603 and the IOH being in a single chip.

[0199] The memory 604 may be, for example, a dynamic random access memory (DRAM), a phase change memory (PCM), or a combination of the two. The memory 604 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. The computer-readable storage medium stores instructions, specifically, temporary and permanent copies of the instructions. The instructions may include: when executed by at least one of the processors, causing the electronic device 600 to implement the following: Figure 4 When the instructions are executed on a computer, the computer executes the loading method disclosed in any one of the above embodiments or combined embodiments to load the luggage 900 into the corresponding target space.

[0200] In one embodiment, the coprocessor 602 is a special-purpose processor, such as, for example, a high-throughput MIC (Many Integrated Core) processor, a network or communication processor, a compression engine, a graphics processor, a GPGPU (General-purpose computing on graphics processing units), or an embedded processor. The optional nature of the coprocessor 602 is indicated by a dashed line in Fig.12 middle.

[0201] In one embodiment, the electronic device 600 may further include a network interface (NIC, Network Interface Controller) 606. The network interface 606 may include a transceiver for providing a radio interface for the electronic device 600, and then communicating with any other suitable device (such as a front-end module, an antenna, etc.). In various embodiments, the network interface 606 may be integrated with other components of the electronic device 600. The network interface 606 may implement the functions of the communication unit in the above embodiments.

[0202] The electronic device 600 may further include an input / output (I / O) device 605. The I / O 605 may include: a user interface designed to enable a user to interact with the electronic device 600; a peripheral component interface designed to enable peripheral components to interact with the electronic device 600; and / or a sensor designed to determine environmental conditions and / or location information related to the electronic device 600.

[0203] It is worth noting that Fig.12 This is for illustrative purposes only. Fig.12 It is shown that the electronic device 600 includes multiple devices such as a processor 601, a controller hub 603, a memory 604, etc.; however, in actual applications, the device using the methods of the present application may include only a portion of the devices in the electronic device 600, for example, it may include only the processor 601 and the network interface 606. Fig.12 The properties of optional devices are shown with dotted lines.

[0204] Reference now Fig.13 , which is a block diagram of a SoC (System on Chip) 700 according to an embodiment of the present application. Fig.13 In the FIG, similar components have the same reference numerals. In addition, the dashed boxes are optional features of more advanced SoCs. Fig.13In the embodiment, the SoC includes: an interconnect unit 750, which is coupled to the processor 710; a system agent unit 780; a bus controller unit 790; an integrated memory controller unit 740; a group or one or more coprocessors 720, which may include integrated graphics logic, image processors, audio processors, and video processors; a static random access memory (SRAM) unit 730; and a direct memory access (DMA) unit 760. In one embodiment, the coprocessor 720 includes a special-purpose processor, such as, for example, a network or communication processor, a compression engine, a GPGPU (General-purpose computing on graphics processing units), a high-throughput MIC processor, or an embedded processor.

[0205] Static random access memory (SRAM) unit 730 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. The computer-readable storage medium stores instructions, and more specifically, stores temporary and permanent copies of the instructions. The instructions may include: when executed by at least one of the processors, causing the SoC to implement the following: Figure 4 When the instructions are executed on a computer, the computer executes the method disclosed in the above embodiment.

[0206] The embodiments of the present application also provide a computer program product for implementing the loading methods provided in the above embodiments.

[0207] The various embodiments of the mechanism disclosed in the present application can be implemented in hardware, software, firmware or a combination of these implementation methods. The embodiments of the present application can be implemented as a computer program module or module code executed on a programmable system, which includes at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device and at least one output device.

[0208] A computer program module or module code may be applied to input instructions to perform the functions described herein and generate output information. The output information may be applied to one or more output devices in a known manner. For purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0209] Module code can be implemented with high-level modular language or object-oriented programming language to communicate with the processing system. When necessary, module code can also be implemented with assembly language or machine language. In fact, the mechanism described in this application is not limited to the scope of any specific programming language. In either case, the language can be a compiled language or an interpreted language.

[0210] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, the instructions may be distributed over a network or through other computer-readable media. Therefore, a machine-readable medium may include any mechanism for storing or transmitting information in a machine (e.g., computer) readable form, including but not limited to a floppy disk, an optical disk, an optical disk, a magneto-optical disk, a read-only memory (ROM), a random access memory (RAM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic card or an optical card, a flash memory, or a tangible machine-readable memory for transmitting information (e.g., a carrier wave, an infrared signal, a digital signal, etc.) using the Internet in an electrical, optical, acoustic, or other form of propagation signal. Accordingly, machine-readable media include any type of machine-readable media suitable for storing or transmitting electronic instructions or information in a form readable by a machine (eg, a computer).

[0211] Although the present invention has been illustrated and described with reference to certain preferred embodiments of the present invention, it should be understood by those skilled in the art that the above is a further detailed description of the present invention in conjunction with specific embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. Those skilled in the art may make various changes in form and details, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A loading method, characterized in that: Applied to a loading system, the loading system comprises a conveying device, a loading device and a loading part, the loading device comprises a conveying part, a pushing part and a driving part, the conveying part is used to convey the target product along the length direction of the conveying part, the pushing part is used to convey the target product along the width direction of the conveying part, the driving part is used to drive the conveying part and the pushing part to move at the same time, the loading part comprises a loading space, the loading space is used to accommodate the target product, and the loading method comprises: determining a size of a target product on the conveying device; determining a position and a size of a target space in the loading space, the target space being used to accommodate the target product; determining a picking strategy according to the position of the target space in the loading space; According to the picking strategy, the driving unit drives the conveying unit and the pushing unit to move to a position where the conveying unit corresponds to the conveying device to receive the target product, and determines that the pushing unit is located on the left or right side of the target product along the width direction of the conveying unit; Determining a loading strategy according to the size of the target product and the position and size of the target space; According to the loading strategy, at least one of the driving part, the pushing part and the conveying part is driven to load the target product into the target space.

2. The loading method according to claim 1, characterized in that: Determining the picking strategy according to the position of the target space in the loading space includes: It is detected that the position of the target space is located on the left side of the loading space, and the driving part is driven to drive the conveying part and the pushing part to move to the position where the conveying part corresponds to the conveying device, the conveying part receives the target product, and drives the pushing part to be located on the right side of the target product along the width direction of the conveying part.

3. The loading method according to claim 1, characterized in that: Determining the picking strategy according to the position of the target space in the loading space includes: It is detected that the position of the target space is located on the right side of the loading space, and the driving part is driven to drive the conveying part and the pushing part to move to the position where the conveying part corresponds to the conveying device, the conveying part receives the target product, and drives the pushing part to be located on the left side of the target product along the width direction of the conveying part.

4. The loading method according to claim 1, characterized in that: Determining the picking strategy according to the position of the target space in the loading space includes: It is detected that the position of the target space is located on the opening side of the loading space, and the driving part is driven to drive the conveying part and the pushing part to move to the position where the conveying part corresponds to the conveying device, the conveying part receives the target product, and drives the pushing part to be located on the right side of the target product along the width direction of the conveying part.

5. The loading method according to claim 2, characterized in that: Determining the loading strategy according to the size of the target product and the position and size of the target space includes: It is detected that the position of the target space is located on the left side of the loading space, the size of the target space is larger than the size of the target product, and no products are loaded on both sides of the target space, the loading device is driven to be in the same plane as the target space and located in front of it, and the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

6. The loading method according to claim 2, characterized in that: Determining the loading strategy according to the size of the target product and the position and size of the target space includes: It is detected that the position of the target space is located on the left side of the loading space, the size of the target space is larger than the size of the target product, and the right side of the target space is loaded with products, the loading device is driven to be in the same plane as the target space and located in front of it, the pushing part moves along the width direction of the conveying part and toward the target space until the outer edge of the target product is flush with the outer edge of the conveying part, and then the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

7. The loading method according to claim 2, characterized in that: Determining the loading strategy according to the size of the target product and the position and size of the target space includes: It is detected that the position of the target space is located on the left side of the loading space, the size of the target space is larger than the size of the target product, and products are loaded on both sides of the target space, the loading device is driven to be located above the target space, the driving part is driven to move along the length direction of the conveying part and in a direction away from the target space, and the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

8. The loading method according to claim 2, characterized in that: Determining the loading strategy according to the size of the target product and the position and size of the target space includes: It is detected that the position of the target space is located on the left side of the loading space, the size of the target space is equal to the size of the target product, and products are loaded on both sides of the target space, the loading device is driven to be located above the target space, the driving part is driven to move along the width direction of the conveying part and in a direction away from the target space, and the pushing part is driven to move along the width direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

9. The loading method according to claim 2, characterized in that: Determining the loading strategy according to the size of the target product and the position and size of the target space includes: It is detected that the position of the target space is located on the left side of the loading space, the size of the target space is larger than the size of the target product, and no product is loaded on the right side of the target space, the loading device is driven to be located on the right side of the target space, and the pushing part is driven to move along the width direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

10. The loading method according to claim 4, characterized in that: Determining the loading strategy according to the size of the target product and the position and size of the target space includes: It is detected that the position of the target space is located on the opening side of the loading space, and the front side of the target space is loaded with products, the size of the target product is larger than the size of the loaded product, the loading device is driven to be located outside the loading space and in the same plane as the target space, the driving part is rotated so that the long side of the target product is parallel to the target space, and the pushing part is driven to move along the width direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

11. The loading method according to claim 3, characterized in that: Determining the loading strategy according to the size of the target product and the position and size of the target space includes: It is detected that the position of the target space is located on the right side of the loading space, the size of the target space is larger than the size of the target product, and no products are loaded on both sides of the target space, the loading device is driven to be in the same plane as the target space and located in front of it, and the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

12. The loading method according to claim 3, characterized in that: Determining the loading strategy according to the size of the target product and the position and size of the target space includes: It is detected that the position of the target space is located on the right side of the loading space, the size of the target space is larger than the size of the target product, and the left side of the target space is loaded with products, the loading device is driven to be in the same plane as the target space and located in front of it, the pushing part moves along the width direction of the conveying part and toward the target space until the outer edge of the target product is flush with the outer edge of the conveying part, and then the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

13. The loading method according to claim 3, characterized in that: Determining the loading strategy according to the size of the target product and the position and size of the target space includes: It is detected that the position of the target space is located on the right side of the loading space, the size of the target space is larger than the size of the target product, and products are loaded on both sides of the target space, the loading device is driven to be located above the target space, the driving part is driven to move along the length direction of the conveying part and in a direction away from the target space, and the conveying part is driven to move along the length direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

14. The loading method according to claim 3, characterized in that: Determining the loading strategy according to the size of the target product and the position and size of the target space includes: It is detected that the position of the target space is located on the right side of the loading space, the size of the target space is equal to the size of the target product, and products are loaded on both sides of the target space, the loading device is driven to be located above the target space, the driving part is driven to move along the width direction of the conveying part and in a direction away from the target space, and the pushing part is driven to move along the width direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

15. The loading method according to claim 3, characterized in that: Determining the loading strategy according to the size of the target product and the position and size of the target space includes: It is detected that the position of the target space is located on the right side of the loading space, the size of the target space is larger than the size of the target product, and no product is loaded on the left side of the target space, the loading device is driven to be in the same plane as the target space and on its left side, and the pushing part is driven to move along the width direction of the conveying part and in a direction close to the target space, so that the target product is loaded into the target space.

16. A loading device, characterized in that: include: A conveying portion, the conveying portion being used to convey the target product along the length direction of the conveying portion; a pushing portion, the pushing portion being located above the conveying portion and being connected to the conveying portion in a manner movable along a width direction of the conveying portion so as to convey the target product along the width direction of the conveying portion; The driving part is used to drive the conveying part and the pushing part to move at the same time. Along the length direction of the conveying part, one side of the driving part is connected to the conveying part, and the other side is connected to an external device.

17. The loading device according to claim 16, characterized in that: The conveying part is a conveying belt, the pushing part is a slide plate, and the driving part is a base.

18. The loading device according to claim 16, characterized in that: The conveying part is controlled by a frequency converter, and the pushing part is controlled by a servo controller.

19. The loading device according to claim 16, characterized in that: The driving portion is perpendicular to the conveying portion. Along the length direction of the conveying portion, the length of the conveying portion is greater than the length of the driving portion. Along the width direction of the conveying portion, the width of the conveying portion is not greater than the width of the driving portion. Along the height direction of the conveying portion, the height of the conveying portion is less than the height of the driving portion.

20. The loading device according to claim 16, characterized in that: The pushing portion is perpendicular to the conveying portion. Along the length direction of the conveying portion, the length of the conveying portion is not less than the length of the pushing portion. Along the width direction of the conveying portion, the width of the conveying portion is greater than the width of the pushing portion. Along the height direction of the conveying portion, the height of the conveying portion is less than the height of the pushing portion.

21. A computer storage medium, characterized in that The method comprises a memory and a processor, wherein the memory is suitable for storing computer instructions, and the processor is suitable for executing the loading method according to any one of claims 1 to 15 when running the computer instructions.

22. A computer program product, characterized in that The method comprises a computer program / instruction, which implements the loading method according to any one of claims 1 to 15 when executed by a processor.

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