Precise receiving method for palletized luggage, electronic equipment and storage medium

Abstract

The invention provides an accurate receiving and taking method for palletized luggage, electronic equipment and a storage medium, and relates to the technical field of palletized luggage receiving and taking, and the method comprises the steps: when the palletized luggage reaches a preset detection position, obtaining the related information of a pallet and the related information of luggage in the pallet, the gravity center coordinates of the tray and the gravity center coordinates of the luggage in the tray can be determined, the combined gravity center of the luggage in the tray is determined according to the size information of the tray and the size information of the luggage in the tray, and the receiving position of the mechanical arm tray is adjusted according to the offset between the combined gravity center and the center of the luggage tray; the combined gravity center can represent the position of the actual gravity center of the whole tray luggage, and the receiving position of the mechanical arm tray is adjusted according to the combined gravity center; the center of the mechanical arm tray can coincide with or be close to the position of the combined gravity center, so that tray luggage can be prevented from falling off during receiving, and the luggage is prevented from being damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of receiving luggage on a tray, and in particular to a method, electronic equipment and storage medium for accurately receiving luggage on a tray. Background Art

[0002] In the field of civil aviation, baggage handling at the airport is crucial to the entire airport's mission. The airport is a busy place with a large number of flights and passengers entering and leaving every day. An efficient baggage handling system can ensure that the baggage is handled and transported at the right time and place, thereby avoiding delays and confusion. In order to improve the efficiency of baggage handling, baggage handling at the airport has changed from traditional manual handling to automatic handling. In order to facilitate baggage handling, baggage with irregular shapes is usually placed in a baggage tray for handling, and the baggage tray is usually larger than the baggage. After the baggage is placed in the baggage tray, the baggage may be located at one end of the baggage tray. If the robotic arm used to receive the baggage receives the tray baggage at a fixed position, the center of gravity of the tray baggage may be offset, causing damage to the baggage. Summary of the invention

[0003] In view of the above technical problems, the technical solution adopted by the present invention is:

[0004] According to a first aspect of the present application, a method for accurately receiving luggage on a tray is provided, the method comprising the following steps:

[0005] Q100, in response to the luggage tray arriving at a preset luggage detection position, obtaining the position information of the luggage tray, the weight of the luggage tray, the coordinates of the center of gravity of the luggage tray, the position information of the luggage in the luggage tray, and the coordinates of the center of gravity of the luggage in the luggage tray;

[0006] Q200, according to the position information of the luggage tray and the receiving method of the robot tray, determine the initial coordinate G1 of the center of the robot tray when the robot tray receives the luggage on the tray;

[0007] Q300, determining the weight of the luggage in the luggage tray according to the total weight of the luggage on the tray and the weight of the luggage tray;

[0008] Q400, determining the coordinates G2 of the combined center of gravity of the luggage on the luggage tray according to the position information of the luggage tray, the weight of the luggage tray, the position information of the luggage in the luggage tray, and the weight of the luggage in the luggage tray;

[0009] Q500, if the receiving mode of the robot tray is the preset horizontal connection mode, then determine the offset between the center of the luggage tray and the combined center of gravity of the luggage on the tray according to G2 and the center coordinate G3 of the luggage tray;

[0010] Q600, adjust the pick-up position of the robot arm tray according to the offset.

[0011] According to another aspect of the present application, a non-transitory computer-readable storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the above-mentioned method for accurately receiving luggage on a tray.

[0012] According to another aspect of the present application, an electronic device is provided, including a processor and the above-mentioned non-transitory computer-readable storage medium.

[0013] The present invention has at least the following beneficial effects:

[0014] The accurate receiving method for tray luggage of the present invention obtains relevant information of the tray and relevant information of the luggage in the tray when the tray luggage reaches a preset detection position, and then can determine the coordinates of the center of gravity of the tray and the coordinates of the center of gravity of the luggage in the tray, and then determine the combined center of gravity of the tray luggage according to the size information of the tray and the size information of the luggage in the tray, and adjust the receiving position of the robot arm tray according to the offset between the combined center of gravity and the center of the luggage tray; the combined center of gravity can represent the position of the actual center of gravity of the tray luggage as a whole, and the receiving position of the robot arm tray is adjusted according to the combined center of gravity, so that the center of the robot arm tray and the position of the combined center of gravity can be overlapped or close, so that the tray luggage can be prevented from falling when receiving, and the luggage can be prevented from being damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A schematic diagram of a coordinate system provided in Embodiment 1 of the present invention;

[0017] Figure 2 A schematic diagram of a mechanical arm tray flipping down provided in the first embodiment of the present invention;

[0018] Figure 3 This is a flow chart of a method for accurately receiving luggage on a tray provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0020] It should be noted that, based on the present disclosure, those skilled in the art should understand that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement a device and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0021] Embodiment 1:

[0022] If the luggage is a regular box luggage, you can pick it up by following the steps below:

[0023] S100: In response to the luggage arriving at a preset luggage detection position, the length bag.h, the width bag.w of the luggage, and the rotation angle bag.rz of the luggage along the Z axis in a preset visual coordinate system QT are obtained.

[0024] In the present embodiment, it should be noted that the luggage of the first embodiment is a suitcase-type luggage, and its shape is relatively regular; the luggage is conveyed from a luggage conveying device, which may be a conveyor belt, and a visual device, such as a camera, is arranged above the luggage conveying device; the visual device corresponds to a preset visual coordinate system QT; the luggage detection position is a preset position, and may also be a luggage detection point, which is the center point of the luggage when the luggage arrives at the detection position, and the position and posture of the luggage detection point can be obtained through the visual device based on the visual calibration point.

[0025] like Figure 1 As shown in the figure, bag is the luggage, hand is the robot arm tray, and when the luggage reaches the luggage detection position on the luggage conveyor, the length, width and rotation angle of the luggage can be obtained through the visual device; at this time, the posture matrix of the luggage at the detection position can also be obtained

[0026]

[0027] Among them, bag.x and bag.y are the X-axis coordinate and Y-axis coordinate of the center point of the baggage in the visual coordinate system respectively.

[0028] S200, determining the pose matrix ZA of the target vertex A of the baggage in QT according to bag.h, bag.w, bag.rz and the distance belt.h / 2 between the edge of the baggage conveyor in QT where the baggage is dropped and the origin of QT.

[0029] Furthermore, ZA can be obtained by the following steps:

[0030] S210, obtaining the position matrix of the luggage when the center point C of the luggage is located at the edge of the luggage conveyor dropping the luggage in, The X-axis coordinate of the corresponding baggage is the same as the X-axis coordinate when the baggage arrives at the baggage detection position, and the Y-axis coordinate is -belt.h / 2; the rotation angle along the Z axis is bag.rz.

[0031] In this embodiment, it can be understood that the baggage conveyor conveys the baggage in a straight line. Therefore, when the baggage reaches the baggage separation point, the posture matrix of the baggage can be obtained by the distance belt.h from the edge of the baggage conveyor dropping the baggage to the origin of QT and Get, that is:

[0032]

[0033] The baggage separation point is the center point of the baggage when it just starts to fall. Assuming that the baggage mass is uniform, this point is when the baggage is at the edge of the conveyor belt and is about to fall. The position of this point is obtained by translating the baggage detection point along the Y axis.

[0034] After obtaining the position and posture of the luggage, it is necessary to further determine the position and posture of the target vertex A of the luggage in QT; the target vertex can be understood as the vertex farthest from the visual coordinate system when the luggage is picked up.

[0035] S220, obtain the pose matrix PA of A in the preset separation point coordinate system; wherein the X-axis of QE is parallel to the width direction of the luggage, and the Y-axis of QE is parallel to the length direction of the luggage; the coordinates of A in PA are determined according to bag.rz, bag.h and bag.w, and the rotation angle of the robot tray along the Z axis in PA is determined according to the receiving method of the robot tray and bag.rz.

[0036] In this embodiment, for the convenience of calculation, a separation point coordinate system is preset, the X axis of the separation point coordinate system is parallel to the width direction of the luggage, and the Y axis is parallel to the length direction of the luggage. Therefore, the position matrix PA of the luggage in the separation point coordinate system can be obtained relatively simply:

[0037]

[0038] Among them, the X-axis coordinate is determined as +bag.w / 2 or -bag.w / 2 according to bag.rz, and touch.rz is determined as -90°, 90° or 0° according to the horizontal and vertical connection and bag.rz. It can be understood that touch.rz is 0 in vertical connection and touch.rz is -90° or 90° in horizontal connection.

[0039] S230, according to PA, OK

[0040] In this implementation, according to and PA, able to obtain ZA;

[0041]

[0042] It should be noted that the specific values ​​in the above-mentioned posture matrix can be determined according to the access method and the corresponding rotation angle, which will not be elaborated here.

[0043] S300, determine the pose matrix ZB of the target contact point B on the robot tray in the robot tray coordinate system QR according to bag.h, bag.w, bag.rz, the size of the robot tray and the receiving method of the robot tray; wherein B is the point on the plane of the robot tray that coincides with A when receiving the luggage.

[0044] In this embodiment, it can be understood that when the robot tray picks up luggage, the target contact point on the robot tray contacts the target vertex of the luggage. Therefore, the robot tray coordinate system QR can be established, and the pose matrix ZB of the target contact point on the robot tray in QR can be determined.

[0045] Further, step S300 may include the following steps:

[0046] S310, if the receiving mode of the robot tray is the preset horizontal connection mode, and hand.w>bag.h, then determine the initial X-axis coordinate of the first contact point B1 in QR hang_left_touch_x=hand.w / 2-bag.h, and determine the initial X-axis coordinate of the second contact point B2 in QR hang_right_touch_x=hand.w / 2; wherein hand.w is the width of the robot tray; in the horizontal connection mode, the length direction of the robot tray is perpendicular to the length direction of the luggage.

[0047] S320, if the receiving mode of the robot arm tray is the preset horizontal connection mode, and hand.w≤bag.h, determine the initial X-axis coordinate of B1 in QR as hang_left_touch_x=-bag.h / 2, and determine the initial X-axis coordinate of B2 in QR as hang_right_touch_x=bag.h / 2.

[0048] S330, if the receiving method of the robot arm tray is the preset horizontal connection method, and hand.h / 2-bag.w≤-hand.h / 2, then determine the Y-axis coordinates of B1 and B2 in QR to be -hand.h / 2; if the receiving method of the robot arm tray is the preset horizontal connection method, and -hand.h / 2<hand.h / 2-bag.w<hand.h / 2, then determine the Y-axis coordinates of B1 and B2 in QR to be hand.h / 2-bag.w.

[0049] S340, if the receiving mode of the robot arm tray is the preset horizontal receiving mode, and hand.h / 2-bag.w≥hand.h / 2, then determine that the Y-axis coordinates of B1 and B2 in QR are hand.h / 2.

[0050] In this embodiment, before the robot tray is flipped down, the pose matrix in the robot tray is:

[0051] Among them, hand.rz is determined according to the horizontal and vertical connections and bag.rz.

[0052] At this point, you need to further determine the X-axis coordinate ht.x and the Y-axis coordinate ht.y, and you can calculate the luggage size in QR:

[0053] If the receiving method is horizontal connection, the length along the X-axis direction of the robot arm tray (bag_along_hand_x) is: bag.h; the length along the Y-axis direction of the robot arm tray (bag_along_hand_y) is: bag.w.

[0054] If the receiving method is vertical connection, the length along the X-axis direction of the robot arm tray (bag_along_hand_x) is: bag.w; the length along the Y-axis direction of the robot arm tray (bag_along_hand_y) is: bag.h.

[0055] If the receiving method of the robot arm tray is the preset horizontal connection method, the X-axis coordinates and Y-axis coordinates of the first contact point and the second contact point in QR are determined through the above steps S310-S340, that is, the X-axis coordinates and Y-axis coordinates of the left contact point and the right contact point in QR.

[0056] Furthermore, step S300 may further include the following steps:

[0057] S350, if the receiving mode of the robot tray is the preset vertical connection mode, and hand.w>bag.w, then determine the initial X-axis coordinate of B1 in QR hang_left_touch_x=hand.w / 2-bag.w, and determine the initial X-axis coordinate of B2 in QR hang_right_touch_x=hand.w / 2; in the vertical connection mode, the length direction of the robot tray is parallel to the length direction of the luggage.

[0058] S360, if the receiving mode of the robot arm pallet is the preset vertical connection mode, and hand.w≤bag.w, determine the initial X-axis coordinate of B1 in QR hang_left_touch_x=-bag.w / 2, and determine the initial X-axis coordinate of B2 in QR hang_right_touch_x=bag.w / 2.

[0059] S370, if the receiving method of the robot arm tray is the preset vertical connection method, and hand.h / 2-bag.h≤-hand.h / 2, then determine the Y-axis coordinates of B1 and B2 in QR to be -hand.h / 2; if the receiving method of the robot arm tray is the preset vertical connection method, and -hand.h / 2<hand.h / 2-bag.h<hand.h / 2, then determine the Y-axis coordinates of B1 and B2 in QR to be -hand.h / 2.

[0060] S380: If the receiving mode of the robot arm pallet is the preset vertical receiving mode, and hand.h / 2-bag.h≥hand.h / 2, then determine that the Y-axis coordinates of B1 and B2 in QR are hand.h / 2.

[0061] In this embodiment, if the receiving method of the robot arm tray is the preset vertical connection method, the X-axis coordinates and Y-axis coordinates of the first contact point and the second contact point in QR are determined through the above steps S350-S380, that is, the X-axis coordinates and Y-axis coordinates of the left contact point and the right contact point in QR.

[0062] It should be noted that, when determining the position and posture of the robot arm pallet subsequently, only one contact point is needed, so the target contact point needs to be determined.

[0063] Furthermore, after step S380, the method further includes the following steps:

[0064] S390 , determining the target X-axis coordinate of B1 in QR hang_left_touch_x′=hang_left_touch_x+x_offset and the target X-axis coordinate of B2 in QR hang_right_touch_x′=hang_right_touch_x+x_offset according to hang_left_touch_x and hang_right_touch_x; wherein x_offset is a preset offset distance.

[0065] In this embodiment, after the robot tray receives the luggage, it is necessary to stack the luggage on the luggage cart. In order to stack the luggage compactly and neatly, the X-axis coordinates of the first contact point and the second contact point determined in the above steps need to be offset, so that the luggage received subsequently has a certain offset on the robot tray, which can play a role of pushing the luggage when stacking it, so that the stacked luggage is more compact and neat.

[0066] S391, if bag.rz>0, then determine B2 as B; otherwise, determine B1 as B; and then obtain ZB.

[0067] In this embodiment, it can be understood that, in step S391, a contact point that is farther from the baggage conveying device is determined as a target contact point.

[0068] S400, determining the downward flipping angle θ of the robot arm pallet according to the conversion relationship M, ZA, and ZB between the preset visual coordinate system and the robot arm pallet coordinate system.

[0069] Further, step S400 may include the following steps:

[0070] S410, determining a perpendicular line between the baggage falling surface and the robot arm tray;

[0071] S420, determining a parallel line which is a preset distance from the vertical line and parallel to the vertical line as an axis; wherein the axis is located below the luggage;

[0072] S430, rotate the robot arm tray about the axis, solve ZB = M × ZA, and obtain θ.

[0073] In this embodiment, Figure 2 As shown, since the baggage conveying device has a certain thickness, and the robot arm tray needs to be placed under the baggage conveying device when receiving the baggage, there will be a certain distance between the target contact point and the target vertex, and the baggage will shake when receiving the baggage; based on this, the robot arm tray needs to be flipped up so that the target contact point contacts the target vertex to prevent the baggage from shaking.

[0074] Specifically, after determining the axis, the robot tray posture matrix can be rotated so that ZB=M×ZA, thereby solving the rotation angle and the posture matrix of the robot tray after rotation, so that the robot tray can receive the luggage according to the determined posture matrix, avoiding luggage shaking and improving the accuracy and stability of luggage reception.

[0075] S500, determining the position and posture of the robot arm tray according to ZA and θ.

[0076] In this embodiment, after ZA, θ and the axis coordinates are determined, the position and posture of the robot arm tray can be determined.

[0077] Furthermore, after step S500, the method may further include the following steps:

[0078] S600: If the robot tray contacts the luggage, the robot tray is controlled to move in the direction of the luggage movement and the robot tray is controlled to evenly flip up.

[0079] Furthermore, the speed at which the robotic arm tray moves in the direction of luggage movement is the same as the conveying speed of the luggage on the luggage conveying device; the angle change rate of the uniform upward flipping of the robotic arm tray is ω=θ / t; wherein t is the time taken for the luggage to contact the robotic arm tray and fall from the luggage conveying device.

[0080] In this embodiment, after the target contact point and the target vertex are actually in contact, it indicates that the luggage has contacted the robot tray. At this time, in order to further reduce the shaking of the luggage, as the luggage moves, the robot tray is controlled to move along the direction of the luggage movement and at the same time, the robot tray is controlled to flip up evenly; the angle change rate of the uniform flipping of the robot tray ω=θ / t; t can be obtained according to the speed and size information of the luggage transmission.

[0081] In this embodiment, when the luggage arrives at the preset luggage detection position, the size information and the rotation angle of the luggage are obtained, and the pose matrix of the target vertex of the luggage in the visual coordinates is determined according to the size information of the luggage and the distance between the edge of the luggage conveyor device dropping the luggage and the origin of the visual coordinate system in the preset visual coordinates; in addition, the pose matrix of the luggage in the robot tray coordinate system is determined according to the size information of the luggage and the rotation angle, and then the downward flip angle of the robot tray is determined according to the conversion relationship between the visual coordinate system and the robot coordinate system and the two determined pose matrices, and then the pose of the robot tray is obtained; thereby, when the robot tray receives the luggage in this pose, the target vertex of the luggage contacts the target contact point, and due to the setting of the downward flip angle, the luggage gradually contacts the robot tray during the process of receiving the luggage, thereby reducing the shaking of the luggage when receiving the luggage, and further improving the accuracy and stability of receiving the luggage.

[0082] Embodiment 2:

[0083] The luggage in the first embodiment is a box-type luggage with a regular shape. For luggage with irregular shapes, the luggage with irregular shapes is usually placed in a luggage tray for transportation. The luggage tray is usually larger than the luggage. After the luggage is placed in the luggage tray, the luggage may be located at one end of the luggage tray. If the mechanical arm for receiving the luggage receives the luggage on the tray at a fixed position, the luggage on the tray may fall due to the deviation of the center of gravity of the luggage on the tray, causing damage to the luggage. In order to avoid the above situation, the following method is provided: Figure 3 The method shown:

[0084] Q100, in response to the luggage tray arriving at a preset luggage detection position, obtaining the position information of the luggage tray, the weight of the luggage tray, the center of gravity coordinates of the luggage tray, the position information of the luggage in the luggage tray, and the center of gravity coordinates of the luggage in the luggage tray.

[0085] In this embodiment, the type of luggage can be identified by a visual device. When a tray luggage is identified and reaches the luggage detection position, the position information of the luggage tray, the weight of the luggage tray, the center of gravity coordinates of the luggage tray, the position information of the luggage in the luggage tray, and the center of gravity coordinates of the luggage in the luggage tray can be obtained.

[0086] Q200, based on the position information of the luggage tray and the receiving method of the robot tray, determine the initial coordinate G1 of the center of the robot tray when the robot tray receives the luggage on the tray.

[0087] Further, Q200 may include the following steps:

[0088] Q210, obtain the length bag1.h, width bag1.w of the luggage tray and the rotation angle bag1.rz of the luggage tray along the Z axis in the preset visual coordinate system QT.

[0089] Q220, determine the pose matrix YA of the target vertex MA of the luggage tray in QT based on bag1.h, bag1.w, bag1.rz and the distance belt.h / 2 from the edge of the luggage tray where the luggage conveyor drops the luggage in QT to the origin of QT.

[0090] Q230, based on bag1.h, bag1.w, bag1.rz, the size of the robot tray and the receiving method of the robot tray, determine the pose matrix YB of the target contact point MB on the robot tray in the robot tray coordinate system QR; where MB is the point on the plane of the robot tray that coincides with MA when receiving the luggage.

[0091] Q240, based on the conversion relationship M, YA, and YB between QT and QR, determine the downward flip angle θ of the robot arm tray.

[0092] Q250, based on YA and θ, determines the position of the robot pallet, and then obtains G1.

[0093] In the first embodiment, it is introduced how to determine the position and posture of the robot tray when the luggage is regular luggage; in this embodiment, the luggage tray can be regarded as the luggage in the first embodiment, and then the position and posture of the robot tray is determined, and then G1 is obtained; it should be noted that the method in this embodiment is the same as the method in the first embodiment, and it is not repeated here.

[0094] Furthermore, YA can be obtained by the following steps:

[0095] Q221, obtain the pose matrix of the luggage tray when the center of the luggage tray is located at the edge of the luggage conveyor where the luggage is dropped. in, The X-axis coordinate of the corresponding baggage tray is the same as the X-axis coordinate when the baggage tray reaches the baggage detection position, and the Y-axis coordinate is -belt.h / 2; the rotation angle along the Z axis is bag1.rz.

[0096] Q222, obtain the pose matrix PA1 of MA in the preset separation point coordinate system QE; wherein, the X-axis of QE is parallel to the width direction of the luggage tray, and the Y-axis of QE is parallel to the length direction of the luggage tray; the coordinates of MA in PA1 are determined according to bag1.rz, bag1.h and bag1.w, and the rotation angle of the robot tray along the Z-axis in PA1 is determined according to the receiving method of the robot tray and bag1.rz.

[0097] Q223, according to PA1, OK

[0098] It should be noted that the method for determining YA in this embodiment is the same as the method for determining ZA in the first embodiment, the difference being that the object in this embodiment is a luggage tray, while the object in the first embodiment is a regular luggage.

[0099] Further, step Q230 may include the following steps:

[0100] Q231, if the receiving mode of the robot tray is the preset horizontal connection mode, and hand.w>bag1.h, then determine the initial X-axis coordinate of the third contact point MB1 in QR hang_left_touch_x=hand.w / 2-bag1.h, and determine the initial X-axis coordinate of the fourth contact point MB2 in QR hang_right_touch_x=hand.w / 2; wherein, hand.w is the width of the robot tray; in the horizontal connection mode, the length direction of the robot tray is perpendicular to the length direction of the luggage tray.

[0101] Q232, if the receiving mode of the robot arm pallet is the preset horizontal connection mode, and hand.w≤bag1.h, then determine the initial X-axis coordinate of MB1 in QR hang_left_touch_x=-bag1.h / 2, and determine the initial X-axis coordinate of MB2 in QR hang_right_touch_x=bag1.h / 2.

[0102] Q233, if the receiving mode of the robot arm tray is the preset horizontal connection mode, and hand.h / 2-bag1.w≤-hand.h / 2, then the Y-axis coordinates of MB1 and MB2 in QR are determined to be -hand.h / 2; if the receiving mode of the robot arm tray is the preset horizontal connection mode, and -hand.h / 2<hand.h / 2-bag1.w<hand.h / 2, then the Y-axis coordinates of MB1 and MB2 in QR are determined to be hand.h / 2-bag1.w.

[0103] Q234, if the receiving mode of the robot arm pallet is the preset horizontal connection mode, and hand.h / 2-bag1.w≥hand.h / 2, then the Y-axis coordinates of MB1 and MB2 in QR are determined to be hand.h / 2.

[0104] Q235, if the receiving mode of the robot tray is the preset vertical connection mode, and hand.w>bag1.w, then determine the initial X-axis coordinate of MB1 in QR hang_left_touch_x=hand.w / 2-bag1.w, and determine the initial X-axis coordinate of MB2 in QR hang_right_touch_x=hand.w / 2; in the vertical connection mode, the length direction of the robot tray is parallel to the length direction of the luggage tray.

[0105] Q236, if the receiving mode of the robot arm pallet is the preset vertical connection mode, and hand.w≤bag1.w, then determine the initial X-axis coordinate of MB1 in QR hang_left_touch_x=-bag1.w / 2, and determine the initial X-axis coordinate of MB2 in QR hang_right_touch_x=bag1.w / 2.

[0106] Q237, if the receiving mode of the robot arm pallet is the preset vertical connection mode, and hand.h / 2-bag1.h<-hand.h / 2, then the Y-axis coordinates of MB1 and MB2 in QR are determined to be -hand.h / 2; if the receiving mode of the robot arm pallet is the preset vertical connection mode, and -hand.h / 2<hand.h / 2-bag1.h<hand.h / 2, then the Y-axis coordinates of MB1 and MB2 in QR are determined to be hand.h / 2-bag1.h.

[0107] Q238, if the receiving mode of the robot arm pallet is the preset vertical connection mode, and hand.h / 2-bag1.h≥hand.h / 2, then the Y-axis coordinates of MB1 and MB2 in QR are determined to be hand.h / 2.

[0108] In this embodiment, the coordinates of the third contact point and the fourth contact point of the luggage tray can be determined through the above steps Q231-Q238. The determination method is the same as the method for determining the coordinates of the first contact point and the second contact point in Example 1, and will not be repeated here.

[0109] Furthermore, after step Q238, the method further comprises the following steps:

[0110] Q21, determine the target X-axis coordinate of B1 in QR hang_left_touch_x'=hang_left_touch_x+x_offset and the target X-axis coordinate of B2 in QR hang_right_touch_x'=hang_right_touch_x+x_offset according to hang_left_touch_x and hang_right_touch_x; wherein x_offset is a preset offset distance.

[0111] Q22, if bag1.rz>0, then B2 is determined as B; otherwise, B1 is determined as B; and then YB is obtained.

[0112] In this embodiment, in order to stack the luggage on the tray compactly and neatly, it is also necessary to shift the position of the luggage on the tray. The shifting method is the same as the shifting method in the first embodiment, which will not be described in detail here.

[0113] Q300, determines the weight of the luggage in the luggage tray based on the total weight of the luggage on the tray and the weight of the luggage tray.

[0114] In this embodiment, the total weight of the luggage on the tray can be obtained by weighing the luggage conveyor, and the weight of the luggage tray is known. The weight of the luggage in the luggage tray can be obtained by subtracting the weight of the luggage tray from the total weight of the luggage on the tray.

[0115] Q400, determine the coordinates G2 of the combined center of gravity of the luggage on the luggage tray based on the position information of the luggage tray, the weight of the luggage tray, the position information of the luggage in the luggage tray, and the weight of the luggage in the luggage tray.

[0116] In this embodiment, it should be noted that after obtaining the position information of the luggage tray, the weight of the luggage tray, the position information of the luggage in the luggage tray, and the weight of the luggage in the luggage tray, those skilled in the art can use the existing combined center of gravity determination method to determine the coordinates G2 of the combined center of gravity of the luggage on the tray according to actual needs, which will not be elaborated here.

[0117] Q500, if the receiving method of the robot arm tray is the preset horizontal connection method, then determine the offset between the center of the luggage tray and the combined center of gravity of the tray luggage according to G2 and the center coordinate G3 of the luggage tray.

[0118] In this embodiment, if the receiving method of the robot tray is the preset horizontal connection method, since the posture of the robot arm determined in the above steps is determined according to the luggage tray, the position of the combined center of gravity is not considered. When the position of the combined center of gravity is far different from the position of the center of the robot tray, the luggage on the tray will be at risk of falling.

[0119] Further, step Q500 includes the following steps:

[0120] Q510, obtain the X-axis coordinate difference ΔX=G between G2 and G3 3，x -G 2，x And the Y-axis coordinate difference ΔY=G 3，y -G 2，y Among them, G 3，x and G 2，x are the X-axis coordinates in G3 and G2 respectively; G 3，y and G 2，y They are the Y-axis coordinates in G3 and G2 respectively.

[0121] Q520, determine ΔX and ΔY as the offset between the center of the robot arm tray and the combined center of gravity of the tray baggage.

[0122] In this embodiment, through the above steps, the offset between the combined center of gravity and the center of the luggage tray on the X-axis and the offset on the Y-axis can be determined.

[0123] Q600, adjust the pick-up position of the robot arm tray according to the offset.

[0124] Further, step Q600 includes the following steps:

[0125] Q610, obtain G1 = (G 1，x , G 1，y ), where G 1，x and G 1，y They are respectively the X-axis coordinate and Y-axis coordinate of the center of the robot tray when the robot tray picks up the luggage on the tray.

[0126] Q620, according to G1, ΔX and ΔY, determine the target coordinates G1' of the center of the robot pallet = (G 1，x +ΔX,G 1，y +ΔY).

[0127] Q630, move the center of the robot arm tray to the position corresponding to G1'.

[0128] In this embodiment, through the above steps, the center of the robot arm tray can be adjusted to be close to or coincide with the center of gravity of the assembly, thereby preventing the luggage on the tray from falling.

[0129] Furthermore, after step Q600, the method further includes the following steps:

[0130] Q700, if the receiving method of the robot arm pallet is the preset vertical connection method, the vertical distance d between the combined center of gravity of the pallet luggage and the median perpendicular line of the luggage pallet along the width direction is determined according to G2.

[0131] Q710, if d>d', an alarm prompt message is issued; otherwise, the pallet luggage is received by the robot arm pallet; wherein d' is a preset safety distance; the alarm prompt message is used to remind the user that the pallet luggage will fall.

[0132] In this embodiment, if the receiving mode of the robot tray is the preset vertical connection mode, there is no room for the robot tray to be adjusted forward and backward. Therefore, it is necessary to determine the relationship between the vertical distances d and d' between the combined center of gravity of the tray luggage and the perpendicular bisector of the luggage tray in the width direction by G2. If d>d', it means that the position of the combined center of gravity deviates far and the tray luggage may fall. Therefore, an alarm prompt message is issued.

[0133] In this embodiment, when the tray luggage reaches the preset detection position, relevant information of the tray and relevant information of the luggage in the tray are obtained, and then the coordinates of the center of gravity of the tray and the coordinates of the center of gravity of the luggage in the tray can be determined, and then the combined center of gravity of the tray luggage is determined according to the size information of the tray and the size information of the luggage in the tray, and the receiving position of the robot arm tray is adjusted according to the offset between the combined center of gravity and the center of the luggage tray; the combined center of gravity can represent the position of the actual center of gravity of the tray luggage as a whole, and the receiving position of the robot arm tray is adjusted according to the combined center of gravity, so that the center of the robot arm tray and the position of the combined center of gravity can be overlapped or close, so that the tray luggage can be prevented from falling when being received, and the luggage can be prevented from being damaged.

[0134] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0135] An embodiment of the present invention also provides a non-transitory computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing a method in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the method provided in the above embodiment.

[0136] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0137] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0138] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0139] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0140] An embodiment of the present invention further provides an electronic device, comprising a processor and the aforementioned non-transitory computer-readable storage medium.

[0141] The electronic device is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0142] The electronic device is presented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: the at least one processor mentioned above, the at least one memory mentioned above, and a bus connecting different system components (including the memory and the processor).

[0143] The memory stores program codes, which can be executed by the processor, so that the processor executes the steps in various embodiments described in this specification.

[0144] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read only memory (ROM).

[0145] The memory may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0146] The bus may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0147] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may communicate with one or more devices that enable a user to interact with the electronic device, and / or may communicate with any device (e.g., routers, modems, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication may be performed through an input / output (I / O) interface. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter. The network adapter communicates with other modules of the electronic device through a bus. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0148] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0149] An embodiment of the present invention further provides a computer program product, which includes program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the method according to various exemplary embodiments of the present invention described above in this specification.

[0150] Although some specific embodiments of the present invention have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are only for illustration, not for limiting the scope of the present invention. It should also be understood by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention.

Claims

1. A method for accurately receiving luggage on a tray, characterized in that: The method comprises the following steps: Q100, in response to the luggage tray arriving at a preset luggage detection position, obtaining the position information of the luggage tray, the weight of the luggage tray, the coordinates of the center of gravity of the luggage tray, the position information of the luggage in the luggage tray, and the coordinates of the center of gravity of the luggage in the luggage tray; Q200, according to the position information of the luggage tray and the receiving method of the robot tray, determine the initial coordinate G1 of the center of the robot tray when the robot tray receives the luggage on the tray; Q300, determining the weight of the luggage in the luggage tray according to the total weight of the luggage on the tray and the weight of the luggage tray; Q400, determining the coordinates G2 of the combined center of gravity of the luggage on the luggage tray according to the position information of the luggage tray, the weight of the luggage tray, the position information of the luggage in the luggage tray, and the weight of the luggage in the luggage tray; Q500, if the receiving mode of the robot tray is the preset horizontal connection mode, then determine the offset between the center of the luggage tray and the combined center of gravity of the luggage on the tray according to G2 and the center coordinate G3 of the luggage tray; Q600, adjust the pick-up position of the robot arm tray according to the offset.

2. The accurate receiving method of the tray luggage according to claim 1, characterized in that: After step Q600, the method further comprises the following steps: Q700, if the receiving mode of the robot tray is the preset vertical connection mode, the vertical distance d between the combined center of gravity of the tray luggage and the perpendicular midline of the luggage tray along the width direction is determined according to G2; Q710, if d>d', an alarm prompt message is issued; otherwise, the pallet luggage is received by the robot arm pallet; wherein d' is a preset safety distance; the alarm prompt message is used to remind the user that the pallet luggage will fall.

3. The accurate receiving method of the tray luggage according to claim 1, characterized in that: Step Q500 includes the following steps: Q510, obtain the X-axis coordinate difference ΔX=G between G2 and G3 3，x -G 2，x And the Y-axis coordinate difference ΔY=G 3，y -G 2，y Among them, G 3，x and G 2，x are the X-axis coordinates in G3 and G2 respectively; G 3，y and G 2，y They are the Y-axis coordinates in G3 and G2 respectively; Q520, determine ΔX and ΔY as the offset between the center of the robot arm tray and the combined center of gravity of the tray baggage.

4. The accurate receiving method of the luggage on a tray according to claim 3, characterized in that: Step Q600 includes the following steps: Q610, obtain G1 = (G 1，x , G 1，y ), where G 1，x and G 1，y They are respectively the X-axis coordinate and Y-axis coordinate of the center of the robot arm pallet when the robot arm pallet picks up the pallet luggage; Q620, according to G1, ΔX and ΔY, determine the target coordinates G1' of the center of the robot pallet = (G 1，x +ΔX,G 1，y +ΔY); Q630, move the center of the robot arm tray to the position corresponding to G1'.

5. The accurate receiving method of tray luggage according to claim 1, characterized in that: Q200 includes the following steps: Q210, obtain the length bag1.h, width bag1.w of the luggage tray and the rotation angle bag1.rz of the luggage tray along the Z axis in the preset visual coordinate system QT; Q220, determine the pose matrix YA of the target vertex MA of the luggage tray in QT according to bag1.h, bag1.w, bag1.rz and the distance belt.h / 2 from the edge of the luggage tray where the luggage conveyor drops the luggage in QT to the origin of QT; Q230, according to bag1.h, bag1.w, bag1.rz, the size of the robot tray and the receiving method of the robot tray, determine the pose matrix YB of the target contact point MB on the robot tray in the robot tray coordinate system QR; where MB is the point on the robot tray plane that coincides with MA when receiving the baggage; Q240, according to the conversion relationship M, YA, and YB between QT and QR, determine the downward turning angle θ of the robot arm tray; Q250, based on YA and θ, determines the position of the robot pallet, and then obtains G1.

6. The accurate receiving method of the luggage on a tray according to claim 5, characterized in that: YA is obtained by the following steps: Q221, obtain the pose matrix of the luggage tray when the center of the luggage tray is located at the edge of the luggage conveyor where the luggage is dropped. in, The X-axis coordinate of the corresponding baggage tray is the same as the X-axis coordinate of the baggage tray when it reaches the baggage detection position, and the Y-axis coordinate is -belt.h / 2; the rotation angle along the Z axis is bag1.rz; Q222, obtain the pose matrix PA1 of MA in QR; wherein the X-axis of QR is parallel to the width direction of the luggage tray, and the Y-axis of QR is parallel to the length direction of the luggage tray; the coordinates of MA in PA1 are determined according to bag1.rz, bag1.h and bag1.w, and the rotation angle of the robot tray along the Z axis in PA1 is determined according to the receiving method of the robot tray and bag1.rz; Q223, according to PA1, OK 7. The accurate receiving method of the luggage on a tray according to claim 5, characterized in that: Step Q230 includes the following steps: Q231, if the receiving mode of the robot tray is the preset horizontal connection mode, and hand.w>bag1.h, then determine the initial X-axis coordinate of the third contact point MB1 in QR hang_left_touch_x=hand.w / 2-bag1.h, and determine the initial X-axis coordinate of the fourth contact point MB2 in QR hang_right_touch_x=hand.w / 2; wherein hand.w is the width of the robot tray; in the horizontal connection mode, the length direction of the robot tray is perpendicular to the length direction of the luggage tray; Q232, if the receiving mode of the robot arm pallet is the preset horizontal connection mode, and hand.w≤bag1.h, then determine the initial X-axis coordinate of MB1 in QR hang_left_touch_x=-bag1.h / 2, and determine the initial X-axis coordinate of MB2 in QR hang_right_touch_x=bag1.h / 2; Q233, if the receiving mode of the robot tray is the preset horizontal connection mode, and hand.h / 2-bag1.w≤-hand.h / 2, then the Y-axis coordinates of MB1 and MB2 in QR are determined to be -hand.h / 2; if the receiving mode of the robot tray is the preset horizontal connection mode, and -hand.h / 2<hand.h / 2-bag1.w<hand.h / 2, then the Y-axis coordinates of MB1 and MB2 in QR are determined to be hand.h / 2-bag1.w; Q234, if the receiving mode of the robot tray is the preset horizontal connection mode, and hand.h / 2-bag1.w≥hand.h / 2, then determine that the Y-axis coordinates of MB1 and MB2 in QR are hand.h / 2; Q235, if the receiving mode of the robot tray is the preset vertical connection mode, and hand.w>bag1.w, then the initial X-axis coordinate of MB1 in QR is determined to be hang_left_touch_x=hand.w / 2-bag1.w, and the initial X-axis coordinate of MB2 in QR is determined to be hang_right_touch_x=hand.w / 2; in the vertical connection mode, the length direction of the robot tray is parallel to the length direction of the luggage tray; Q236, if the receiving mode of the robot arm tray is the preset vertical connection mode, and hand.w≤bag1.w, then determine the initial X-axis coordinate of MB1 in QR hang_left_touch_x=-bag1.w / 2, and determine the initial X-axis coordinate of MB2 in QR hang_right_touch_x=bag1.w / 2; Q237, if the receiving mode of the robot tray is the preset vertical connection mode, and hand.h / 2-bag1.h≤-hand.h / 2, then the Y-axis coordinates of MB1 and MB2 in QR are determined to be -hand.h / 2; if the receiving mode of the robot tray is the preset vertical connection mode, and -hand.h / 2<hand.h / 2-bag1.h<hand.h / 2, then the Y-axis coordinates of MB1 and MB2 in QR are determined to be hand.h / 2-bag1.h; Q238, if the receiving mode of the robot arm pallet is the preset vertical connection mode, and hand.h / 2-bag1.h≥hand.h / 2, then the Y-axis coordinates of MB1 and MB2 in QR are determined to be hand.h / 2.

8. The accurate receiving method of the tray luggage according to claim 7, characterized in that: After step Q238, the method further The following steps are involved: Q21, according to hang_left_touch_x and hang_right_touch_x, determine the target X-axis coordinate of B1 in QR hang_left_touch_x'=hang_left_touch_x+x_offset and the target X-axis coordinate of B2 in QR hang_right_touch_x'=hang_right_touch_x+x_offset; wherein x_offset is a preset offset distance; Q22, if bag1.rz>0, then B2 is determined as B; otherwise, B1 is determined as B; and then YB is obtained.

9. A non-transitory computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, characterized in that: The at least one instruction or the at least one program is loaded and executed by the processor to implement the method for accurately receiving luggage on a tray as claimed in any one of claims 1 to 8.

10. An electronic device, characterized in that: The method comprises a processor and the non-transitory computer-readable storage medium of claim 9.

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