Luggage stacking position determination method, electronic equipment and storage medium

Abstract

The invention provides a luggage stacking position determination method, electronic equipment and a storage medium, and relates to the technical field of luggage stacking position determination. The method comprises the steps that a three-dimensional coordinate system QR corresponding to a current luggage barrow, a to-be-stacked luggage bounding box W corresponding to to-be-stacked luggage, the length LY of the luggage barrow in the Y-axis direction in the QR, the width DX of the luggage barrow in the X-axis direction and the height HZ of the luggage barrow in the Z-axis direction are obtained, and then the luggage barrow is obtained according to the size of W in the Y-axis direction; traversing the space in the Y-axis direction of the current luggage barrow according to the step length delta LY, and if W is not overlapped with all the three-dimensional luggage grids and W meets all preset stacking conditions, determining the current position of W as the stacking position corresponding to the luggage to be stacked; the purpose of determining the stacking position corresponding to the W can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of determining the placement position of luggage, and particularly to a method for determining the placement position of luggage, an electronic device, and a storage medium. Background Art

[0002] In the civil aviation field, luggage handling is a major challenge in the modern aviation industry. Due to the continuous increase in the passenger flow at airports, the number of passengers' luggage is also rising continuously. For luggage handling, in order to improve the handling efficiency of luggage, some airports use automated luggage handling equipment to transport luggage from the conveyor belt to the luggage cart, and then transport it to the aircraft of the corresponding flight by the luggage cart for loading and consignment. Usually, the luggage handling equipment stacks the luggage in the pre-divided areas in sequence. However, the sizes of different luggage are different. If they are stacked one by one in the fixed divided areas, the space utilization rate of the luggage cart will be relatively low. Summary of the Invention

[0003] For the above technical problems, the technical solution adopted by the present invention is as follows:

[0004] According to the first aspect of the present application, a method for determining the placement position of luggage is provided. The method includes the following steps:

[0005] S100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart, the bounding box W of the luggage to be placed corresponding to the luggage to be placed, and the length L of the luggage cart in the Y-axis direction in QR Y , the width D in the X-axis direction X and the height H in the Z-axis direction Z ; wherein, the three-dimensional coordinate system QR includes a plurality of three-dimensional luggage grids corresponding to the placed luggage, and each three-dimensional luggage grid corresponds to position coordinates and size information.

[0006] S200, obtain the first preset value NUM 1 = 0, and place W at the origin position corresponding to W in QR.

[0007] S300, if NUM 1 × ΔL Y < L Y - L W , then enter S400; where L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0008] S400, determine whether W coincides with at least one of the plurality of three-dimensional luggage grids, and determine whether W meets all the preset placement conditions.

[0009] S500. If W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, move W in the Y-axis direction by ΔL Y , update NUM 1 = NUM 1 + 1, and enter S300; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

[0010] According to another aspect of the present application, there is also provided a non-transitory computer-readable storage medium storing at least one instruction or at least one program segment, and the at least one instruction or at least one program segment is loaded and executed by a processor to implement the method for determining the stacking position of the above-mentioned luggage.

[0011] According to another aspect of the present application, there is also provided an electronic device including a processor and the above-mentioned non-transitory computer-readable storage medium.

[0012] The present invention has at least the following beneficial effects:

[0013] The method for determining the stacking position of the luggage of the present invention obtains the three-dimensional coordinate system QR corresponding to the current luggage cart, the bounding box W of the luggage to be stacked corresponding to the luggage to be stacked, and the length L of the luggage cart in the Y-axis direction in QR Y , the width D in the X-axis direction X and the height H in the Z-axis direction Z , and then traverse the space in the Y-axis direction of the current luggage cart along the Y-axis direction according to the size of W with a step size of ΔL Y . If W does not coincide with all the three-dimensional luggage grids and W meets all the preset stacking conditions, determine the current position of W as the stacking position corresponding to the luggage to be stacked; thus achieving the purpose of determining the stacking position corresponding to W.

[0014] Furthermore, when determining the stacking position corresponding to the luggage to be stacked, it is based on the remaining stacking space of the current luggage cart and the size of the luggage to be stacked, so that the determined stacking position of the luggage to be stacked is the best stacking position for the current luggage cart; due to the setting of the judgment condition for the coincidence of the luggage to be stacked and the three-dimensional grid, the stacking position corresponding to the luggage to be stacked is closely fitted with the already stacked luggage, thereby improving the utilization rate of the space of the luggage cart. Description of the Drawings

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0016] Figure 1 It is a flowchart of a method for determining the luggage stacking position provided by an embodiment of the present invention. Specific embodiments

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0018] It should be noted that based on this disclosure, those skilled in the art should understand that one 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 the device and / or practice the method. In addition, this device and / or this method can be implemented using other structures and / or functions in addition to one or more of the aspects described herein.

[0019] Embodiment 1:

[0020] The following will refer to Figure 1 the flowchart of the method for determining the luggage stacking position shown in the figure to introduce a method for determining the luggage stacking position.

[0021] The method for determining the luggage stacking position may include the following steps:

[0022] S100. Obtain the three-dimensional coordinate system QR corresponding to the current luggage cart, the unpacked luggage bounding box W corresponding to the luggage to be stacked, and the length L of the luggage cart in the Y-axis direction in QR Y , the width D in the X-axis direction X and the height H in the Z-axis direction Z ; where QR includes three-dimensional luggage grids corresponding to several unpacked luggages, and each three-dimensional luggage grid corresponds to position coordinates and size information.

[0023] In this embodiment, before determining the stacking position of the to-be-stacked luggage, it is necessary to identify the already-stacked luggage on the current luggage cart; the already-stacked luggage can be identified by means of image recognition or lidar scanning. After identifying the already-stacked luggage, the already-stacked luggage can be segmented to generate a number of three-dimensional luggage meshes containing the point clouds corresponding to the already-stacked luggage; it can be understood that each three-dimensional luggage bounding box represents the already-stacked luggage in the corresponding space.

[0024] For the to-be-stacked luggage, the size information of the to-be-stacked luggage bounding box corresponding to the to-be-stacked luggage can be obtained through image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart.

[0025] Further, the to-be-stacked luggage is picked up by a preset manipulator; wherein, when the preset manipulator places the to-be-stacked luggage, the orientation of the manipulator is perpendicular to the side wall of the Y luggage cart in the Y-axis direction in the QR.

[0026] Based on the above setting of the manipulator orientation, in the subsequent process of determining the stacking position, first traverse along the Y-axis direction to achieve more convenient stacking of the luggage and avoid colliding with the already-stacked luggage.

[0027] S200, obtain the first preset value NUM 1 = 0, and place W at the origin position of W in the QR.

[0028] In this embodiment, since the position determination of the to-be-stacked luggage is based on the stack shape of the already-stacked luggage on the current luggage cart, therefore, after stacking each to-be-stacked luggage, it is necessary to re-obtain the three-dimensional coordinate system corresponding to the current luggage cart; then place W at the origin position of W in the QR to determine the best stacking position applicable to the current to-be-stacked luggage based on the stack shape corresponding to the current luggage cart.

[0029] Further, the origin position QR of W in the QR W = (W X , W Y , W Z ); where W X is the X-axis coordinate of the origin position of W in the QR, W Y is the Y-axis coordinate of the origin position of W in the QR, W Z is the Z-axis coordinate of the origin position of W in the QR; W X = L W / 2; W Y = D W / 2; W Z = H W / 2; DW The width of W in the X-axis direction is H W The height of W in the Z-axis direction is

[0030] In this embodiment, when W is placed at the origin position QR corresponding to W in QR W the center point of W coincides with QR W It can be understood that when the size of W is different, the corresponding origin position QR of W in QR W is also different. When W is at the origin position, a vertex of W coincides with the origin of the coordinate system of QR. Thus, W can be traversed starting from a bottom vertex of the current luggage cart.

[0031] S300, if NUM 1 ×ΔL Y <L Y -L W , then enter S400; where L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0032] Furthermore, if NUM 1 ×ΔL Y ≥L Y -L W , then obtain the second preset value NUM 2 =0 and the third preset value NUM 3 =0, and enter S600.

[0033] S600, if NUM 2 ×ΔH Z <H Z -H W , then enter S610; otherwise, enter S620; where ΔH Z is the second preset distance.

[0034] S610, update NUM 1 =0, update NUM 2 =NUM 2 +1, place W at the middle position QE W =(W X +NUM 3 ×ΔD X , W Y , W Z +NUM 2 ×ΔH Z ), and enter S300.

[0035] S620, if NUM 3 ×ΔD X <D X-D W , update NUM 1 = 0, update NUM 2 = 0, update NUM 3 = NUM 3 + 1, place W at the middle position QE W = (W X + NUM 3 × ΔD X , W Y , W Z + NUM 2 × ΔH Z ), enter S300; otherwise, it is determined that the placement position corresponding to the luggage to be stacked has not been determined; where, ΔD X is the third preset distance.

[0036] Furthermore, ΔL Y can be set to ΔH Z = ΔD X = 20mm; under this parameter setting, it can ensure that the luggage is stacked more closely on the premise of higher traversal efficiency, thereby improving the space utilization rate of the luggage cart.

[0037] In this embodiment, the traversal order is to first traverse along the Y-axis direction. When the coordinates corresponding to the Z-axis and Y-axis remain unchanged, if the traversal along the Y-axis direction is completed, the coordinate of the Z-axis is increased by ΔH Z , and then continue to traverse along the Y-axis again. If the Z-axis NUM 2 × ΔH Z ≥ H Z - H W , it means that the traversal in the Z-axis direction is also completed. At this time, the coordinate of the X-axis needs to be changed, and the traversal along the Y-axis direction continues; that is, first traverse along the Y-axis direction, then traverse along the Z-axis direction, and finally traverse along the X-axis direction; it can be understood as a three-layer loop to realize the traversal of the entire current luggage cart space; the effect of this traversal method is as follows:

[0038] Through the above traversal method, when stacking luggage, the luggage to be stacked will first be stacked against the farther side of the current luggage cart, presenting a shape like a grain pile with a larger bottom and a smaller top, so that when the manipulator stacks the luggage, it will not collide with the stacked luggage and avoid damage to the luggage.

[0039] S400, determine whether W coincides with at least one of several three-dimensional luggage grids, and determine whether W meets all the preset stacking conditions.

[0040] In this embodiment, regardless of the position of W, it is necessary to determine whether W will collide with other already stacked pieces of luggage and whether all other preset stacking conditions are met when W is at this position. It can be understood that if W coincides with at least one of several three-dimensional luggage grids, it means that W will collide with the already stacked luggage when in this position.

[0041] Furthermore, determining whether W coincides with at least one of several three-dimensional luggage grids may include the following steps:

[0042] S410, obtain the minimum and maximum X-axis coordinates, minimum and maximum Y-axis coordinates, and minimum and maximum Z-axis coordinates of each three-dimensional luggage grid in QR to obtain a set A of minimum and maximum coordinates of the three-dimensional luggage grid = (A 1 , A 2 , …, A i , …, A n ), where i = 1, 2, …, n; among them, A i is the list of minimum and maximum coordinates of the i-th three-dimensional luggage grid, and n is the number of three-dimensional luggage grids; A i = (A i，X _min, A i，X _max, A i，Y _min, A i，Y _max, A i，Z _min, A i，Z _max); A i，X _min and A i，X _max are respectively the minimum and maximum X-axis coordinates of the i-th three-dimensional luggage grid, A i，Y _min and A i，Y _max are respectively the minimum and maximum Y-axis coordinates of the i-th three-dimensional luggage grid, and A i，Z _min and A i，Z _max are respectively the minimum and maximum Z-axis coordinates of the i-th three-dimensional luggage grid.

[0043] In this embodiment, each three-dimensional luggage grid in QR corresponds to the coordinates of each vertex, and it is possible to obtain the minimum and maximum X-axis coordinates, minimum and maximum Y-axis coordinates, and minimum and maximum Z-axis coordinates of each three-dimensional luggage grid in QR.

[0044] S420, obtain the minimum X-axis coordinate W min，X , maximum X-axis coordinate W max，X , minimum Y-axis coordinate W min，Y , maximum Y-axis coordinate W max，Y , minimum Z-axis coordinate W min，Z and maximum Z-axis coordinate W max，Z .

[0045] Similarly, when W is at different positions in QR, the corresponding minimum X-axis coordinate W can also be obtained. min，X , the maximum X-axis coordinate W max，X , the minimum Y-axis coordinate W min，Y , the maximum Y-axis coordinate W max，Y , the minimum Z-axis coordinate W min，Z and the maximum Z-axis coordinate W max，Z .

[0046] S430, traverse A. If the X-axis coordinate interval of A i [A i，X _min, A i，X _max] overlaps with the X-axis coordinate interval of W [W min，X , W max，X , the Y-axis coordinate interval of A i [A i，Y _min, A i，Y _max] overlaps with the Y-axis coordinate interval of W [W min，Y , W max，Y and the Z-axis coordinate interval of A i [A i，Z _min, A i，Z _max] overlaps with the Z-axis coordinate interval of W [W min，Z , W max，Z , it is determined that W coincides with at least one of several three-dimensional luggage grids.

[0047] In this embodiment, through the above steps, it can be determined whether W will collide with the already stacked luggage when W is at a certain position in QR; if W will not collide with the already stacked luggage when W is at a certain position in QR; it is also necessary to determine whether W meets all the preset stacking conditions when W is at this position; the preset stacking conditions are set according to relevant regulations of civil aviation. For example: the preset stacking conditions may include that the luggage with a smaller volume is placed above the luggage with a larger volume, and the currently to-be-stacked luggage will not be thrown, etc.

[0048] S500, if W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W along the Y-axis direction by ΔL Y , update NUM 1 = NUM 1 + 1, and enter S300; otherwise, determine the position where W is currently located as the stacking position corresponding to the to-be-stacked luggage.

[0049] In this embodiment, due to the setting of the preset stacking conditions, after traversing all positions in QR, it is possible that the stacking position corresponding to the luggage to be stacked has not been determined. In order to stack the luggage to be stacked into the luggage cart, a second traversal is required.

[0050] Further, the preset stacking conditions include a number of necessary stacking conditions and a number of optimized stacking conditions; among them, the execution status of the necessary stacking conditions is enabled, and the execution status of the optimized stacking conditions includes enabled and disabled.

[0051] In this embodiment, it can be understood that the necessary stacking conditions are stacking conditions set according to relevant regulations of civil aviation. For example, luggage with a small volume is placed on top of luggage with a large volume, and there will be no throwing situation for the current luggage to be stacked; while the optimized stacking conditions are optimized stacking conditions set to improve the space utilization rate of the luggage cart or to make the luggage stacked neatly. The execution status of the optimized stacking conditions can be set to enabled or disabled. When the execution status of the optimized stacking conditions is enabled, the optimized stacking conditions need to be satisfied; otherwise, they do not need to be satisfied.

[0052] After step S620, the method may further include the following steps:

[0053] S700, if the stacking position corresponding to the luggage to be stacked is not determined, then set the execution status of all optimized stacking conditions in the preset stacking conditions to disabled, and enter S200.

[0054] In this embodiment, after traversing all positions in QR, if the stacking position corresponding to the luggage to be stacked is not determined, then set the execution status of all optimized stacking conditions in the preset stacking conditions to disabled; then enter S200, and traverse each position in QR again to determine the stacking position corresponding to the luggage to be stacked.

[0055] In this embodiment, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart, the bounding box W corresponding to the luggage to be stacked, and the length L of the luggage cart in the Y-axis direction in QR Y , the width D in the X-axis direction X and the height H in the Z-axis direction Z , and then traverse the space in the Y-axis direction of the current luggage cart according to the size of W along the Y-axis direction with a step size of ΔL Y . If W does not overlap with all three-dimensional luggage grids and W satisfies all preset stacking conditions, then determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked; traverse along the Y-axis, Z-axis, and X-axis directions in turn, so as to achieve the purpose of determining the stacking position corresponding to W.

[0056] Further, when determining the stacking position corresponding to the luggage to be stacked, it is based on the remaining stacking space of the current luggage cart and the size of the luggage to be stacked, so that the determined stacking position of the luggage to be stacked is the optimal stacking position for the current luggage cart. Since the judgment condition for the luggage to be stacked to coincide with the three-dimensional grid is set, the stacking position corresponding to the luggage to be stacked fits closely with the already stacked luggage, thereby improving the utilization rate of the space of the luggage cart.

[0057] Embodiment 2:

[0058] Based on the method in Embodiment 1, if the stacking position corresponding to the luggage to be stacked cannot be determined, the stacking position corresponding to the luggage to be stacked can be further determined by the method in this embodiment. This method may include the following steps:

[0059] Q100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the luggage bounding box W to be stacked corresponding to the luggage to be stacked; wherein, QR includes three-dimensional luggage grids corresponding to several already stacked luggages.

[0060] In this embodiment, before determining the stacking position of the luggage to be stacked, it is necessary to identify the already stacked luggage on the current luggage cart; the already stacked luggage can be identified by means of image recognition or lidar scanning. After the already stacked luggage is identified, the already stacked luggage can be segmented to generate several three-dimensional luggage grids containing the point clouds corresponding to the already stacked luggage; it can be understood that each three-dimensional luggage bounding box represents the already stacked luggage in the corresponding space.

[0061] For the luggage to be stacked, the size information of the luggage bounding box to be stacked corresponding to the luggage to be stacked can be obtained by means of image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart.

[0062] Q200, according to the size of W and the preset traversal rule, sequentially traverse each preset point to be confirmed in QR.

[0063] Q300, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid, enter Q400; otherwise, traverse the next point to be confirmed; wherein, the target point to be confirmed is any preset point to be confirmed.

[0064] Q400, if W meets all the preset stacking conditions, then confirm the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, traverse the next point to be confirmed; wherein, the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions.

[0065] In this embodiment, the method in steps S200 - S620 of Embodiment 1 can be used to sequentially traverse each preset point to be confirmed in QR, which will not be elaborated here; the preset points to be confirmed can be the coordinate points corresponding to the center point of W each time W moves in Embodiment 1.

[0066] Q500, if after traversing all the preset points to be confirmed, the placement position corresponding to the luggage to be placed cannot be determined, then proceed to Q600.

[0067] In this embodiment, due to the setting of the preset placement conditions, after traversing all the positions in QR, it is possible that the placement position corresponding to the luggage to be placed has not been determined; however, at this time, there is still placement space in the luggage cart. In order to be able to place the luggage to be placed in the luggage cart, a secondary traversal is required.

[0068] Q600, according to the preset downgrading rule of the placement conditions, downgrade several optimized placement conditions and enter Q200.

[0069] Furthermore, the execution status of the necessary placement conditions is enabled, and the execution status of the optimized placement conditions includes enabled and disabled.

[0070] In this embodiment, it can be understood that the necessary placement conditions are the placement conditions set according to the relevant regulations of civil aviation. For example: luggage with a small volume is placed on top of luggage with a large volume, and there will be no throwing situation for the currently placed luggage; while the optimized placement conditions are the optimized placement conditions set to improve the space utilization rate of the luggage cart or to make the luggage placement neat. The execution status of the optimized placement conditions can be set to enabled or disabled. When the execution status of the optimized placement conditions is enabled, the optimized placement conditions need to be satisfied; otherwise, they do not need to be satisfied.

[0071] Step Q600 includes the following steps:

[0072] Q610, set the execution status of all the optimized placement conditions in the preset placement conditions to disabled and enter Q200.

[0073] In this embodiment, after traversing all the positions in QR, if the placement position corresponding to the luggage to be placed cannot be determined, then set the execution status of all the optimized placement conditions in the preset placement conditions to disabled; then enter S200 to re - traverse each position in QR to determine the placement position corresponding to the luggage to be placed.

[0074] Furthermore, step Q600 can include the following steps:

[0075] Q620, obtain each optimized placement condition to obtain the optimized placement condition list B=(B 1 ,B2 , …, B j , …, B m ), j = 1, 2, …, m; where B j is the j-th optimized stacking condition, and m is the number of optimized stacking conditions.

[0076] Q630. According to B, determine the priority of each optimized stacking condition to obtain the optimized stacking condition priority list YB = (YB 1 , YB 2 , …, YB j , …, YB m ); where YB j is the priority corresponding to B j ; YB r > YB r+1 ; r = 1, 2, …, m - 1; B r is executed before B r+1 .

[0077] Q640. Obtain the fourth preset value NM = m.

[0078] Q650. If NM > 0 and the stacking position corresponding to the luggage to be stacked cannot be determined, then set the execution status of B NM in B to closed; update NM = NM - 1; enter Q200.

[0079] In this embodiment, the priority of any necessary stacking condition is greater than the priority of any optimized stacking condition, that is, the necessary stacking condition is executed before the optimized stacking condition; and the optimized stacking condition is also set with an execution priority, and the optimized stacking condition with a higher priority is executed before the stacking condition with a lower priority.

[0080] It can be understood that after the first traversal, there are various reasons why the stacking position of the luggage to be stacked cannot be determined. Some positions may not meet the necessary stacking conditions, and some positions may not meet the optimized stacking conditions; among those that do not meet the optimized stacking conditions, some do not meet the optimized stacking conditions with a higher priority, and some do not meet the stacking conditions with a lower priority. Therefore, in this embodiment, first close the optimized stacking condition with the lowest priority, then enter Q200, and re-traverse each position in QR. If the stacking position corresponding to the luggage to be stacked still cannot be determined, then close the optimized stacking condition with the next lowest priority until the stacking position corresponding to the luggage to be stacked is determined.

[0081] Further, after step Q650, the method further includes:

[0082] Q660. If NM ≤ 0 or the stacking position corresponding to the luggage to be stacked is determined, then jump out of the current process.

[0083] In this embodiment, if NM ≤ 0, it means that all optimized stowage conditions are closed, and the current process is exited.

[0084] Further, in Q650, when one optimized stowage condition is closed, it is judged whether the closed optimized stowage condition is executed during the first traversal. If it is executed, enter Q200; otherwise, close the next optimized stowage condition and judge again whether the closed optimized stowage condition is executed during the first traversal.

[0085] Through the above method, it is possible to directly determine the stowage position corresponding to the luggage to be stowed during the second traversal, thereby avoiding excessive traversal times and improving the efficiency of determining the stowage position corresponding to the luggage to be stowed.

[0086] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart and the stowage luggage bounding box W corresponding to the luggage to be stowed are obtained; according to the size of W and the preset traversal rules, each preset point to be confirmed in QR is traversed in sequence; when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stowage conditions, the target point to be confirmed is determined as the stowage position corresponding to the luggage to be stowed; otherwise, traverse the next point to be confirmed; where the preset stowage conditions include a number of necessary stowage conditions and a number of optimized stowage conditions; if after traversing all the preset points to be confirmed, the stowage position corresponding to the luggage to be stowed cannot be determined, then according to the preset stowage condition downgrading rule, the number of optimized stowage conditions is downgraded, and then according to the size of W and the preset traversal rules, each preset point to be confirmed in QR is traversed in sequence; in the present invention, because the preset stowage conditions are downgraded, the conditions for determining the stowage position corresponding to the luggage to be stowed are relaxed, and it is easier to determine the stowage position corresponding to the luggage to be stowed. In the case where there is stowage space, it is ensured that the stowage position of the luggage to be stowed can be determined.

[0087] Embodiment Three:

[0088] In Embodiment One, due to the limitations of the necessary stowage conditions and the optimized stowage conditions, it is possible that the stowage position corresponding to the luggage to be stowed cannot be determined on the premise that there is remaining stowage space in the luggage cart. Based on this, the following method is provided to further determine the stowage position corresponding to the luggage to be stowed:

[0089] H100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the stowage luggage bounding box W corresponding to the luggage to be stowed; where QR includes a number of three-dimensional luggage grids corresponding to the stowed luggage.

[0090] In this embodiment, before determining the stacking position of the luggage to be stacked, it is necessary to identify the luggage already stacked on the current luggage cart; the luggage already stacked can be identified by means of image recognition or lidar scanning. After identifying the luggage already stacked, the luggage already stacked can be segmented to generate a number of three-dimensional luggage grids containing the point clouds corresponding to the luggage already stacked; it can be understood that each three-dimensional luggage bounding box represents the luggage already stacked in the corresponding space.

[0091] For the luggage to be stacked, the size information of the bounding box of the luggage to be stacked corresponding thereto can be obtained by means of image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space within the space of the current luggage cart.

[0092] H200. According to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in sequence.

[0093] In this embodiment, the method in steps S200 - S620 in Embodiment 1 can be used to traverse each preset point to be confirmed in QR in sequence, which will not be elaborated here; the preset points to be confirmed can be the coordinate points corresponding to the center point of W each time W moves in Embodiment 1.

[0094] H300. If the stacking position corresponding to the luggage to be stacked is not determined from all the points to be confirmed, each optimized stacking condition is obtained to obtain an optimized stacking condition list B = (B 1 , B 2 , …, B j , …, B m ), j = 1, 2, …, m; where B j is the jth optimized stacking condition, and m is the number of optimized stacking conditions.

[0095] In this embodiment, due to the setting of the preset stacking conditions, after traversing all the positions in QR, it is possible that the stacking position corresponding to the luggage to be stacked is not determined; however, there is still stacking space in the luggage cart at this time. In order to stack the luggage to be stacked into the luggage cart, a secondary traversal is required.

[0096] H400. According to B, the priority of each optimized stacking condition is determined to obtain an optimized stacking condition priority list YB = (YB 1 , YB 2 , …, YB j , …, YB m ); where YB j is the priority corresponding to B j ; YB r > YB r+1 ; r = 1, 2, …, m - 1; B rPrior to B r+1 Execute;

[0097] H500, obtain the fourth preset value NM = m;

[0098] H600, if NM > 0 and the stacking position corresponding to the luggage to be stacked cannot be determined, then set the execution status of B in B NM to closed; update NM = NM - 1; enter H200.

[0099] In this embodiment, the priority of any necessary stacking condition is greater than the priority of any optimized stacking condition, that is, the necessary stacking condition is executed prior to the optimized stacking condition; and the optimized stacking condition is also set with an execution priority, and the optimized stacking condition with a higher priority is executed prior to the stacking condition with a lower priority.

[0100] It can be understood that after the first traversal, there are various reasons why the stacking position of the luggage to be stacked cannot be determined. Some positions may not meet the necessary stacking conditions, and some positions do not meet the optimized stacking conditions; among those that do not meet the optimized stacking conditions, some do not meet the optimized stacking conditions with a higher priority, and some do not meet the stacking conditions with a lower priority. Therefore, in this embodiment, first close the optimized stacking condition with the lowest priority, then enter H200, and re-traverse each position in QR. If the stacking position corresponding to the luggage to be stacked still cannot be determined, then close the optimized stacking condition with the next lowest priority until the stacking position corresponding to the luggage to be stacked is determined.

[0101] Further, after step H600, the method further includes:

[0102] H700, if NM ≤ 0 or the stacking position corresponding to the luggage to be stacked is determined, then jump out of the current process.

[0103] In this embodiment, if NM ≤ 0, it means that all optimized stacking conditions have been closed, then jump out of the current process.

[0104] Further, in H600, every time an optimized stacking condition is closed, determine whether the closed optimized stacking condition was executed during the first traversal. If it was executed, then enter H200; otherwise, close the next optimized stacking condition and again determine whether the closed optimized stacking condition was executed during the first traversal.

[0105] Further, step H200 includes the following steps:

[0106] H210, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid, then enter H211; otherwise, traverse the next point to be confirmed; where the target point to be confirmed is any preset point to be confirmed.

[0107] H211. If W meets all the preset stacking conditions, confirm the stacking position corresponding to the checked baggage at the target point to be confirmed; otherwise, traverse the next point to be confirmed. The preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions.

[0108] Further, step H200 includes the following steps:

[0109] H221. Obtain the first preset value NUM 1 = 0, the second preset value NUM 2 = 0, and the third preset value NUM 3 = 0; and place W at the origin position corresponding to it in QR.

[0110] H222. If NUM 1 ×ΔL Y <L Y -L W , then enter H223. Here, L Y is the length of the baggage cart in the Y-axis direction in QR, and L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0111] H223. Determine whether W coincides with at least one of several three-dimensional baggage grids, and determine whether W meets all the preset stacking conditions.

[0112] H224. If W coincides with at least one of several three-dimensional baggage grids or W does not meet at least one of all the preset stacking conditions, move W in the Y-axis direction by ΔL Y , update NUM 1 = NUM 1 + 1, and enter H222; otherwise, determine the position where W is currently located as the stacking position corresponding to the checked baggage.

[0113] Further, step H222 also includes: If NUM 1 ×ΔL Y ≥L Y -L W , then enter H225.

[0114] H225. If NUM 2 ×ΔH Z <H Z -H W , then enter H226; otherwise, enter H227. Here, ΔH Z is the second preset distance; H Z is the height of the baggage cart in the Z-axis direction in QR.

[0115] H226, update NUM 1 = 0, update NUM 2 = NUM 2 + 1, place W at the middle position QE W = (W X + NUM 3 × ΔD X , W Y , W Z + NUM 2 × ΔH Z ), enter H222.

[0116] H227, if NUM 3 × ΔD X < D X - D W , update NUM 1 = 0, update NUM 2 = 0, update NUM 3 = NUM 3 + 1, place W at the middle position QE W = (W X + NUM 3 × ΔD X , W Y , W Z + NUM 2 × ΔH Z ), enter H222; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked is not determined; where, ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

[0117] Through the above method, it can be determined that during the secondary traversal, the stacking position corresponding to the luggage to be stacked can be directly determined, thus avoiding excessive traversal times and improving the efficiency of determining the stacking position corresponding to the luggage to be stacked.

[0118] In this embodiment, a three-dimensional coordinate system QR corresponding to the current luggage cart and a bounding box W of the luggage to be stacked corresponding to the luggage to be stacked are obtained; according to the size of W and a preset traversal rule, each preset point to be confirmed in QR is traversed in sequence; when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; otherwise, the next point to be confirmed is traversed; among them, the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions; if after traversing all the preset points to be confirmed, the stacking position corresponding to the luggage to be stacked cannot be determined, then according to the preset downgrading rule of the stacking conditions, several optimized stacking conditions are downgraded, and then according to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in sequence; in the present invention, due to the downgrading of the preset stacking conditions, the conditions for determining the stacking position corresponding to the luggage to be stacked are relaxed, and it is easier to determine the stacking position corresponding to the luggage to be stacked, and in the case of the existence of a stacking space, it is ensured that the stacking position of the luggage to be stacked can be determined.

[0119] In this embodiment, a three-dimensional coordinate system QR corresponding to the current luggage cart and a bounding box W of the luggage to be stacked corresponding to the luggage to be stacked are obtained; according to the size of W and a preset traversal rule, each preset point to be confirmed in QR is traversed in sequence; when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; otherwise, the next point to be confirmed is traversed; among them, the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions; if after traversing all the preset points to be confirmed, the stacking position corresponding to the luggage to be stacked cannot be determined, then according to the preset downgrading rule of the stacking conditions, several optimized stacking conditions are downgraded, and then according to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in sequence; in the present invention, due to the downgrading of the preset stacking conditions, the conditions for determining the stacking position corresponding to the luggage to be stacked are relaxed, and it is easier to determine the stacking position corresponding to the luggage to be stacked, and in the case of the existence of a stacking space, it is ensured that the stacking position of the luggage to be stacked can be determined.

[0120] Embodiment 4:

[0121] In the above Embodiment 1, during the second traversal, it is a full traversal of all positions in QR, and this traversal method has low efficiency. Based on this, the following method is provided to improve the traversal efficiency:

[0122] T100, obtain a three-dimensional coordinate system QR corresponding to the current luggage cart and a bounding box W of the luggage to be stacked corresponding to the luggage to be stacked; among them, QR includes three-dimensional luggage grids corresponding to several pieces of stacked luggage.

[0123] In this embodiment, before determining the stacking position of the luggage to be stacked, it is necessary to identify the stacked luggage on the current luggage cart; the stacked luggage can be identified by means of image recognition or lidar scanning. After identifying the stacked luggage, the stacked luggage can be segmented to generate a number of three-dimensional luggage grids containing the point clouds corresponding to the stacked luggage; it can be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0124] For the luggage to be stacked, the size information of the bounding box of the luggage to be stacked corresponding to the luggage to be stacked can be obtained through image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart.

[0125] T200, according to the size of the bounding box of the luggage to be stacked corresponding to the luggage to be stacked and the preset traversal rule, sequentially traverse each preset point to be confirmed in QR.

[0126] Further, step T200 may include the following steps:

[0127] T210, obtain the first preset value NUM 1 = 0, the second preset value NUM 2 = 0 and the third preset value NUM 3 = 0; and place W at the origin position corresponding to W in QR.

[0128] T220, if NUM 1 ×ΔL Y <L Y -L W , then enter T230; where L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0129] T230, determine whether W coincides with at least one of the several three-dimensional luggage grids, and determine whether W meets all the preset stacking conditions; where the preset stacking conditions include necessary stacking conditions and optimized stacking conditions.

[0130] T240, if W coincides with at least one of the several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W in the Y-axis direction by ΔL Y , update NUM 1 = NUM 1 +1, enter T220; otherwise, determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked.

[0131] Further, step T230 may include the following steps:

[0132] T231, if W coincides with at least one of several three-dimensional luggage grids, traverse the next point to be confirmed; otherwise, proceed to T232.

[0133] T232, if W meets all the necessary stacking conditions, proceed to T233; otherwise, traverse the next point to be confirmed.

[0134] T233, if W meets all the optimized stacking conditions, determine the current point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, determine the current point to be confirmed as the designated point to be confirmed.

[0135] Further, step T200 may further include: if NUM 1 ×ΔL Y ≥L Y -L W , then proceed to T250.

[0136] T250, if NUM 2 ×ΔH Z <H Z -H W , then proceed to T260; otherwise, proceed to T270; where ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in QR.

[0137] T260, update NUM 1 =0, update NUM 2 =NUM 2 +1, place W at the middle position QE W =(W X +NUM 3 ×ΔD X , W Y , W Z +NUM 2 ×ΔH Z ) and proceed to T220.

[0138] T270, if NUM 3 ×ΔD X <D X -D W , update NUM 1 =0, update NUM 2 =0, update NUM 3 =NUM 3 +1, place W at the middle position QE W =(W X +NUM 3 ×ΔDX , W Y , W Z +NUM 2 ×ΔH Z ), enter T220; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined; where ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

[0139] In this embodiment, the traversal order is to first traverse along the Y-axis direction. When the coordinates corresponding to the Z-axis and Y-axis remain unchanged, if the traversal along the Y-axis direction is completed, the coordinate of the Z-axis is increased by ΔH Z , and then continue to traverse along the Y-axis again. If the Z-axis NUM 2 ×ΔH Z ≥H Z -H W , it means that the traversal in the Z-axis direction is also completed. At this time, the coordinate of the X-axis needs to be changed, and the traversal along the Y-axis direction continues; that is, first traverse along the Y-axis direction, then traverse along the Z-axis direction, and finally traverse along the X-axis direction; it can be understood as a three-layer loop to realize the traversal of the entire current luggage cart space; the effect of this traversal method is as follows:

[0140] Through the above traversal method, when stacking the luggage, the luggage to be stacked will first be stacked against the farther side of the current luggage cart, presenting a shape like a grain pile with a larger bottom and a smaller top, so that when the manipulator stacks the luggage, it will not collide with the stacked luggage and avoid damage to the luggage.

[0141] T300, if after traversing all the preset points to be confirmed, the stacking position corresponding to the luggage to be stacked has not been determined, then obtain the specified points to be confirmed to obtain the specified point list C = (C 1 , C 2 , …, C p , …, C q ), p = 1, 2, …, q; where C p is the pth specified point to be confirmed obtained, and q is the number of specified points to be confirmed obtained; when W is at the specified point to be confirmed, it does not coincide with any three-dimensional luggage grid, meets the preset necessary stacking conditions and does not meet the preset optimized stacking conditions.

[0142] In this embodiment, when traversing each point to be confirmed in QR for the first time, at a certain point to be confirmed, it is necessary to first determine whether it coincides with the three-dimensional luggage grid, then determine whether it meets the necessary stacking conditions, and finally determine whether it meets the optimized stacking conditions; since there are multiple judgment conditions, therefore, after traversing each point to be confirmed, it is possible that the stacking position corresponding to the luggage to be stacked cannot be determined.

[0143] It should be noted that for each traversed point to be confirmed, the reason for its negation can be recorded. For example: the point to be confirmed does not meet the necessary stacking conditions or does not meet the optimized stacking conditions; therefore, each specified point to be confirmed can be obtained to get C; it can be understood that the number of points to be confirmed in C is less than the total number of points to be confirmed in QR; during the first traversal, C e is traversed earlier than C e+1 where e = 1, 2,..., q - 1.

[0144] T400, set the execution status of all optimized stacking conditions to off.

[0145] In this embodiment, the execution status of the optimized stacking conditions can be set to on or off. During the first traversal, the execution status of all optimized stacking conditions is set to on; if the stacking position corresponding to the luggage to be stacked cannot be determined during the first traversal, the execution status of all optimized stacking conditions is set to off. Then, during the second traversal of the specified points to be confirmed in C, the optimized stacking conditions will not be executed, so that the stacking position corresponding to the luggage to be stacked can be determined quickly.

[0146] T500, according to the size of the bounding box of the luggage to be stacked corresponding to the luggage to be stacked, traverse each specified point to be confirmed in C in turn.

[0147] In this embodiment, it should be noted that the first traversal is carried out according to a preset traversal rule, that is, a three-layer loop traversal method to traverse each point to be confirmed in QR; while the second traversal is to traverse each specified point to be confirmed in C, and there is no need to execute the three-layer loop traversal method, only need to traverse each specified point in C one by one, so that the traversal efficiency can be greatly improved.

[0148] T600, if W is located in C p and does not coincide with any three-dimensional luggage grid and meets the preset necessary stacking conditions, then C p is determined as the stacking position corresponding to the luggage to be stacked.

[0149] In the method for determining the placement position of luggage based on secondary iteration in this embodiment, if after traversing each point to be confirmed in the three-dimensional coordinate system corresponding to the current luggage cart, the placement position corresponding to the luggage to be placed cannot be determined, then a specified point to be confirmed is obtained; when W is located at the specified point to be confirmed, it does not coincide with any three-dimensional luggage grid, meets the preset necessary placement conditions and does not meet the preset optimized placement conditions; that is, the specified point to be confirmed is a point to be confirmed that is negated due to not meeting the optimized placement conditions; then, before the secondary traversal, the execution status of all optimized placement conditions is set to closed, and during the subsequent secondary traversal, only the specified point to be confirmed is traversed, so as to ensure that the placement position corresponding to the luggage to be placed can be determined while improving the efficiency of determining the placement position corresponding to the luggage to be placed.

[0150] Embodiment Five:

[0151] In the above Embodiment One, all optimized placement conditions are closed during the secondary traversal. The placement position corresponding to the luggage to be placed determined in this way may not meet many optimized placement conditions. Based on this, the following method is provided to determine a more suitable placement position:

[0152] R100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the luggage placement bounding box W corresponding to the luggage to be placed; where QR includes several three-dimensional luggage grids corresponding to the placed luggage.

[0153] In this embodiment, before determining the placement position of the luggage to be placed, it is necessary to identify the placed luggage on the current luggage cart; the placed luggage can be identified by means of image recognition or lidar scanning. After identifying the placed luggage, the placed luggage can be segmented to generate several three-dimensional luggage grids containing the point clouds corresponding to the placed luggage; it can be understood that each three-dimensional luggage bounding box represents the placed luggage in the corresponding space.

[0154] For the luggage to be placed, the size information of the luggage placement bounding box corresponding to the luggage to be placed can be obtained by means of image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart.

[0155] R200, according to the size of W and the preset traversal rule, sequentially traverse each preset point to be confirmed in QR.

[0156] Further, step R200 may include the following steps:

[0157] R210, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid, then enter R220; otherwise, traverse the next point to be confirmed; where the target point to be confirmed is any preset point to be confirmed.

[0158] R220. If W meets all the preset stacking conditions, then confirm the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, traverse the next point to be confirmed. Among them, the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions.

[0159] Further, step R200 may include the following steps:

[0160] R221. Obtain the first preset value NUM 1 = 0, the second preset value NUM 2 = 0, and the third preset value NUM 3 = 0; and place W at the origin position corresponding to W in QR.

[0161] R222. If NUM 1 ×ΔL Y <L Y -L W , then enter R223. Among them, L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0162] Further, step R222 may also include: If NUM 1 ×ΔL Y ≥L Y -L W , then enter R225;

[0163] R225. If NUM 2 ×ΔH Z <H Z -H W , then enter R226; otherwise, enter R227. Among them, ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in QR.

[0164] R226. Update NUM 1 = 0, update NUM 2 = NUM 2 +1, place W at the middle position QE W =(W X +NUM 3 ×ΔD X , W Y , W Z +NUM 2 ×ΔH Z ), and enter R222.

[0165] R227, if NUM 3 ×ΔD X <D X -D W , update NUM 1 =0, update NUM 2 =0, update NUM 3 =NUM 3 +1, place W at the middle position QE W =(W X +NUM 3 ×ΔD X , W Y , W Z +NUM 2 ×ΔH Z ), enter R222; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined; where, ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

[0166] R223, determine whether W coincides with at least one of several three-dimensional luggage grids, and determine whether W meets all the preset stacking conditions.

[0167] R224, if W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, move W along the Y-axis direction by ΔL Y , update NUM 1 =NUM 1 +1, enter R222; otherwise, determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked.

[0168] In this embodiment, the method in steps S200-S620 in Embodiment 1 can be used to sequentially traverse each preset point to be confirmed in QR, which will not be elaborated here; the preset point to be confirmed can be the coordinate point corresponding to the center point of W every time W moves in Embodiment 1.

[0169] R300, if the stacking position corresponding to the luggage to be stacked has not been determined from all the points to be confirmed, obtain each optimized stacking condition to obtain an optimized stacking condition list B=(B 1 , B 2 , …, B j , …, B m ), j = 1, 2, …, m; where, B j is the jth optimized stacking condition, and m is the number of optimized stacking conditions.

[0170] In this embodiment, due to the setting of the preset stacking conditions, after traversing all positions in the QR, it is possible that the stacking position corresponding to the luggage to be stacked has not been determined; however, there is still stacking space in the luggage cart at this time. In order to stack the luggage to be stacked into the luggage cart, multiple iterative traversals are required to determine the stacking position corresponding to the luggage to be stacked.

[0171] It should be noted that the necessary stacking conditions are stacking conditions set according to relevant civil aviation regulations. For example, luggage with a small volume is placed on top of luggage with a large volume, and there will be no situation where the current luggage to be stacked is thrown; while the optimized stacking conditions are optimized stacking conditions set to improve the space utilization rate of the luggage cart or to make the luggage stacked neatly. The execution status of the optimized stacking conditions can be set to on or off. When the execution status of the optimized stacking conditions is on, the optimized stacking conditions need to be satisfied; otherwise, they do not need to be satisfied.

[0172] R400. According to B, determine the priority of each optimized stacking condition to obtain the optimized stacking condition priority list YB = (YB 1 , YB 2 , …, YB j , …, YB m ); where YB j is the priority corresponding to B j ; YB r > YB r+1 ; r = 1, 2, …, m - 1; B r is executed before B r+1 .

[0173] In this embodiment, the priority of any necessary stacking condition is greater than the priority of any optimized stacking condition, that is, the necessary stacking condition is executed before the optimized stacking condition; and the optimized stacking condition is also set with an execution priority, and the optimized stacking condition with a higher priority is executed before the stacking condition with a lower priority.

[0174] R500. Obtain the fourth preset value NM = m.

[0175] R600. If NM > 0, then obtain the intermediate point to be confirmed corresponding to B NM to obtain the list of the NMth intermediate points to be confirmed D NM = (D NM，1 , D NM，2 , …, D NM，u , …, D NM，f(NM) ), u = 0, 1, …, f(NM); where D NM，u is the u-th intermediate point to be confirmed corresponding to B NM , f(NM) is the number of intermediate points to be confirmed corresponding to B NM ; BNM The corresponding intermediate point to be confirmed is that it does not meet B NM The point to be confirmed

[0176] In this embodiment, during the first traversal process, if the stacking position corresponding to the luggage to be stacked is not determined, it means that all the points to be confirmed are negated; among the negated points to be confirmed, some are negated because they do not meet the necessary stacking conditions, and some are negated because they do not meet the optimized stacking conditions; then, for any optimized stacking condition, this stacking condition may negate multiple points to be confirmed, or may not negate any point to be confirmed; taking the optimized stacking condition as the dimension, the intermediate points to be confirmed corresponding to each optimized stacking condition can be obtained

[0177] Further, after step R600, the method further includes

[0178] R610, if NM ≤ 0, then it is determined that the stacking position corresponding to the luggage to be stacked is not determined, and the current process is exited

[0179] In this embodiment, if NM ≤ 0, it means that all the optimized stacking conditions have been closed. At this time, the stacking position corresponding to the luggage to be stacked cannot be determined, and the current process is exited. Subsequently, the luggage to be stacked can be stacked manually

[0180] R700, if f(NM) = 0, then update NM = NM - 1, and enter R600; otherwise, set the execution status of B from B NM to B m to closed, so as to obtain the updated optimized stacking condition list B' corresponding to B, and enter R800

[0181] In this embodiment, first, it is judged whether f(NM) is equal to 0. If f(NM) = 0, it means that no point to be confirmed has been negated due to B NM Then, after closing B NM and traversing the points to be confirmed again, the stacking position corresponding to the luggage to be stacked cannot be determined either; therefore, at this time, the next optimized stacking condition is closed; if f(NM) ≠ 0, then enter R800

[0182] R800, according to the size of W and B', traverse D NM to obtain the stacking position corresponding to the luggage to be stacked

[0183] In this embodiment, it can be understood that D NM is the list of the NMth intermediate points to be confirmed obtained by obtaining the intermediate points to be confirmed corresponding to B NM , and D NMThere are only a small number of points to be confirmed, so the time consumed during traversal is short, which can improve the efficiency of determining the stacking position corresponding to the luggage to be stacked. In addition, D NM The intermediate points to be confirmed in D are arranged from first to last in the order during the first traversal.

[0184] In this embodiment, after traversing each point to be confirmed in the three-dimensional coordinate system corresponding to the current luggage cart for the first time, if the stacking position corresponding to the luggage to be stacked cannot be determined from all the points to be confirmed, each optimized stacking condition and the priority corresponding to each optimized stacking condition are obtained; according to the priority of each optimized stacking condition, the optimized stacking conditions are closed in ascending order of priority. Each time an optimized stacking condition is closed, the list of intermediate points to be confirmed corresponding to the optimized stacking condition is traversed to determine the stacking position corresponding to the luggage to be stacked.

[0185] Furthermore, in the present invention, the closing process is performed according to the priority of the optimized stacking conditions. First, the optimized stacking condition with the smallest priority is closed. The stacking condition with the smallest priority has the smallest impact on the determined stacking position of the luggage to be stacked. Therefore, the present invention can determine the stacking position corresponding to the luggage to be stacked under the premise of a small impact; at the same time, the subsequent traversal is not a full-scale traversal. Therefore, the present invention can also improve the efficiency of determining the stacking position corresponding to the luggage to be stacked.

[0186] Embodiment Six:

[0187] Based on the method in Embodiment One, every time a position is moved, in order to make the determined stacking position more appropriate, it is also necessary to judge whether there is a situation of throwing luggage when the luggage to be stacked is stacked at this position. Based on this, the following method is provided:

[0188] E100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the luggage bounding box W corresponding to the luggage to be stacked; wherein, QR includes a number of three-dimensional luggage grids corresponding to the stacked luggage.

[0189] In this embodiment, before determining the stacking position of the luggage to be stacked, it is necessary to identify the stacked luggage on the current luggage cart; the stacked luggage can be identified by means of image recognition or lidar scanning. After the stacked luggage is identified, the stacked luggage can be segmented to generate a number of three-dimensional luggage grids containing the point clouds corresponding to the stacked luggage; it can be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0190] For the luggage to be stacked, the size information of the bounding box of the luggage to be stacked corresponding to the luggage to be stacked can be obtained through image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart.

[0191] E200, according to the size of W and the preset traversal rule, traverse each preset point to be confirmed in QR in turn.

[0192] Further, step E200 includes the following steps:

[0193] E221, obtain the first preset value NUM 1 = 0, the second preset value NUM 2 = 0 and the third preset value NUM 3 = 0; and place W at the origin position corresponding to W in QR.

[0194] E222, if NUM 1 ×ΔL Y <L Y -L W , then enter E223; where L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0195] E223, determine whether W coincides with at least one of several three-dimensional luggage grids, and determine whether W meets all the preset stacking conditions.

[0196] E224, if W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W in the Y-axis direction by ΔL Y , update NUM 1 = NUM 1 +1, enter E222; otherwise, determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked.

[0197] Further, step E222 may further include: if NUM 1 ×ΔL Y ≥L Y -L W , then enter E225.

[0198] E225, if NUM 2 ×ΔH Z <H Z -H W , then enter E226; otherwise, enter E227; where ΔH Zis the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in QR.

[0199] E226, update NUM 1 = 0, update NUM 2 = NUM 2 + 1, place W at the middle position QE W = (W X + NUM 3 × ΔD X , W Y , W Z + NUM 2 × ΔH Z ), enter E222.

[0200] E227, if NUM 3 × ΔD X < D X - D W , update NUM 1 = 0, update NUM 2 = 0, update NUM 3 = NUM 3 + 1, place W at the middle position QE W = (W X + NUM 3 × ΔD X , W Y , W Z + NUM 2 × ΔH Z ), enter E222; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined; where ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

[0201] In this embodiment, the method in steps S200 - S620 in Embodiment 1 can be used to sequentially traverse each preset point to be confirmed in QR, which will not be elaborated here; the preset points to be confirmed can be the coordinate points corresponding to the center point of W each time W moves in Embodiment 1.

[0202] E300, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, then enter E400; otherwise, traverse the next point to be confirmed; where the target point to be confirmed is any preset point to be confirmed.

[0203] In this embodiment, although when W is at the target point to be confirmed, W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, at this time, the bottom surface of W is too high from the luggage stacked below, or the volume of the luggage stacked below is smaller than the volume of the luggage corresponding to W. Then, due to the relevant regulations of civil aviation on luggage stacking, this target point to be confirmed cannot be determined as the stacking position corresponding to the luggage to be stacked.

[0204] E400, move W downward by the fourth preset distance ΔHA.

[0205] E500, if W after moving downward by ΔHA does not coincide with any three-dimensional luggage grid, it is determined that the target point to be confirmed is not the stacking position corresponding to the luggage to be stacked; otherwise, enter E600.

[0206] In this embodiment, if after moving W downward by the fourth preset distance ΔHA, W does not coincide with any three-dimensional luggage grid, it means that there is no stacked luggage within the range of ΔHA downward from the bottom surface of W, and the currently to-be-stacked luggage is in a suspended state. At this time, if the manipulator stacks the currently to-be-stacked luggage at the target point to be confirmed, it will cause the currently to-be-stacked luggage to be dropped, which may damage the currently to-be-stacked luggage.

[0207] E600, determine whether the target point to be confirmed is the stacking position corresponding to the luggage to be stacked according to each three-dimensional luggage grid that coincides with W after moving downward by ΔHA.

[0208] Further, step E600 may include the following steps:

[0209] E610, obtain each three-dimensional luggage grid that coincides with W after moving downward by ΔHA to obtain the first three-dimensional luggage grid list G=(G 1 , G 2 , …, G a , …, G b ), where a = 1, 2, …, b; where G a is the a-th three-dimensional luggage grid that coincides with W after moving downward by ΔHA, and b is the number of three-dimensional luggage grids that coincide with W after moving downward by ΔHA.

[0210] In this embodiment, if after moving W downward by the fourth preset distance ΔHA, it coincides with several three-dimensional luggage grids, it means that there is stacked luggage within the range of ΔHA downward from the currently to-be-stacked luggage. At this time, each three-dimensional luggage grid that coincides with W after moving downward by ΔHA can be obtained.

[0211] E620, obtain the projection area of each three-dimensional luggage grid in G on the bottom surface of W to obtain the projection area list TG=(TG 1 , TG 2, …, TG a , …, TG b ); where TG a is the projected area of G a on the bottom surface of W.

[0212] E630, determine the total projected area ZG of the bottom surface corresponding to G according to TG = ∑ b a＝1 TG a .

[0213] E640, if ZG / ZW ≥ DE, then enter E650; otherwise, determine that the target point to be confirmed is not the stacking position corresponding to the baggage to be stacked; ZW is the area of the bottom surface of W, DE is a preset first area ratio threshold, and DE < 1.

[0214] In this embodiment, the value of DE can be set to 0.9, or other values relatively close to 1 and equal to 1; if ZG / ZW ≥ DE, it means that the area of the lower surface of the current baggage to be stacked is basically the same as the area of the upper surface of the baggage already stacked below, and it can be considered that the size of the current baggage to be stacked is not greater than the size of the baggage already stacked below, that is, the situation of large baggage pressing on small baggage will not occur, which conforms to the relevant regulations of civil aviation.

[0215] Further, step E650 may include the following steps:

[0216] E651, when W is at the target point to be confirmed, move W along the preset direction of the Y-axis of QR by a fifth preset distance ΔHB.

[0217] E652, obtain each three-dimensional baggage grid that coincides with W after moving ΔHB along the preset direction of the Y-axis of QR to obtain a second list of three-dimensional baggage grids F = (F 1 , F 2 , …, F c , …, F d ), c = 1, 2, …, d; where F c is the c-th three-dimensional baggage grid that coincides with W after moving ΔHB along the preset direction of the Y-axis of QR, and d is the number of three-dimensional baggage grids that coincide with W after moving ΔHB along the preset direction of the Y-axis of QR.

[0218] E653, obtain the projected area of each three-dimensional baggage grid in F on the side surface of W perpendicular to the Y-axis to obtain a projected area list TF corresponding to F = (TF 1 , TF 2 , …, TF c , …, TF d ); where TF c is the projected area of F c on the side surface of W perpendicular to the Y-axis.

[0219] E654. Determine the total side projection area ZF corresponding to F according to TF = ∑ d c＝1 TF c .

[0220] E655. If ZF / ZW’ ≥ DE’, determine the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, determine that the target point to be confirmed is not the stacking position corresponding to the luggage to be stacked; ZW’ is the area of the side of W perpendicular to the Y-axis, and DE’ is a preset second area ratio threshold, where DE’ < 1.

[0221] In this embodiment, during the process of luggage stacking, there will be a situation: two already stacked luggages each have a handle, and the handle part protrudes beyond the overall structure of the luggage. The handle part also corresponds to a three-dimensional luggage grid. Then, during the process of traversing the stacking position corresponding to the current luggage to be stacked, it is possible to determine the stacking position corresponding to the current luggage between the handles of the two already stacked luggages, which will cause a relatively large space to be left on both sides of the current luggage, having a certain impact on the subsequent luggage stacking.

[0222] Based on this, through the methods in steps E651 - E655, it is possible to determine whether one side of the current luggage to be stacked in the target point to be confirmed is adjacent to one side of the already stacked luggage along the Y-axis direction, rather than adjacent to the handle of the already stacked luggage, thus avoiding the problem that the stacking position corresponding to the current luggage is determined between the handles of the two already stacked luggages, resulting in a relatively large space being left on both sides of the current luggage and having a certain impact on the subsequent luggage stacking, and also making the stacking of luggage more compact and improving the space utilization rate of the luggage cart.

[0223] In this embodiment, during the process of determining the stacking position corresponding to the current luggage to be stacked, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, move W downward by a fourth preset distance ΔHA. If W after moving downward by ΔHA does not coincide with any three-dimensional luggage grid, determine that the target point to be confirmed is not the stacking position corresponding to the luggage to be stacked; otherwise, according to each three-dimensional luggage grid that coincides with W after moving downward by ΔHA, determine whether the target point to be confirmed is the stacking position corresponding to the luggage to be stacked; through the above method, it is possible to determine whether the current luggage to be stacked is in a suspended state, thus avoiding the situation where the current luggage to be stacked is dropped and damaged.

[0224] Embodiment Seven:

[0225] In the above embodiments, during the process of stacking the to-be-stacked luggage, it is not considered whether the luggage is soft or hard. If a hard luggage presses on a soft luggage, the soft luggage may be damaged. To avoid this situation, based on the above embodiments, the following method is provided:

[0226] P100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the to-be-stacked luggage bounding box W corresponding to the to-be-stacked luggage; wherein, QR includes several three-dimensional luggage meshes corresponding to the stacked luggage; the space of the luggage cart includes a lower space and an upper space, and the lower space includes a first sub-space for stacking the first type of luggage and a second sub-space for stacking the second type of luggage; the hardness of the first type of luggage is less than that of the second type of luggage.

[0227] In this embodiment, before determining the stacking position of the to-be-stacked luggage, it is necessary to identify the stacked luggage on the current luggage cart; the stacked luggage can be identified by means of image recognition or lidar scanning. After identifying the stacked luggage, the stacked luggage can be segmented to generate several three-dimensional luggage meshes containing the point clouds corresponding to the stacked luggage; it can be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0228] For the to-be-stacked luggage, the size information of the to-be-stacked luggage bounding box corresponding to the to-be-stacked luggage can be obtained through image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart; the first type of luggage can be understood as a relatively hard suitcase, and the second type of luggage can be understood as a relatively soft soft bag; when the airport management personnel confirm the type of luggage, it can be done by manually tagging, and subsequently, the luggage type corresponding to each to-be-stacked luggage can be directly obtained.

[0229] P200, if the to-be-stacked luggage is the second type of luggage and the first type of luggage has been stacked in the first sub-space, then according to the size of W and the preset traversal rule, sequentially traverse each preset point to be confirmed in QR.

[0230] In this embodiment, that the first type of luggage has been stacked in the first sub-space means that relatively soft luggage has been stacked in the first sub-space, and the second type of luggage, that is, relatively hard luggage, cannot be stacked above the first sub-space to avoid damaging the first type of luggage.

[0231] Further, step P200 may include the following steps:

[0232] P221, obtain the first preset value NUM 1 = 0, the second preset value NUM 2 = 0 and the third preset value NUM 3= 0; and place W at the origin position corresponding to W in QR.

[0233] P222, if NUM 1 ×ΔL Y <L Y -L W , then enter P223; where L Y is the length of the luggage cart in the Y-axis direction in QR, and L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0234] P223, determine whether W coincides with at least one of several three-dimensional luggage grids, and determine whether W meets all the preset stacking conditions.

[0235] P224, if W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W in the Y-axis direction by ΔL Y , update NUM 1 =NUM 1 +1, enter P222; otherwise, determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked.

[0236] Furthermore, step P222 may further include: if NUM 1 ×ΔL Y ≥L Y -L W , then enter P225.

[0237] P225, if NUM 2 ×ΔH Z <H Z -H W , then enter E226; otherwise, enter E227; where ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in QR.

[0238] P226, update NUM 1 =0, update NUM 2 =NUM 2 +1, place W at the middle position QE W =(W X +NUM 3 ×ΔD X , W Y , W Z +NUM 2 ×ΔH Z ) and enter P222.

[0239] P227, if NUM 3 ×ΔD X <D X -D W , update NUM 1 =0, update NUM 2 =0, update NUM 3 =NUM 3 +1, place W at the middle position QE W =(W X +NUM 3 ×ΔD X , W Y , W Z +NUM 2 ×ΔH Z ), enter P222; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined; where ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

[0240] In this embodiment, the method of sequentially traversing each preset point to be confirmed in QR according to the size of W and the preset traversal rule is the same as the method in steps S200 - S620 in Embodiment 1, and will not be elaborated here; the preset points to be confirmed can be the coordinate points corresponding to the center point of W every time W moves in Embodiment 1.

[0241] P300, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, enter P400; otherwise, traverse the next point to be confirmed; where the target point to be confirmed is any preset point to be confirmed.

[0242] In this embodiment, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, it means that the target point to be confirmed meets the preset stacking conditions and may be the stacking position corresponding to the current luggage to be stacked. However, it is still necessary to further determine whether there is a situation where hard luggage presses soft luggage.

[0243] P400, if the target point to be confirmed is not a point to be confirmed above the first subspace, determine the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, traverse the next point to be confirmed.

[0244] In this embodiment, the target point to be confirmed is not a point to be confirmed above the first subspace, and the current luggage to be stacked is the second type of luggage, and the first type of luggage has been stacked in the first subspace. At this time, stacking the luggage to be stacked at the target point to be confirmed will not press the first type of luggage.

[0245] Further, after step P400, the method further includes the following steps:

[0246] P500, if the luggage to be stacked is of the second type and the first type of luggage is not stacked in the first subspace, then according to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in sequence.

[0247] P510, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, then the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; otherwise, the next point to be confirmed is traversed; where the target point to be confirmed is any preset point to be confirmed.

[0248] In this embodiment, since the first type of luggage is not stacked in the first subspace, that is, there is no soft luggage stacked in the first subspace, then the stacking position corresponding to the second type of luggage can be any position in the lower space and the upper space, and the soft luggage will not be pressed.

[0249] Further, after step P400, the method may further include the following steps:

[0250] P600, if the luggage to be stacked is of the first type, then according to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in sequence;

[0251] P610, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, then the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; otherwise, the next point to be confirmed is traversed; where the target point to be confirmed is any preset point to be confirmed.

[0252] In this embodiment, when the luggage to be stacked is soft luggage, regardless of whether the first type of luggage is stacked in the first subspace, the luggage to be stacked can be stacked at any position in the luggage cart, and the situation of hard luggage pressing soft luggage will not occur; it should be noted that in this embodiment, the first type of luggage can press the first type of luggage, that is, soft luggage can press soft luggage.

[0253] In this embodiment, the space of the luggage cart is divided into a lower space and an upper space. The lower space includes a first sub-space for stacking luggage of a first type and a second sub-space for stacking luggage of a second type. The hardness of the luggage of the first type is less than that of the luggage of the second type. If the luggage to be stacked is of the second type and the first type of luggage has been stacked in the first sub-space, then according to the size of W and a preset traversal rule, each preset point to be confirmed in the three-dimensional coordinate system corresponding to the luggage cart is traversed in sequence. When W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, and the target point to be confirmed is not a point to be confirmed above the first sub-space, then the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked. By the method in the present invention, it can be ensured that the luggage with greater hardness will not be stacked on top of the luggage with smaller hardness, thus avoiding the situation where the softer luggage is crushed by the harder luggage.

[0254] Embodiment Eight:

[0255] In Embodiment One, the end condition of the three-layer loop traversal is a preset distance. However, the preset distance may not satisfy all luggage carts, resulting in the situation that when the luggage to be stacked is at the determined stacking position, it exceeds the stacking space range of the luggage cart. To avoid this situation, the following method is provided:

[0256] F100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the bounding box W of the luggage to be stacked corresponding to the luggage to be stacked; wherein, QR includes a number of three-dimensional luggage grids corresponding to the stacked luggage.

[0257] In this embodiment, before determining the stacking position of the luggage to be stacked, it is necessary to identify the stacked luggage on the current luggage cart; the stacked luggage can be identified by means of image recognition or lidar scanning. After identifying the stacked luggage, the stacked luggage can be segmented to generate a number of three-dimensional luggage grids containing the point clouds corresponding to the stacked luggage; it can be understood that each three-dimensional luggage bounding box represents the space where the corresponding luggage has been stacked.

[0258] For the luggage to be stacked, the size information of the bounding box of the luggage to be stacked corresponding to the luggage to be stacked can be obtained by means of image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart.

[0259] F200, set a virtual bounding box for the virtual luggage in QR; wherein, the virtual bounding box is located outside the current luggage cart, and the virtual bounding box is adjacent to the four sides of the current luggage cart; the sides of the adjacent virtual bounding boxes are the same size as the sides of the current luggage cart.

[0260] In this embodiment, after the luggage is recognized, a virtual bounding box is tightly arranged around the luggage cart on the outer side of the periphery of the luggage cart. The virtual bounding box is a three-dimensional rectangular solid, and the virtual bounding box is used to represent the outer area of the luggage cart.

[0261] F300. According to the size of W and a preset traversal rule, each preset point to be confirmed in QR is traversed in sequence; wherein, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid, W does not coincide with the virtual bounding box, and W meets all the preset stacking conditions, then the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked.

[0262] Further, step F300 may include the following steps:

[0263] F310. Obtain the first preset value NUM 1 = 0, the second preset value NUM 2 = 0, and the third preset value NUM 3 = 0; and place W at the origin position corresponding to W in QR.

[0264] In this embodiment, the origin position corresponding to W in QR is the same as the origin position corresponding to W in Embodiment 1, and details are not described herein again.

[0265] F320. Determine whether W coincides with the virtual bounding box.

[0266] In this embodiment, the virtual bounding box is provided with the maximum and minimum X, Y, and Z axis coordinates. The method for determining whether W coincides with the three-dimensional luggage grid in Embodiment 1 can be used to determine whether W coincides with the virtual bounding box, and details are not described herein again.

[0267] F330. If W does not coincide with the virtual bounding box, then enter F340; otherwise, enter F350;

[0268] In this embodiment, if W does not coincide with the virtual bounding box, it means that when W is at the current position in QR, it does not exceed the stacking space range of the current luggage cart.

[0269] F340. If W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, then the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; otherwise, move W in the Y-axis direction by ΔL Y ; wherein, ΔL Y is the first preset distance, and enter F320.

[0270] In this embodiment, the method in step F340 is the same as the method in step S500 in Embodiment 1, and details are not described herein again.

[0271] Further, step F350 includes the following steps:

[0272] F351, if NUM 2 ×ΔH Z <H Z -H W , then update NUM 2 =NUM 2 +1.

[0273] In this embodiment, if NUM 2 ×ΔH Z <H Z -H W , it means that the traversal in the Z-axis direction has not been completed.

[0274] F352, place W at the middle position QE W =(W X +NUM 3 ×ΔD X , W Y , W Z +NUM 2 ×ΔH Z ), and determine whether W coincides with the virtual bounding box; ΔH Z is the second preset distance; ΔD X is the third preset distance.

[0275] F353, if W does not coincide with the virtual bounding box, then enter F340; otherwise, update NUM 2 =0, update NUM 3 =NUM 3 +1, place W at the middle position QE W =(W X +NUM 3 ×ΔD X , W Y , W Z +NUM 2 ×ΔH Z ), and determine whether W coincides with the virtual bounding box.

[0276] F354, if W does not coincide with the virtual bounding box, then enter F340; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined.

[0277] In this embodiment, it should be noted that for each position movement, it is necessary to first determine whether W coincides with the virtual bounding box to determine whether the position of W after movement exceeds the stacking space range of the current luggage cart. It can be understood that in this embodiment, the virtual bounding box is used as the condition for ending the traversal, while in the first embodiment, a preset traversal distance is used as the condition for ending the traversal. Since there are multiple luggage carts and the sizes of each luggage cart are not absolutely the same, there will be slight differences. If a fixed traversal distance is used as the condition for ending the traversal, it may cause the luggage to be stacked to exceed the stacking space range of the luggage cart when the stacking position is determined. In this embodiment, the stacking space range of the current luggage cart is recognized visually, and then a corresponding virtual bounding box is set, which can avoid the occurrence of the above problems.

[0278] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart and the bounding box W of the luggage to be stacked are obtained. Among them, QR includes three-dimensional luggage grids corresponding to several stacked luggages. A virtual bounding box of the virtual luggage is set in QR. The virtual bounding box is located outside the current luggage cart and is adjacent to the four sides of the current luggage cart. The sizes of the adjacent sides of the virtual bounding box and the sides of the current luggage cart are the same. According to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in turn. When W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid, W does not coincide with the virtual bounding box, and W meets all the preset stacking conditions, the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked, so as to ensure that the stacking position corresponding to the luggage to be stacked is determined without exceeding the space range of the luggage cart.

[0279] Furthermore, the stacking position corresponding to the luggage to be stacked is determined based on the stacked luggage corresponding to the current luggage cart and the size of the luggage to be stacked. Therefore, the determined stacking position corresponding to the luggage to be stacked is more in line with the remaining stacking space of the current luggage cart, making the stacking of the luggage more compact and tidy, and improving the space utilization rate of the luggage cart.

[0280] In addition, although the steps of the methods in the present disclosure are described in a specific order in the drawings, this does not require or imply that these steps must be executed in that specific order, or that all the steps shown must be executed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution, etc.

[0281] An embodiment of the present invention also provides a non-transitory computer-readable storage medium, which can be disposed in an electronic device to store at least one instruction or at least one segment of program related to a method in the method embodiment. The at least one instruction or the at least one segment of program is loaded and executed by the processor to implement the method provided in the above embodiment.

[0282] The program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having 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.

[0283] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The readable signal medium can also be any readable medium other than the readable storage medium, which can send, propagate, or transmit a program used by or in conjunction with an instruction execution system, apparatus, or device.

[0284] The program code contained on the readable medium can be transmitted by any appropriate medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination of the above.

[0285] The program code for performing the operations of the present application can be written in any combination of one or more programming languages. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as an independent software package, partially on the user's 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 can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, by using an Internet service provider to connect through the Internet).

[0286] Embodiments of the present invention also provide an electronic device, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0287] The electronic device is merely an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0288] 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: at least one of the aforementioned processors, at least one of the aforementioned memories, and a bus connecting different system components (including the memory and the processor).

[0289] Wherein, the memory stores program codes, and the program codes can be executed by the processor, so that the processor executes the steps in various embodiments described in this specification.

[0290] The memory may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory, and may further include a read-only memory (ROM).

[0291] The memory may further include a program / utilities having a set (at least one) of program modules. Such program modules include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. The implementation of a network environment may be included in each or some combination of these examples.

[0292] The bus may represent one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any bus structure in a variety of bus structures.

[0293] The electronic device may also communicate with one or more external devices (such as a keyboard, a pointing device, a Bluetooth device, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device, and / or may communicate with any device that enables the electronic device to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication may be carried out through an input / output (I / O) interface. And, the electronic device may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter. The network adapter communicates with other modules of the electronic device through the bus. It should be understood that although not shown in the figure, other hardware and / or software modules may be used in combination 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.

[0294] Through the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (such as a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0295] The embodiments of the present invention further provide a computer program product, which includes program code. When the program product runs on an electronic device, the program code is used to cause the electronic device to execute the steps in the methods according to various exemplary embodiments of the present invention described above in this specification.

[0296] Although some specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for the purpose of illustration and not for the purpose of limiting the scope of the present invention. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the present invention.

Claims

1. A method for determining a baggage stacking position, characterized in that: The method comprises the following steps: S100, obtaining the three-dimensional coordinate system QR corresponding to the current luggage cart, the bounding box W of the luggage to be stacked corresponding to the luggage to be stacked, and the length L of the luggage cart in the Y-axis direction in QR Y , width D in the X-axis direction X and the height H in the Z-axis direction Z ; Among them, QR includes a number of three-dimensional luggage grids corresponding to the stacked luggage, and each three-dimensional luggage grid corresponds to the position coordinates and size information; S200, obtaining a first preset value NUM1=0, and placing W at the origin position corresponding to W in QR; S300, if NUM1×ΔL Y <L Y -L W , then enter S400; where L W is the length of W in the Y-axis direction; ΔL Y is a first preset distance; S400, determining whether W coincides with at least one of a plurality of three-dimensional luggage grids, and determining whether W satisfies all preset stacking conditions; S500: If W coincides with at least one of the three-dimensional luggage grids or W does not satisfy at least one of all the preset stacking conditions, move W along the Y-axis direction by ΔL. Y , update NUM1=NUM1+1, and enter S300; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

2. The method for determining the luggage stacking position according to claim 1, characterized in that: W corresponds to the origin position QR in QR W =(W X , W Y , W Z ), where W X is the X-axis coordinate of the origin position corresponding to W in QR, W Y is the Y-axis coordinate of the origin position corresponding to W in QR, W Z is the Z-axis coordinate of the origin position corresponding to W in QR; W X =L W / 2;W Y =D W / 2;W Z =H W / 2;D W is the width of W in the X-axis direction, H W is the height of W in the Z-axis direction.

3. The method for determining the luggage stacking position according to claim 2, characterized in that: Step S300 also includes: if NUM1×ΔL Y ≥L Y -L W , then obtain the second preset value NUM2 = 0 and the third preset value NUM3 = 0, and enter S600; S600, if NUM2×ΔH Z <H Z -H W , then enter S610; otherwise, enter S620; where ΔH Z is a second preset distance; S610, update NUM1=0, update NUM2=NUM2+1, and place W in the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ), enter S300; S620, if NUM3×ΔD X <D X -D W , update NUM1 = 0, update NUM2 = 0, update NUM3 = NUM3 + 1, and place W in the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ), enter S300; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined; wherein, ΔD X The third preset distance.

4. The method for determining the luggage stacking position according to claim 3, characterized in that: The preset stacking conditions include a plurality of necessary stacking conditions and a plurality of optimized stacking conditions; wherein the execution state of the necessary stacking conditions is on, and the execution state of the optimized stacking conditions includes on and off; After step S620, the method further includes the following steps: S700: If the stacking position corresponding to the luggage to be stacked is not determined, the execution status of all the optimized stacking conditions in the preset stacking conditions is set to off, and the process goes to S200.

5. The method for determining the luggage stacking position according to claim 3, characterized in that: The luggage to be stacked is received by a preset manipulator; wherein, when the preset manipulator places the luggage to be stacked, the direction of the manipulator is perpendicular to the side wall of the Y luggage cart in the Y-axis direction in QR.

6. The method for determining the luggage stacking position according to claim 3, characterized in that: ΔL Y =ΔH Z =ΔD X =20mm。 7. The method for determining luggage stacking position according to claim 1, characterized in that: The step of determining whether W coincides with at least one of the three-dimensional luggage grids comprises the following steps: S410, obtaining the minimum and maximum X-axis coordinates, the minimum and maximum Y-axis coordinates, and the minimum and maximum Z-axis coordinates of each three-dimensional baggage grid in QR, so as to obtain a list set of the minimum and maximum coordinates of the three-dimensional baggage grid A=(A1, A2, ..., A i , …, A n ), i=1, 2,...,n; where, A i is the minimum and maximum coordinate list of the i-th three-dimensional baggage grid, n is the number of three-dimensional baggage grids; A i =(A i，X _min, A i，X _max,A i，Y _min, A i，Y _max,A i，Z _min, A i，Z _max); A i，X _min and A i，X _max are the minimum and maximum X-axis coordinates of the i-th three-dimensional luggage grid, A i，Y _min and A i，Y _max are the minimum and maximum Y-axis coordinates of the i-th three-dimensional luggage grid, A i，Z _min and A i，Z _max are the minimum and maximum Z-axis coordinates of the i-th three-dimensional luggage grid; S420, obtaining the minimum X-axis coordinate W of W in QR min，X , maximum X-axis coordinate W max，X , minimum Y-axis coordinate W min，Y , maximum Y-axis coordinate W max，Y , minimum Z-axis coordinate W min，Z and the maximum Z-axis coordinate W max，Z ; S430, traverse A, if A i The X-axis coordinate interval [A i，X _min, A i，X _max] and the X-axis coordinate interval of W [W min，X , W max，X ] There is overlap, A i The Y-axis coordinate interval [A i，Y _min, A i，Y _max] and the Y-axis coordinate interval of W [W min，Y , W max，Y ] There is overlap and A i The Z-axis coordinate interval [A i，Z _min, A i，Z _max] and the Z-axis coordinate interval of W [W min，Z , W max，Z ] if there is overlap, it is determined that W overlaps with at least one of the three-dimensional luggage grids.

8. 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 determining the luggage stacking position according to any one of claims 1 to 7.

9. An electronic device, characterized in that: Includes a processor and the non-transitory computer-readable storage medium of claim 8.

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