A loading method, a loading device, a computer storage medium, and a 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, driving a driving part to drive a conveying part and a pushing part to move to a position corresponding to the conveying device of the conveying part to receive the target product, and determining that the pushing part is located on the left or right side of the target product along the width direction of the conveying part; 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 part, the pushing part and the conveying part to load the target product into the target space. The present invention can realize automatic luggage handling, improve efficiency and reduce costs. At the same time, it can select and complete corresponding picking and loading strategies according to the luggage size and the distribution of the loaded luggage in the container, making the luggage distribution reasonable and improving the space utilization rate.

Description

Technical Field

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

[0002] Civil aviation passenger transportation has not only reshaped people's travel habits but also promoted the process of global economic integration. Along with the continuous development of technology and the popularization of environmental protection concepts, China's future civil aviation passenger transportation is expected to develop towards a more environmentally friendly, intelligent, and efficient direction.

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

[0004] The purpose of the present invention is to solve the problems of high labor costs, low efficiency, and high danger in current baggage handling. The present invention provides a loading method, a loading device, a computer storage medium, and a program product, which can achieve automated baggage handling, improve efficiency and reduce costs, and at the same time can select and complete corresponding picking and loading strategies according to the size of the baggage and the distribution of the baggage already loaded in the container, so that the baggage is reasonably distributed and the space utilization rate is improved.

[0005] To solve the above technical problems, an embodiment of the present invention discloses a loading method, which is applied to a loading system. The loading system includes a conveying device, a loading device, and a loading part. The loading device includes 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 simultaneously. The loading part includes a loading space, and the loading space is used to accommodate the target product. The loading method includes:

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

[0007] Determine the position and size of the target space in the loading space, where the target space is used to accommodate the target product;

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

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

[0010] Determine 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, drive at least one of the driving part, the pushing part and the conveying part to load the target product into the target space.

[0012] 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, so as to determine the picking strategy, and the picking strategy is transmitted to the loading device. According to the received picking strategy, the driving part drives the conveying part and the pushing part to move to a position corresponding to the conveying part and the conveying device at the same time, so that the target product on the conveying device can be conveyed to the conveying part. At the same time, according to the received picking strategy, the pushing part moves to the left or right side of the target product along the width direction of the conveying part.

[0013] Detect the size of the target product (i.e., the luggage to be loaded) on the conveying device by a camera, a laser measuring instrument, a scanner or an image recognition system, and detect the position and size of the target space in the loading space 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 of the driving part, the pushing part and the conveying part to load the target product into the target space according to the loading strategy.

[0014] The above 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 realize placing the target product in the target space. The whole process is completed by the loading device, without manual handling, saving labor costs and improving 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 more efficiently utilize the loading space, make the luggage assembly more reasonable, and improve its space utilization rate.

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

[0016] When it is detected that the position of the target space is on the left side of the loading space, 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 on the right side of the target product along the width direction of the conveying part.

[0017] With the above technical solution, when it is detected that the position of the target space is on the left side of the loading space, at this time, 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, so that the target product on the conveying device can be conveyed to the conveying part. The conveying part receives the target product, and 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. Determining a picking strategy according to the position of the target space in the loading space includes:

[0019] When it is detected that the position of the target space is on the right side of the loading space, 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 on the left side of the target product along the width direction of the conveying part.

[0020] With the above technical solution, when it is detected that the position of the target space is on the right side of the loading space, at this time, 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, so that the target product on the conveying device can be conveyed to the conveying part. The conveying part receives the target product, and 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. Determining a picking strategy according to the position of the target space in the loading space includes:

[0022] When it is detected that the position of the target space is on the opening side of the loading space, 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 on the right side of the target product along the width direction of the conveying part.

[0023] With the above technical solution, when it is detected that the position of the target space is 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 on the conveying part at this time, so that the target product on the conveying device can be conveyed onto the conveying part. The conveying part receives the target product, and 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. Determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0025] When it is detected that the position of the target space is 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, drive the loading device to be in the same plane as the target space and in front of it, and drive the conveying part to move along the length direction of the conveying part and towards the direction of the target space, so that the target product is loaded into the target space.

[0026] With the above technical solution, when it is detected that the position of the target space is on the left side of the loading space, according to the above picking strategy, at this time, the target product is placed on the conveying part, the pushing part is on the right side of the target product, and 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 products are loaded on both sides of the target space, determine the loading strategy. The loading device receives this 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. Drive the conveying part to move along the length direction of the conveying part and towards the direction of the target space, so that the target product is loaded into the target space, and the loading of the target product is completed.

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

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

[0029] With the above technical solution, when it is detected that the position of the target space is on the left side of the loading space, according to the above picking strategy, at this time, the target product is placed on the conveying part, the pushing part is on the right side of the target product, and 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 a product loaded on the right side of the target space, a loading strategy is determined. The loading device receives this 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. The pushing part moves along the width direction of the conveyor belt and towards the target space until the outer edge of the target product is flush with the outer edge of the conveying part to limit the target product and prevent it from displacing or deflecting along the width direction of the conveying part on the conveying part, resulting in a deviation in the position when finally falling into the target space. Then, the conveying part is driven to move along the length direction of the conveying part and towards the target space to load the target product into the target space, 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. Determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0031] When it is detected that the position of the target space is on the left side of the loading space, the size of the target space is larger than the size of the target product, and there are products loaded on both sides of the target space, the loading device is driven to be above the target space, 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 towards the target space to load the target product into the target space.

[0032] With the above technical solution, when it is detected that the position of the target space is on the left side of the loading space, according to the above picking strategy, at this time, the target product is placed on the conveying part, the pushing part is on the right side of the target product, and 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 are products loaded on both sides of the target space, a loading strategy is determined. The loading device receives this loading strategy and moves above the target space. That is to say, at this time, the target product on the conveying part is above the target space. 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 towards the target space to load the target product into the target space. At this time, there is a small displacement of the position of the target product along the length direction of the conveying part, so that the target product can fit and match better when falling into the target space, thus 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. Determining a loading strategy according to the size of the target product and the position and size of the target space includes:

[0034] When it is detected that the position of the target space is on the left side of the loading space, and 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, drive the loading device to be above the target space, drive the driving part to move along the width direction of the conveying part and away from the target space, and drive the pushing part to move along the width direction of the conveying part and towards the target space, so as to load the target product into the target space.

[0035] Adopting the above technical solution, when it is detected that the position of the target space is on the left side of the loading space, according to the above picking strategy, at this time, the target product is placed on the conveying part, the pushing part is on the right side of the target product, and at the same time, it is detected that 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, determine the loading strategy, and the loading device receives this 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. Drive the driving part to move along the length direction of the conveying part and away from the target space, and drive the pushing part to move along the width direction of the conveying part and towards the target space, so as to load the target product into the target space. At this time, taking the target space as the reference system, the position of the target product does not move relative to the target space, so that when the target product accurately falls into the target space, it can be more fitted and adapted to it, realizing the separation of the target product from the loading device in a static state, 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. Determining a loading strategy according to the size of the target product and the position and size of the target space includes:

[0037] When it is detected that the position of the target space is on the left side of the loading space, and the size of the target space is greater than the size of the target product, and no product is loaded on the right side of the target space, drive the loading device to be on the right side of the target space, and drive the pushing part to move along the width direction of the conveying part and towards the target space, so as to load the target product into the target space.

[0038] With the above technical solution, it is detected that the position of the target space is on the left side of the loading space. According to the above picking strategy, at this time, the target product is placed on the conveying part, the pushing part is on the right side of the target product, and it is also detected that the size of the target space is larger than that of the target product and there is no product loaded on the right side of the target space. When determining the loading strategy, the loading device receives this loading strategy and moves to the right side of the target space where the target space is located. 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. Drive the pushing part to move along the width direction of the conveying part and towards the target space so that the target product is loaded into the target space, 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. 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 on the opening side of the loading space, and there is a product loaded on the front side of the target space. The size of the target product is larger than that of the loaded product. Drive the loading device outside the loading space and in the same plane as the target space, rotate the driving part so that the long side of the target product is parallel to the target space, and drive the pushing part to move along the width direction of the conveying part and towards the target space so that the target product is loaded into the target space.

[0041] With the above technical solution, it is detected that the position of the target space is on the opening side of the loading space. According to the above picking strategy, at this time, the target product is placed on the conveying part, the pushing part is on the right side of the target product, and it is also detected that the size of the target product is larger than that of the loaded product and there is a product loaded on the front side of the target space. Drive the loading device outside the loading space and in the same plane as the target space, rotate the driving part so that the long side of the target product is parallel to the target space, and drive the pushing part to move along the width direction of the conveying part and towards the target space, completing 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. 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 on the right side of the loading space, the size of the target space is larger than that of the target product, and there is no product loaded on both sides of the target space. Drive the loading device to be in the same plane as the target space and in front of it, and drive the conveying part to move along the length direction of the conveying part and towards the target space so that the target product is loaded into the target space.

[0044] With the above technical solution, when it is detected that the position of the target space is on the right side of the loading space, according to the above picking strategy, at this time the target product is placed on the conveying part, the pushing part is on the left side of the target product, and at the same time it is detected that the size of the target space is larger than the size of the target product and there are no products loaded on both sides of the target space, the loading strategy is determined. The loading device receives this 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. The conveying part is driven to move along the length direction of the conveying part and towards the target space so that the target product is loaded into the target space, 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. Determining the loading strategy according to the size of the target product and the position and size of the target space includes:

[0046] When it is detected that the position of the target space is on the right side of the loading space, the size of the target space is larger than the size of the target product, and there is a product 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 in front of it. The pushing part moves along the width direction of the conveying part and towards 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 towards the target space so that the target product is loaded into the target space.

[0047] With the above technical solution, when it is detected that the position of the target space is on the right side of the loading space, according to the above picking strategy, at this time the target product is placed on the conveying part, the pushing part is on the left side of the target product, and at the same time it is detected that the size of the target space is larger than the size of the target product and there is a product loaded on the left side of the target space, the loading strategy is determined. The loading device receives this 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. The pushing part moves along the width direction of the conveyor belt and towards the target space until the outer edge of the target product is flush with the outer edge of the conveying part to limit the target product and prevent it from displacing or deflecting along the width direction of the conveying part on the conveying part, resulting in a deviation in position when finally falling into the target space. The conveying part is driven to move along the length direction of the conveying part and towards the target space so that the target product is loaded into the target space, completing the loading of the target product.

[0048] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a loading method. Determining a 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 on the right side of the loading space, and 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. Drive the loading device above the target space, drive the driving part to move along the length direction of the conveying part and away from the target space, and drive the conveying part 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.

[0050] Adopting the above technical solution, it is detected that the position of the target space is on the right side of the loading space. According to the above picking strategy, at this time, the target product is placed on the conveying part, the pushing part is on the left side of the target product, and at the same time, it is detected that 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. Determine the loading strategy, and the loading device receives this 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. Drive the driving part to move along the length direction of the conveying part and away from the target space, and drive the conveying part 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 better when it falls into the target space, thus 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. Determining a 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 on the right side of the loading space, and 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. Drive the loading device above the target space, drive the driving part to move along the width direction of the conveying part and away from the target space, and drive the pushing part 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.

[0053] With the above technical solution, when it is detected that the position of the target space is on the right side of the loading space, according to the above picking strategy, at this time, the target product is placed on the conveying part, the pushing part is on the left side of the target product, and at the same time, it is detected that the size of the target space is equal to the size of the target product. When products are loaded on both sides of the target space, the loading strategy is determined. The loading device receives this 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. Drive the driving part to move along the length direction of the conveying part and away from the target space, and drive the pushing part to move along the width direction of the conveying part and towards the target space, so that the target product is loaded into the target space. At this time, taking the target space as the reference system, the position of the target product does not move relative to the target space, so that when the target product accurately falls into the target space, it can fit and match well with it, realizing the separation of the target product from the loading device in a static state, 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. 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 on the right side of the loading space, and the size of the target space is larger than the size of the target product, and there is no product loaded on the left side of the target space. Drive the loading device to be in the same plane as the target space and on its left side, and drive the pushing part to move along the width direction of the conveying part and towards the target space, so that the target product is loaded into the target space.

[0056] With the above technical solution, when it is detected that the position of the target space is on the right side of the loading space, according to the above picking strategy, at this time, the target product is placed on the conveying part, the pushing part is on the left side of the target product, and at the same time, 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 left side of the target space. The loading strategy is determined. The loading device receives this loading strategy and moves to be in the same plane as the target space and on its left side. That is to say, at this time, the target product on the conveying part is facing the target space, and the target space is on the right side of the target product. Drive the pushing part to move along the width direction of the conveying part and towards the target space, so that the target product is loaded into the target space, and the loading of the target product is completed.

[0057] An embodiment of the present invention also discloses a loading device, including:

[0058] A conveying part for conveying the target product along the length direction of the conveying part;

[0059] A pushing part, which is located above the conveying part and is connected to the conveying part in a manner that it can move along the width direction of the conveying part to convey the target product along the width direction of the conveying part;

[0060] A driving part, which is used to drive the conveying part and the pushing part to move simultaneously. 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, an embodiment of the present invention discloses a loading device, wherein the conveying part is a conveyor belt, the pushing part is a sliding 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 an inverter, 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. 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. 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 also discloses a computer storage medium, including a memory and a processor. The memory is adapted to store computer instructions, and the processor is adapted to execute the loading method described in any one of the above embodiments when running the computer instructions.

[0066] An embodiment of the present invention also discloses a computer program product, including a computer program / instructions, and when the computer program / instructions are executed by a processor, the loading method described in any one of the above embodiments is implemented. Description of the Drawings

[0067] Figure 1A The front view of the loading part provided by the embodiment of the present invention is shown;

[0068] Figure 1BSchematic diagram of the loading unit provided by the embodiment of the present invention;

[0069] Figure 2 Schematic perspective view of the loading device provided by the embodiment of the present invention;

[0070] Figure 2A Schematic block diagram of the control of the loading device provided by the embodiment of the present invention;

[0071] Figure 3 Schematic diagram of the structure of the loading system provided by the embodiment of the present invention;

[0072] Figure 4 Flow chart of the loading method provided by the embodiment of the present invention;

[0073] FIG. 4A to FIG. 4C Flow chart of the picking strategy provided by the embodiment of the present invention;

[0074] FIG. 4D to FIG. 4H Flow chart of the loading strategy provided by the embodiment of the present invention, where the first picking strategy is adopted;

[0075] Fig. 4I Flow chart of the loading strategy provided by the embodiment of the present invention, where the third picking strategy is adopted;

[0076] Figures 4J to 4N Flow chart of the loading strategy provided by the embodiment of the present invention, where the second picking strategy is adopted;

[0077] Figure 5 Loading environment applicable to the first loading strategy provided by the embodiment of the present invention;

[0078] Figure 5A Schematic diagram of the process of the first picking strategy provided by the embodiment of the present invention;

[0079] Figure 5B Schematic diagram of the process of the first loading strategy from a top view provided by the embodiment of the present invention;

[0080] Figure 5C Schematic diagram of the process of the first loading strategy from a side view provided by the embodiment of the present invention;

[0081] Figure 6 Loading environment applicable to the second loading strategy provided by the embodiment of the present invention;

[0082] Fig. 6A Schematic diagram of the process of the second loading strategy from a top view provided by the embodiment of the present invention;

[0083] Figure 6BSchematic diagram showing the process of the second loading strategy provided by the embodiments of the present invention from a side view perspective;

[0084] Figure 7 Shows the loading environment applicable to the third loading strategy provided by the embodiments of the present invention;

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

[0086] Figure 7B Schematic diagram showing the process of the third loading strategy provided by the embodiments of the present invention from a side view perspective;

[0087] Figure 8 Shows the loading environment applicable to the fourth loading strategy provided by the embodiments of the present invention;

[0088] Fig. 8A Schematic diagram showing the process of the fourth loading strategy provided by the embodiments of the present invention from a top view perspective;

[0089] Figure 8B Schematic diagram showing the process of the fourth loading strategy provided by the embodiments of the present invention from a side view perspective;

[0090] Fig. 9 Shows the loading environment applicable to the fifth loading strategy provided by the embodiments of the present invention;

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

[0092] Fig. 10A Shows the loading environment applicable to the second picking strategy provided by the embodiments of the present invention;

[0093] Fig. 10B Schematic diagram showing the process of the second picking strategy provided by the embodiments of the present invention;

[0094] Fig.11A Shows the loading environment applicable to the third picking strategy provided by the embodiments of the present invention;

[0095] Fig. 11B Schematic diagram showing the process of the third picking strategy provided by the embodiments of the present invention;

[0096] Fig.12 Shows the block diagram of the electronic device provided by the embodiments of the present invention;

[0097] Fig.13 Shows the block diagram of a system on chip (SoC) provided by the embodiments of the present invention. Detailed implementation manners

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

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

[0100] In the description of this embodiment, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 to the present invention.

[0101] Terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0102] In the description of this embodiment, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "connected", "coupled" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this embodiment can be understood according to specific situations.

[0103] To make the purpose, technical solutions, and advantages of the present invention clearer, the implementation manners of the present invention will be further described in detail below with reference to the drawings.

[0104] An implementation manner of the present invention discloses a loading method, which is applied to a loading system. Refer 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 section (i.e., the air cargo container 400 described later). Exemplarily, the conveying device is, for example, the front conveyor belt 500. The loading device 10 includes a conveying section (i.e., the conveyor belt 100 described later), a pushing section (i.e., the sliding plate 200 described later), and a driving section (i.e., the base 300 described later). The conveying section is used to convey the target product along the length direction of the conveying section. The pushing section is located above the conveying section and is connected to the conveying section in a manner that is movable along the width direction of the conveying section. The pushing section is used to convey the target product along the width direction of the conveying section. The driving section is used to drive the conveying section and the pushing section to move simultaneously. Along the length direction of the conveying section, one side of the driving section is connected to the conveying section, and the other side is connected to an external device (such as the robot end effector 301 described later). The loading section 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 section is perpendicular to the conveying section. Along the length direction of the conveying section (i.e., Figure 2 the X direction shown), the length of the conveying section (i.e., Figure 2 the pr line segment shown) is greater than the length of the driving section (i.e., Figure 2 the nl line segment shown). Along the width direction of the conveying section (i.e., Figure 2 the Y direction shown), the width of the conveying section (i.e., Figure 2 the rs line segment shown) is not greater than the width of the driving section (i.e., Figure 2 the lm line segment shown). Along the height direction of the conveying section (i.e., Figure 2 the Z direction shown), the height of the conveying section (i.e., Figure 2 the qr line segment shown) is less than the height of the driving section (i.e., Figure 2 the no line segment shown).

[0106] Exemplarily, the pushing section is perpendicular to the conveying section. Along the length direction of the conveying section (i.e., Figure 2 the X direction shown), the length of the conveying section (i.e., Figure 2 the pr line segment shown) is not less than the length of the pushing section (i.e., Figure 2 the hi line segment shown). Along the width direction of the conveying section (i.e., Figure 2 the Y direction shown), the width of the conveying section (i.e., Figure 2 the rs line segment shown) is greater than the width of the pushing section (i.e., Figure 2 the hk line segment shown). Along the height direction of the conveying section (i.e., Figure 2 the Z direction shown), the height of the conveying section (i.e., Figure 2 the qr line segment shown) is less than the height of the pushing section (i.e., Figure 2 the hj line segment shown).

[0107] Exemplarily, taking the loading part as the air container 400 as an example, the outer shape of the air container 400 can be as Figure 1A and Figure 1B shown. Along the Z direction, the upper part of the air container 400 is completely enclosed, and the luggage 900 can only enter the container along the X direction through the front as shown in Figure 1B . The area inside the container is divided into two areas, A and B. Along the X direction, the front of area A is open, and there is a baffle in the front of area B. Along the Y direction, area A is connected to area B. Therefore, the luggage 900 can only enter area A first and then enter area B from the side. In addition, along the Z direction, the bottom surface of area A is a flat bottom, which is reflected in Figure 1A , that is, the main view of the bottom surface of area A is the straight line ab, and the straight line ab is parallel to the Y direction. 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 to the Y direction.

[0108] It can be clearly seen from Figure 1A or Figure 1B that the area of area A is much larger than that of area B. Specifically, the length ab of area A is greater 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 figure and lacks a part at its bottom end along the Z direction, the overall area of area A is larger than that of area B. And both the front and rear ends of area B are closed along the X direction, and the loaded luggage can only enter area B from the side of area A. Therefore, automatic loading operation in the narrow area B is a great challenge, increasing the difficulty in various aspects such as loading the luggage 900 in place and space utilization.

[0109] Exemplarily, referring to Figure 2 and Figure 2A , taking the target product as the 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 joints, etc. on the end effector 301 (also called the gripper) of the robot are all arranged inside the base 300. The pushing part is the slide plate 200, which can be precisely controlled by a servo motor and can move along the +Y and -Y directions to achieve the function of pushing the luggage 900. The slide plate 200 and the conveyor belt 100 cooperate together to achieve the subsequent picking and loading actions of the luggage 900.

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

[0111] Exemplarily, referring to Figure 2A and Figure 3 , the skateboard 200 on the end effector 301 is driven by the servo controller 7. For example, when the industrial control computer 70 described later receives the signals transmitted by the first camera 60 and the second camera 800 and determines that the loading strategies such as steps S602, S604, S605, etc. that require the skateboard 200 to work should be adopted at this time, the industrial control computer 70 controls the servo controller 7 to start, driving the skateboard 200 to move 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 frequency converter. For example, when the industrial control computer 70 described later receives the signals transmitted by the first camera 60 and the second camera 800 and determines that the loading strategies such as steps S601, S602, S603, etc. that require the conveyor belt 100 to work should be adopted at this time, the industrial control computer 70 controls the frequency converter to start, driving the conveyor belt 100 to move to achieve the loading work of the luggage 900.

[0112] It should be noted that the specific structure of the loading device 10 in the embodiments of the present application is not limited. It can be composed of the above three structures (i.e., the above conveyor belt 100, skateboard 200, and base 300), or other structures can be added, such as a speed reducer, etc. At the same time Figure 2A is just one of the ways. Under the premise that the control method remains basically unchanged, local adjustments to the specific control method 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 the luggage 900 can be achieved.

[0113] Exemplarily, referring to Figures 3 to 4N , the loading method of the embodiments of the present application includes the following steps. Exemplarily, according to Figure 4 , the corresponding picking strategies and loading strategies can be determined in steps S100 and S200.

[0114] Referring to FIG. 4A to FIG. 4C , among them, there are a total of three picking strategies. Referring to Figure 4A , under the first picking strategy, along the Y direction, the skateboard 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 skateboard 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 skateboard 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 in the state as Figure 5 shown, select the first loading strategy. Under the first loading strategy, only the conveyor belt 100 moves along the length direction of the conveyor belt 100 (i.e., the Figure 5B shown X direction) and in the direction close to the target space E1 until the luggage 900 is loaded into the target space E1, while other structures (the skateboard 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 in the state as Figure 6 shown, select the second loading strategy. Under the second loading strategy, the skateboard 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., the Fig. 6A shown X direction) and 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 in the state as Figure 7 shown, select the third loading strategy. Under the third loading strategy, while the conveyor belt 100 moves along the length direction of the conveyor belt 100 (i.e., the Fig. 7A shown X direction) and in the direction close to the target space E3, the base 300 moves along the length direction of the conveyor belt 100 (i.e., the Fig. 7A shown X direction) and in the direction away from the target space E3 until the luggage 900 is loaded into the target space E3, while the skateboard 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 Figure 8 When the state shown is selected for the fourth loading strategy, under the fourth loading strategy, while the skateboard 200 moves in the width direction of the conveyor belt 100 (i.e., the Fig. 8A Y direction shown) and in the direction close to the target space E4, the base 300 moves in the width direction of the conveyor belt 100 (i.e., the Fig. 8A Y direction shown) and in the direction 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 in the state as Fig. 9 shown, select the fifth loading strategy. Under the fifth loading strategy, only the skateboard 200 moves in the width direction of the conveyor belt 100 (i.e., the Fig.9A Y direction shown) and in the direction close to the target space E5 until the luggage 900 is loaded into the target space E5, while 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 . The only difference between these five loading strategies and the FIG. 4D to FIG. 4H five loading strategies described lies only in the relative position between the skateboard 200 and the luggage 900, that is, in the FIG. 4D to FIG. 4H five loading strategies described, the skateboard 200 is located on the right side of the luggage, and in the Figures 4J to 4N five loading strategies described, the skateboard 200 is located on the left side of the luggage.

[0121] Under the third picking strategy, there is one loading strategy. Refer to Fig. 4I . When the loading environment of the loading space (i.e., Area A and Area B) is in the state as Fig.11A shown, select the sixth loading strategy. Under the sixth loading strategy, the driving loading device 10 is located outside the loading space (i.e., Area A and Area B), in the same plane as the target space E7. Rotate the base 300 so that the long side of the luggage 900 is parallel to the target space E7, and drive the skateboard 200 in the width direction of the conveyor belt 100 and in the direction close to the target space E7 (i.e., the Fig.11A X1 direction shown) to load the luggage 900 into the target space E7, while other structures (the conveyor belt 100 and the base 300) remain stationary (see Fig.9A ).

[0122] The specific picking strategies and loading strategies will be described in detail below in conjunction with the drawings.

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

[0124] Specifically, referring to Figure 3 and Figure 4 , taking the front conveyor belt 500 of the conveying device as an example, the first camera 60 is arranged above the front conveyor belt 500. The first camera 60 takes pictures of the luggage 900 placed on the front conveyor belt 500, obtains the captured image of the luggage 900 and is electrically connected to the industrial control computer 70. The size of the luggage 900 on the front conveyor belt 500 is detected by the first camera 60, and the size of the luggage 900 is determined. For example, it is a 24-inch luggage, but not limited to this. The size of the luggage 900 is specifically determined according to the actual situation. For example, it can also be 20 inches, 21 inches, etc. This signal is transmitted to the industrial control computer 70. The device for detection in the embodiments of the present application is not limited. It can be the first camera 60 shown in the embodiments 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 the target space in the loading space (i.e., Area A and Area B), and the target space is used to accommodate the target product.

[0126] Specifically, referring to Figure 3 and Figure 4 , the second camera 800 is arranged on the front side of the air container 400. The second camera 800 takes pictures of the internal state of the air container 400, obtains the situation of the luggage already loaded inside the air container 400, and the distribution of the space without loaded luggage, so as to determine the position of the target space and is electrically connected to the industrial control computer 70. For example, when the loading situation of Area A of the air container 400 is as Figure 1A shown, Figure 1A the shown loading situation is: along the Z direction, the bottom end of Area A is filled with luggage I, that is, along the Z direction, luggage I fills the gb section of Area A. Thus, the target space is selected in the Figure 1A shown Area E, or when there is no luggage loaded in Area A of the air container 400, that is, the loading situation of the air container 400 is as Figure 5 shown. At this time, the target space is selected in the Figure 5 shown Area E1, that is to say, at this time, the luggage 900 conveyed by the front conveyor belt 500 needs to be placed in 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 (i.e., 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 (i.e., Area A and Area B). Referring to Figure 5 , taking the center line of Area A in the loading space (i.e., Area A and Area B) (i.e., Figure 5Taking the dashed line CD shown as a reference, that is, the A area of the loading space (i.e., area A and area B) at both ends of the center line CD is symmetric. The center line CD passes through the midpoint of the line segment ab, and the target space (i.e., Figure 5 the area E1 shown) 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 in the Y direction. The above signal is transmitted to the industrial control computer 70. That is to say, the industrial control computer 70 receives that the target space E1 is located on the left side of the loading space (i.e., area A and area B), and in the Y direction, there is no luggage loaded on both sides of it. 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 device for detection in the embodiments of the present application is not limited. It can be the second camera 800 shown in the embodiments of the present application, or a laser measuring instrument, a scanner, an image recognition system, etc.

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

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

[0131] Specifically, referring to Figures 3 to 4A , the industrial control computer 70 determines the picking strategy as the first picking strategy according to the received signal, that is, the above target space E1 is located on the left side of area A in the loading space (see Figure 5 ), and transmits the signal to the loading device 10.

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

[0133] Specifically, referring to Figure 4 and Figure 4A , when it is determined in step S200 above that the position of the target space is on the left side of area A in the loading space, step S401 described later is continued.

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

[0135] Specifically, referring to Figure 5A , according to the received picking strategy, the base 300 drives the conveyor belt 100 and the sliding plate 200 to move to the position corresponding to the front conveyor belt 500 of the conveyor belt 100 at the same time, so that the luggage 900 on the front conveyor belt 500 can be conveyed onto the conveyor belt 100. That is, at this time, the length direction of the conveyor belt 100 (i.e., the Figure 5A X direction shown) is the same 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, according to the received picking strategy, the sliding plate 200 moves to the right side of the luggage 900 along the width direction of the conveyor belt 100 (i.e., the Figure 5A Y direction shown). 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 the loading strategy according to the size of the target product and the position and size of the target space.

[0137] Specifically, referring to Figures 4 to 5 and combining with Figure 2 , the industrial control computer 70 determines the loading strategy as the first loading strategy according to the received signal, that is, the above-mentioned 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, drive at least one of the driving part (i.e., the base 300), the pushing part (i.e., the sliding plate 200) and the conveying part (i.e., the conveyor belt 100) to load the target product (i.e., the luggage 900) into the target space.

[0139] Specifically, referring to Figure 4 and Figure 4D , when the loading strategy is determined as the first loading strategy in the above step S500, continue with the subsequent step S601.

[0140] S601: Detect that the position of the target space (i.e., the above-mentioned area E1) is located on the left side of the A area 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 there is no product loaded on both sides of the target space E1. Drive the loading device 10 to be in the same plane as the target space E1 and located in front of the target space, and drive the conveyor belt 100 to move along the length direction of the conveyor belt 100 and in the direction close to the target space E1, so as to load the target product (i.e., the luggage 900) into the target space E1.

[0141] That is to say, the loading environment at this time is as follows Figure 5 shown as: the position of the target space E1 is on the left side of the loading space (i.e., area A and area B), the size of the target space E1 (i.e., the above-mentioned 25 inches) is larger than the size of the luggage 900 (i.e., the above-mentioned 24 inches), and no products are loaded on both sides of the target space E1.

[0142] Specifically, referring to Figures 5 to 5C , it is detected that the position of the target space E1 is on the left side of area A in the loading space, the size of the target space E1 (i.e., the above-mentioned 25 inches) is larger than the size of the luggage 900 (i.e., the above-mentioned 24 inches), 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 is located in front of the target space E along the Figure 5 shown X direction. That is to say, along the Z direction, the bottom end of the conveyor belt 100 and the bottom end of the target space E1 are in the same plane along the X direction, and there is no height difference in the Z direction. The conveyor belt 100 is driven to move along the length direction of the conveyor belt 100 (i.e., the Figure 5B shown X direction) and in the direction close to the target space E1 (i.e., the Figure 5B shown X1 direction). From the state shown in (5a) in Figure 5B , it is converted into the state shown in (5c). As the conveyor belt 100 moves, the luggage 900 on the conveyor belt 100 will move accordingly, and finally the luggage 900 is loaded into the target space E1, that is, the state shown in Figure 5C .

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

[0144] The above 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, without manual handling, saving labor costs and improving 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 more efficiently utilize the loading space (i.e., area A and area B), make the luggage 900 assembled more reasonably, and improve its space utilization rate.

[0145] When the above loading environment changes, different loading strategies need to be selected accordingly. Specifically, when the loading environment changes from the loading environment shown in the above Figure 5 to Figure 6When the loading environment shown, the loading strategy will be Figure 4D transformed from the first loading strategy shown in Figure 4E to the second loading strategy shown in Figures 6 to 6B The second loading strategy will be described in detail below in conjunction with

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

[0147] Referring to Figure 6 , when the above step S200 detects that there is luggage F loaded on the right side of the target space E2, taking the center line of area A in the loading space (i.e., area A and area B), that is, the dotted line CD shown in Figure 6 as a reference, that is, area A of the loading space (i.e., area A and area B) at both ends of the center line CD is symmetric, the center line CD passes through the midpoint of the line segment ab, the target space (i.e., the area E2 shown in Figure 6 ) is located on the left side of the center line CD, and there is luggage F loaded on the right side of the target space E2, the above signal is transmitted to the industrial control computer 70. That is to say, the industrial control computer 70 receives that the target space E2 is located on the left side of area A in the loading space, and along the Y direction, there is luggage F loaded in the space on its right side, 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, referring to Figure 4 , Figure 6 and in conjunction with Figure 2 , the industrial control computer 70 determines the pick-up loading strategy as the second loading strategy according to the received signal, that is, the current loading environment is as shown in Figure 6 : The above target space E2 is located on the left side of area A in the loading space, the size of the luggage 900 is 24 inches, the size of the target space E2 is 25 inches, and there is luggage F loaded on the right side of the target space E2, so as to determine the pick-up loading strategy as the second loading strategy and transmit this signal to the loading device 10.

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

[0150] Specifically, referring to Figure 4 and Figure 4E , when it is determined in the above step S500 that the loading strategy is the second loading strategy, continue with the subsequent step S602.

[0151] S602: It is detected that the position of the target space (i.e., the above-mentioned area E2) is to the left 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 there is a product (i.e., the luggage F) loaded on the right side of the target space E2. Drive the loading device 10 to be in the same plane as the target space E2 and in front of it. The pushing part (i.e., the slide plate 200) moves along the width direction of the conveyor belt 100 and towards 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 conveyor belt 100). Then drive the conveying part (i.e., the conveyor belt 100) to move along the length direction of the conveying part and towards the target space E2, so as to load the target product (i.e., the luggage 900) into the target space E2.

[0152] Specifically, referring to Figures 6 to 6B , it is detected that the position of the target space E2 is to the left of area A in the loading space. The size of the target space E2 (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 6 the Y direction shown, there is a luggage F loaded on the right side of the target space E2. Drive the loading device 10 to be in the same plane as the target space E2 and along Figure 6 the X direction shown in front of the target space E2. That is to say, along the X direction, the bottom end of the conveyor belt 100 and the bottom end of the target space E1 are in the same plane along the X direction, and there is no height difference in the Z direction. The slide plate 200 moves along the width direction of the conveyor belt 100 (i.e., Fig. 6A the Y direction shown) and towards the target space E2 (i.e., Fig. 6A the Y1 direction shown) until the outer edge of the luggage 900 is flush with the outer edge of the conveyor belt 100, that is, move from the state shown in (6a) in Fig. 6A to the state shown in (6b). In this way, the position of the luggage 900 is limited. Compared with the first loading strategy, the accuracy of the final falling position of the luggage 900 is more accurate.

[0153] Then drive the conveyor belt 100 to move along the length direction of the conveyor belt 100 (i.e., Fig. 6A the X direction shown) and towards the target space E2 (i.e., Fig. 6A the X1 direction shown), move from the state shown in (6b) in Fig. 6A to the state shown in (6c). As the conveyor belt 100 moves, the luggage 900 on the conveyor belt 100 will move accordingly, and finally the luggage 900 is loaded into the target space E2, that is, Figure 6B the state 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, different loading strategies need to be selected accordingly. Specifically, when the loading environment changes from the loading environment shown in Figure 6 to the loading environment shown in Figure 7 , the loading strategy will change from the second loading strategy shown in Figure 4E to the third loading strategy shown in Figure 4F . The following will describe the third loading strategy in detail in combination with Figures 7 to 7B .

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

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

[0158] Specifically, referring to Figure 4 , Figure 7 and in combination with Figure 2 , the industrial control computer 70 determines the loading strategy as the third loading strategy according to the received signals, that is, the current loading environment is as shown in Figure 7 : the above 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 there is luggage loaded on both sides of the target space E3, and transmits the signal to the loading device 10.

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

[0160] Specifically, referring to Figure 4 and Figure 4F, when it is determined in the above step S500 that the loading strategy is the third loading strategy, the subsequent step S603 is continued.

[0161] S603: It is detected that the position of the target space (i.e., the above-mentioned area E3) is 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. The driving loading device 10 is 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 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 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, referring to Figures 7 to 7B , it is detected that the position of the target space E3 is on the left side of area A in the loading space (i.e., area A and area B), 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 the shown Y direction, there is a luggage G1 loaded on the left side of the target space E3 and a luggage G2 loaded on the right side. The driving loading device 10 is located above the target space E3 along the shown Z direction, and the base 300 is driven to move along the length direction of the conveyor belt 100 (i.e., Figure 7 the shown X direction) and away from the target space E3 (i.e., Fig. 7A the shown X2 direction), moving from the state shown in (7a) in Fig. 7A to the state shown in (7c). At the same time, the conveyor belt 100 is driven to move along the length direction of the conveyor belt 100 (i.e., Fig. 7A the shown X direction) and close to the target space E3 (i.e., Fig. 7A the shown X1 direction), moving from the state shown in (7a) in Fig. 7A to the state shown in (7c). As the conveyor belt 100 and the base 300 move, the luggage 900 on the conveyor belt 100 will move slightly along Fig. 7A the shown X direction until the luggage 900 falls into the target space E3, that is, Fig. 7A the state shown in Figure 7B . The position of the luggage 900 after falling has a small error from the target position.

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

[0164] When the above loading environment changes, different loading strategies need to be selected correspondingly. Specifically, when the loading environment changes from the above Figure 7The loading environment shown changes to Figure 8 When in the loading environment shown, the loading strategy will be changed from Figure 4F the third loading strategy shown to Figure 4G the fourth loading strategy shown. Next, in combination with Figures 8 to 8B a detailed description of the fourth loading strategy will be given.

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

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

[0167] Specifically, referring to Figure 4 , Figure 8 and in combination with Figure 2 , the industrial control computer 70 determines the loading strategy as the fourth loading strategy according to the received signal, that is, the current loading environment is as Figure 8 shown: the above 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 there are luggage items loaded on both sides of the target space E4, so as to determine the picking loading strategy as the fourth loading strategy and transmit this signal to the loading device 10.

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

[0169] Specifically, referring to Figure 4 and Figure 4G , when it is determined in the above step S500 that the loading strategy is the fourth loading strategy, the subsequent step S604 is continued.

[0170] S604: It is detected that the position of the target space (i.e., the above-mentioned area E4) is 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 products are loaded on both sides of the target space E4. The driving loading device 10 is located above the target space E4, and 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 away from the target space E4, and the driving pushing part (i.e., the slide plate 200) is driven to move along the width direction of the conveying part and close to the target space E4, so as to load the target product (i.e., the luggage 900) into the target space E4.

[0171] Specifically, referring to Figures 8 to 8B , it is detected that the position of the target space E4 is on the left side of area A in the loading space (i.e., area A and area B), 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 the Y direction shown, luggage G1 is loaded on the left side of the target space E4, and luggage G2 is loaded on the right side. The driving loading device 10 is located above the target space E4 along Figure 8 the Z direction shown, and the driving base 300 is driven to move along the width direction of the conveyor belt 100 (i.e., Fig. 8A the Y direction shown) and away from the direction of the target space E3 (i.e., Fig. 8A or Figure 8B the Y2 direction shown), moving from the state shown in (8a) in Fig. 8A to the state shown in (8c). At the same time, the driving slide plate 200 is driven to move along the width direction of the conveyor belt 100 (i.e., Fig. 8A the Y direction shown) and close to the direction of the target space E3 (i.e., Fig. 8A or Figure 8B the Y1 direction shown), moving from the state shown in (8a) in Fig. 8A or Figure 8B to the state shown in (8c). As the slide plate 200 and the base 300 move, the luggage 900 on the conveyor belt 100 accurately drops into the target space E4, that is, Figure 8B the state 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-mentioned loading environment changes, different loading strategies need to be selected accordingly. Specifically, when the loading environment changes from the loading environment shown in the above Figure 8 to the loading environment shown in Fig. 9 , the loading strategy will change from the fourth loading strategy shown in Figure 4G to Figure 4HThe fifth loading strategy shown below will be described in detail in conjunction with Figures 9 to 9A to describe the fifth loading strategy in detail.

[0174] S500: Determine the 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 area B of the air container 400. Specifically, refer to Figure 4 , Fig. 9 and in conjunction with Figure 2 , the industrial control computer 70 determines the loading strategy as 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 this signal to the loading device 10.

[0176] S600: According to the loading strategy, drive at least one of the driving part (i.e., the base 300), the pushing part (i.e., the sliding plate 200), and the conveying part (i.e., the conveyor belt 100) to load the target product (i.e., 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, continue with the subsequent step S605.

[0178] S605: Detect that the position of the target space (i.e., the above-mentioned area E5) is 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), there is no product loaded on the right side of the target space E5, drive the loading device 10 to be on the right side of the target space E5 (i.e., in area A), and drive the pushing part (i.e., the sliding plate 200) to move along the width direction of the conveying part and towards the target space E5, so as to load the target product (i.e., the luggage 900) into the target space E5.

[0179] Specifically, refer to Figures 9 to 9A , detect that the current loading environment is as Fig. 9 shown: the position of the target space E5 is on the left side of the loading space (i.e., in area B), the size of the target space E5 (i.e., the above-mentioned 25 inches) is larger than the size of the luggage 900 (i.e., the above-mentioned 24 inches), there is no luggage 900 loaded on the right side of the target space E5, drive the loading device 10 along Fig. 9The indicated Y direction is on the right side of the target space E5, driving the sliding plate 200 along the width direction of the conveyor belt 100 (i.e., Fig.9A the indicated Y direction) and in the direction close to the target space E5 (i.e., Fig.9A the indicated Y1 direction) to move. It is converted from the state shown in (9a) in Fig. 9 or Fig.9A to the state shown in (9c). As the sliding plate 200 moves, the luggage 900 on the conveyor belt 100 will be pushed by the sliding plate 200 into the target space E5.

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

[0181] Since the sliding plate 200 is controlled by a servo controller and the conveyor belt 100 is controlled by a frequency converter, the movement accuracy of the sliding plate 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] Those skilled in the art should be aware that various changes can be made without departing from the basic concepts and usage methods of the present invention, such as adding new picking or luggage 900 loading strategies, or applying them to non-robot scenarios. Such changes should be considered within the protection scope of the present invention.

[0183] When it is determined in step S200 above that the position of the target space E6 is on the right side of the loading space (i.e., area A and area B), specifically, referring to Fig. 10A , taking the center line of area A in the loading space (i.e., area A and area B) (i.e., Fig. 10A the indicated dashed line CD) as a reference, that is, area A of the loading space (i.e., area A and area B) at both ends of the center line CD is symmetric, the center line CD passes through the midpoint of the line segment ab, and the target space (i.e., Fig. 10A the indicated area E6) is on the right side of the center line CD. The above signal is transmitted to the industrial control computer 70. The industrial control computer 70 determines the picking strategy as the second picking strategy according to the received signal, that is, the above target space E6 is on the right side of area A in the loading space (i.e., area A and area B), and transmits this signal to the loading device 10 to continue the subsequent step S402.

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

[0185] Specifically, referring to Fig. 10A and Fig. 10B and combining with Figure 2 , the base 300 drives the conveyor belt 100 and the slide plate 200 to move to the position where the conveyor belt 100 corresponds 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 conveyed onto the conveyor belt 100. That is, at this time, the length direction of the conveyor belt 100 (i.e., the Figure 5A shown X direction) is the same 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 to the left side of the luggage 900 along the width direction of the conveyor belt 100 (i.e., the Fig. 10B shown Y direction) according to the received picking strategy. 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, on the premise of the second picking strategy, the loading strategy also has the above five strategies. Referring to Figures 4J to 4N , that is, 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. Other specific operations are as described above and will not be elaborated here.

[0187] When it is determined in step S200 above that the position of the target space E7 is on the opening side of area A in the loading space (i.e., area A and area B), referring to Fig.11A , the target space (i.e., the Fig.11A shown area E7) is on the opening side of area A along the Fig.11A shown X direction, and there is luggage H loaded in the front of the target space E7. This signal is transmitted to the industrial control computer 70. The industrial control computer 70 determines the picking strategy as the third picking strategy according to the received signal, that is, the above-mentioned target space E7 is on the opening side of area A in the loading space (i.e., area A and area B), and transmits this signal to the loading device 10 to continue the subsequent step S403.

[0188] S403: It is detected that the position of the target space E7 is on the opening side of area A in the loading space (i.e., area A and area B). 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 sliding plate 200) to move to a position where the conveying part (i.e., the conveyor belt 100) corresponds to the conveying device (i.e., the front conveyor belt 500) to receive the target product (i.e., the luggage 900), and it is determined that the pushing part (i.e., the sliding 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, referring to Fig.11A and Fig. 11B and in combination with Figure 2 , according to the received picking strategy, the base 300 drives the conveyor belt 100 and the sliding plate 200 to move to a position where the conveyor belt 100 corresponds to the front conveyor belt 500 at the same time, so that the luggage 900 on the front conveyor belt 500 can be conveyed onto the conveyor belt 100. That is, at this time, the length direction of the conveyor belt 100 (i.e., the Figure 5A shown X direction) is the same 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, according to the received picking strategy, the sliding plate 200 moves to the right side of the luggage 900 along the width direction of the conveyor belt 100 (i.e., the Fig. 10B shown Y direction). 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 the loading strategy according to the size of the target product and the position and size of the target space.

[0191] Specifically, referring to Figure 4 , Fig.11A and in combination with Figure 2 , the industrial control computer 70 determines the loading strategy as the sixth loading strategy according to the received signal, that is, the current loading environment as Fig.11A shown is: the above-mentioned target space E7 is on the opening side of area A in the loading space (i.e., area A and area B), the size of the luggage 900 is 25 inches, the size of the target space E7 is 26 inches, and there is a luggage H loaded on the front side of the target space E7 along the Fig.11A shown X direction, and transmits this signal to the loading device.

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

[0193] Specifically, referring to Figure 4 and Fig. 4I, when it is determined in step S500 above that the loading strategy is the sixth loading strategy, continue with the subsequent step S606.

[0194] S606: It is detected that the position of the target space (i.e., the above-mentioned area E7) is on the opening side of area A in the loading space (i.e., area A and area B), and there is a product (i.e., luggage H) 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). Drive the loading device 10 to be outside the loading space (i.e., area A and area B) and in the same plane as the target space E7. Rotate the driving part (i.e., the base 300) so that the long side of the target product (i.e., luggage 900) is parallel to the target space E7. Drive the pushing part (i.e., the slide plate 200) to move along the width direction of the conveying part (i.e., the conveyor belt 100) and in the direction close to the target space (i.e., Fig.11A the X1 direction shown), so that the target product (i.e., luggage 900) is loaded into the target space E7.

[0195] Specifically, referring to FIG. 11A to FIG. 11B , it is detected that the position of the target space E7 is on the opening side of area A in the loading space (i.e., area A and area B). The size of the target space E7 (i.e., the above-mentioned 26 inches) is larger than the size of luggage 900 (i.e., the above-mentioned 25 inches), and there is luggage H loaded on the front side of the target space E7 along Fig.11A the X direction shown. The size of 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). Drive the loading device 10 to be outside the loading space (i.e., area A and area B) and in the same plane as the target space E7. That is to say, along the X direction, the bottom end of the conveyor belt 100 and the bottom end of the target space E7 are in the same plane along the X direction, and there is no height difference in the Z direction. Rotate the base 300 so that the long side of luggage 900 is parallel to the target space E7. Drive the slide plate 200 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 X1 direction shown), so that 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. The memory is adapted to store computer instructions, and the processor is adapted to execute the loading method described in any of the above embodiments when running the computer instructions.

[0197] Now referring to 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) (not shown) and an Input Output Hub (IOH) (which may be on a separate chip) (not shown), where 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 the controller hub 603. Alternatively, one or both of the memory and the GMCH may be integrated within the processor, the memory 604 and the coprocessor 602 are directly coupled to the processor 601 and the controller hub 603, and the controller hub 603 and the IOH are 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. Instructions are stored in the computer-readable storage medium, specifically, temporary and permanent copies of the instructions are stored. The instructions may include: instructions that, when executed by at least one of the processors, cause the electronic device 600 to implement the loading method as Figure 4 shown. When the instructions are run on a computer, the computer is caused to execute the loading method disclosed in any of the above embodiments or a combined embodiment to load the luggage 900 into the corresponding target space.

[0200] In one embodiment, the coprocessor 602 is a specialized 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, etc. The optional nature of the coprocessor 602 is indicated by a dashed line in Fig.12 as shown.

[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 to communicate 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 also interact with the electronic device 600; and / or sensors designed to determine environmental conditions and / or location information related to the electronic device 600.

[0203] It should be noted that Fig.12 is merely exemplary. That is, although Fig.12 shows that the electronic device 600 includes multiple components such as a processor 601, a controller hub 603, a memory 604, etc., in actual applications, a device using the methods of the present application may include only a part of the components of the electronic device 600. For example, it may only include the processor 601 and the network interface 606. Fig.12 The nature of the optional components in

[0204] is shown by a dashed line. Fig.13 Now refer to Fig.13 which shows a block diagram of a SoC (System on Chip) 700 according to an embodiment of the present application. In Fig.13In it, 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; one or a group of one or more coprocessors 720, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (SRAM) unit 730; and a direct memory access (DMA) unit 760. In one embodiment, the coprocessor 720 includes a dedicated 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, etc.

[0205] The static random access memory (SRAM) unit 730 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. Instructions are stored in the computer-readable storage medium, specifically, temporary and permanent copies of the instructions are stored. The instructions may include: instructions that, when executed by at least one of the processors, cause the SoC to implement the loading method as Figure 4 shown. When the instructions run on a computer, the computer is caused to execute the methods disclosed in the above embodiments.

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

[0207] Embodiments of the mechanisms disclosed in the present application can be implemented in hardware, software, firmware, or combinations of these implementation methods. Embodiments of the present application can be implemented as computer program modules or module codes executed on a programmable system, which includes at least one processor, a storage system (including volatile and non-volatile memories and / or storage elements), at least one input device, and at least one output device.

[0208] The computer program modules or module codes can be applied to input instructions to perform the various functions described in the present application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of the present 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] The module code can be implemented in a high-level modular language or an object-oriented programming language to communicate with the processing system. When necessary, the module code can also be implemented in assembly language or machine language. In fact, the mechanisms described in this application are 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 can be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments can also be implemented as instructions carried or stored on one or more transient or non-transitory machine-readable (e.g., computer-readable) storage media, which can be read and executed by one or more processors. For example, the instructions can be distributed via a network or via other computer-readable media. Thus, machine-readable media can include any mechanism for storing or transmitting information in a machine (e.g., computer) readable form, including but not limited to, floppy disks, optical disks, optical discs, magneto-optical discs, read only memory (ROM), random access memory (RAM), erasable programmable read only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic or optical cards, flash memory, or tangible machine-readable memories for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) in the form of electrical, optical, acoustic, or other propagated signals using the Internet. Thus, machine-readable media includes any type of machine-readable media suitable for storing or transmitting electronic instructions or information in a machine (e.g., computer) readable form.

[0211] Although the present invention has been illustrated and described with reference to certain preferred embodiments thereof, those of ordinary skill in the art should understand that the above is a further detailed description of the present invention in connection with specific embodiments, and the specific implementation of the present invention cannot be considered limited to these descriptions. Those skilled in the art can make various changes in form and detail, 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, the loading space comprises an A area and a B area, the opening side of the loading space is located in the A area, and the A area and the B area are connected along the width direction of the conveying part, 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, driving at least one of the driving part, the pushing part and the conveying part to load the target product into the target space; When the target space is located in the B area, the pushing part is driven to load the target product into the target space according to the loading strategy.

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, applied to a loading system, wherein the loading system is used to execute the loading method according to any one of claims 1 to 15, 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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